/SLAM-Hive/slam_hive_results/mapping_results/2921/2129_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-29.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720484177.066039952]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720484177.067674366]: init begins[0m
[31m[ERROR] [1720484177.068851226]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/75aee350-3d88-11ef-809f-0242ac110005/roslaunch-5ee89a090034-118.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://5ee89a090034:37893/[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
[1mROS_MASTER_URI=http://5ee89a090034:11311/[0m
]2;roscore http://5ee89a090034:11311/
[1msetting /run_id to 75aee350-3d88-11ef-809f-0242ac110005[0m
[0m[ INFO] [1720484178.221540393]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720484178.224316029]: 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] [1720484178.230870576]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720484178.231089400]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720484178.231117643]: ROW: 96 COL: 150 [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] [1720484178.231342104]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720484178.231633197]: 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 [230][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720484187.206987196]: 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: 316846060.09 
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 ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720484208.517941307]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484210.516869720]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484212.494588990]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484214.511950739]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484216.516280660]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484218.525800083]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484220.509701998]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484222.517240787]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484224.506201159]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484226.507150701]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720484228.496007934]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484230.507541985]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484232.512874620]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720484234.490992349]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484236.514272407]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484238.511470578]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484240.514884445]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484242.498204840]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484244.510475945]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484246.514547404]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484248.502043817]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484250.512043471]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484252.511507473]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484254.512063902]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484256.492765791]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484258.509109961]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484260.491644708]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484262.517842473]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484264.513907927]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484266.512652860]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484268.512820609]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484270.508346810]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484272.511401356]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484274.516768843]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484276.510992248]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484278.493614605]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484280.504536717]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484282.497295920]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484284.508096591]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720484286.489526164]: Not enough features or parallax; Move device around[0mwait for imu ... 
[0m[ INFO] [1720484288.511040683]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720484290.711608699]: Shutdown request received.[0m
[33m[ WARN] [1720484290.711650437]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720484290.712584017]: Shutdown request received.[0m
[33m[ WARN] [1720484290.712621093]: Reason given for shutdown: [user request][0m
killed
