/SLAM-Hive/slam_hive_results/mapping_results/2916/2124_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-24.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720483475.688329117]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720483475.689832283]: init begins[0m
[31m[ERROR] [1720483475.690863244]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/d3a222d0-3d86-11ef-8ade-0242ac110005/roslaunch-8543043875c2-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://8543043875c2:36393/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1720483476.794526106]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720483476.796005216]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720483476.802505604]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720483476.802709244]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720483476.802731480]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1720483476.802881811]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720483476.803158887]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://8543043875c2:11311/[0m
]2;roscore http://8543043875c2:11311/
[1msetting /run_id to d3a222d0-3d86-11ef-8ade-0242ac110005[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720483485.806626997]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316845358.69 
init first imu pose
averge acc 8.944065 -0.091937 -3.935752
init R0 
    0.402862    0.0213742     0.915011
-1.54074e-33    -0.999727    0.0233532
    0.915261   -0.0094081    -0.402752
[0m[ INFO] [1720483507.140136998]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483509.104921280]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483511.113317292]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483513.135925499]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483515.132678448]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483517.125980391]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483519.106006968]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483521.127886105]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483523.116709116]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483525.130503272]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483527.131257376]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483529.116799069]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483531.126213682]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483533.126839411]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483535.130810021]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720483539.129653230]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483541.104573236]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483543.122710585]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483545.127617993]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483547.136371307]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483549.143774768]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483551.128927557]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483553.120629804]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483555.129354637]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483557.135238809]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483559.135396265]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483561.142978271]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483563.092335276]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483565.151619319]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483569.129859472]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483571.129864811]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483573.156383041]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483575.128537101]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483577.139566506]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720483583.137747795]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483585.117826335]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483587.133796382]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720483589.304075058]: Shutdown request received.[0m
[33m[ WARN] [1720483589.304121591]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720483589.305043423]: Shutdown request received.[0m
[33m[ WARN] [1720483589.305077713]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/d3a222d0-3d86-11ef-8ade-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
