/SLAM-Hive/slam_hive_results/mapping_results/2920/2128_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-28.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720484036.466036380]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720484036.467609854]: init begins[0m
[31m[ERROR] [1720484036.468739059]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/21e2770a-3d88-11ef-8372-0242ac110005/roslaunch-5b9a2063ed9c-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://5b9a2063ed9c:35103/[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] [1720484037.572632427]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720484037.573471255]: 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] [1720484037.579402208]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720484037.579593113]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720484037.579620603]: ROW: 192 COL: 300 [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] [1720484037.579811443]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720484037.580058549]: 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
[1mROS_MASTER_URI=http://5b9a2063ed9c:11311/[0m
]2;roscore http://5b9a2063ed9c:11311/
[1msetting /run_id to 21e2770a-3d88-11ef-8372-0242ac110005[0m
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] [1720484046.617475332]: 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: 316845919.50 
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] [1720484067.930971538]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484069.923143012]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484071.935711916]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484073.930062313]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484075.936936192]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484077.933360663]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484079.926227381]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484081.909034322]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484083.923226907]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484085.936643063]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484087.910832176]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484089.908439019]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484091.906114624]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484093.920713500]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484095.904510691]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484097.925737597]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484099.923966503]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484101.934389156]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484103.931289095]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484105.927112206]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484107.901126790]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484109.931937224]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484111.900514716]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484113.922575829]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484115.926370026]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484117.924052779]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484119.924398628]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484123.908596836]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484125.923917252]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484127.924596317]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484129.928881439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484131.927913968]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484133.906352064]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484135.923610914]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484137.932423982]: 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] [1720484143.922759184]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484145.925530207]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484147.926644871]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720484149.980557549]: Shutdown request received.[0m
[33m[ WARN] [1720484149.980609808]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720484149.981488168]: Shutdown request received.[0m
[33m[ WARN] [1720484149.981527524]: Reason given for shutdown: [user request][0m
killed
