/SLAM-Hive/slam_hive_results/mapping_results/2919/2127_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-27.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720483896.374777476]: init begins[0m
[31m[ERROR] [1720483896.375323848]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720483896.375894412]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ce630518-3d87-11ef-9ea1-0242ac110005/roslaunch-47946cade47f-117.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://47946cade47f:40621/[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 [154][0m
[1mROS_MASTER_URI=http://47946cade47f:11311/[0m
]2;roscore http://47946cade47f:11311/
[1msetting /run_id to ce630518-3d87-11ef-9ea1-0242ac110005[0m
[0m[ INFO] [1720483897.535536940]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720483897.538688913]: 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] [1720483897.560748853]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720483897.561224760]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720483897.561291651]: ROW: 240 COL: 376 [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] [1720483897.561628808]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720483897.562134463]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
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 [224][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720483906.526509548]: 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: 316845779.41 
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
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483927.837414598]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483929.818490649]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483931.849871536]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483933.835742930]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483935.849210092]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483937.844238155]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483939.837030364]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483941.837193448]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483943.832393215]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483945.844667109]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483947.840808160]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483949.837289383]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483951.840017178]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483953.832873229]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483955.829928855]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483957.843317764]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483959.841013888]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483961.851652519]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483963.836572094]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483965.835435750]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483967.832809200]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483969.834175746]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483971.809389187]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483973.817594145]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483975.811354936]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483977.827883113]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483979.839532624]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483981.853394667]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483983.837749759]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483985.812563924]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483987.835690642]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483989.838449037]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483991.837814251]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483993.818085932]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483995.813805545]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483997.848000633]: 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!
[0m[ INFO] [1720484003.836873260]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484005.837033587]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484007.837118205]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720484009.889632166]: Shutdown request received.[0m
[33m[ WARN] [1720484009.889673723]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720484009.890515887]: Shutdown request received.[0m
[33m[ WARN] [1720484009.890542069]: Reason given for shutdown: [user request][0m
killed
