/SLAM-Hive/slam_hive_results/mapping_results/2924/2132_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-2.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720484644.906520214]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720484644.908777335]: init begins[0m
[31m[ERROR] [1720484644.909907141]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/8c8a8542-3d89-11ef-b43f-0242ac110005/roslaunch-32031d4a01ee-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://32031d4a01ee:39211/[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://32031d4a01ee:11311/[0m
]2;roscore http://32031d4a01ee:11311/
[1msetting /run_id to 8c8a8542-3d89-11ef-b43f-0242ac110005[0m
[0m[ INFO] [1720484646.061990808]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720484646.065342217]: 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] [1720484646.071934281]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720484646.072150089]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720484646.072184990]: ROW: 288 COL: 451 [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] [1720484646.072377882]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720484646.072676772]: 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 [225][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720484655.060344187]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316846137.14 
init first imu pose
averge acc 9.015113 -0.047866 -3.797742
init R0 
 0.388249 0.0116141  0.921482
        0 -0.999921 0.0126027
 0.921555 -0.004893 -0.388218
[0m[ INFO] [1720484656.424674099]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484656.616131150]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484656.829421349]: IMU excitation not enouth![0m
[0m[ INFO] [1720484656.911592026]: IMU excitation not enouth![0m
[0m[ INFO] [1720484656.912050906]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484657.120567144]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484657.329207933]: IMU excitation not enouth![0m
[0m[ INFO] [1720484657.424919720]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484657.636128829]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484657.806013469]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484657.936671121]: IMU excitation not enouth![0m
[0m[ INFO] [1720484657.937324479]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484658.106447580]: IMU excitation not enouth![0m
[0m[ INFO] [1720484658.324082662]: IMU excitation not enouth![0m
[0m[ INFO] [1720484658.416419145]: IMU excitation not enouth![0m
[0m[ INFO] [1720484658.417084282]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484658.634173330]: IMU excitation not enouth![0m
[0m[ INFO] [1720484658.635108829]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484658.823223975]: IMU excitation not enouth![0m
[0m[ INFO] [1720484658.823847988]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484658.923128185]: IMU excitation not enouth![0m
[0m[ INFO] [1720484659.134279061]: IMU excitation not enouth![0m
[0m[ INFO] [1720484659.135158269]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484659.331183424]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484659.407046175]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484659.708955742]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720484659.948677768]: gyroscope bias initial calibration 0.00135811   0.027428  0.0819145[0m
[0m[ INFO] [1720484660.008721545]: Initialization finish![0m
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time: 1403638522.627830, t: -0.027141 0.005195 0.146150 q: -0.045741 0.828705 0.012569 0.557672 
time: 1403638522.727829, t: -0.031921 0.002313 0.185236 q: -0.047591 0.823733 0.019115 0.564653 
time: 1403638522.827830, t: -0.033560 0.004557 0.226562 q: -0.056397 0.817831 0.023180 0.572220 
time: 1403638522.927830, t: -0.036693 -0.000736 0.267093 q: -0.069893 0.812356 0.018406 0.578666 
time: 1403638523.027829, t: -0.039882 -0.002813 0.300324 q: -0.074116 0.808362 0.015581 0.583794 
time: 1403638523.127830, t: -0.044654 -0.010844 0.317770 q: -0.074200 0.806936 0.016213 0.585736 
time: 1403638523.227829, t: -0.051269 -0.016639 0.315774 q: -0.069950 0.805449 0.015972 0.588306 
time: 1403638523.327830, t: -0.062342 -0.024741 0.296369 q: -0.060784 0.803071 0.015451 0.592573 
time: 1403638523.427830, t: -0.075668 -0.032994 0.258016 q: -0.057717 0.803914 0.016206 0.591717 
time: 1403638523.527829, t: -0.080120 -0.041701 0.215066 q: -0.051860 0.810757 0.020052 0.582736 
time: 1403638523.627830, t: -0.099378 -0.051128 0.162863 q: -0.044417 0.820951 0.024013 0.568762 
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time: 1403638523.827830, t: -0.096399 -0.057322 0.080635 q: -0.036648 0.830582 0.029284 0.554917 
time: 1403638523.927830, t: -0.095996 -0.063211 0.044741 q: -0.029260 0.830231 0.033474 0.555644 
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time: 1403638524.127830, t: -0.080141 -0.059365 0.025580 q: -0.015475 0.836275 0.047819 0.546003 
time: 1403638524.227829, t: -0.067253 -0.058817 0.071339 q: -0.019677 0.839661 0.050077 0.540440 
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time: 1403638524.527829, t: -0.049360 -0.058249 0.239037 q: -0.040384 0.825377 0.045723 0.561277 
time: 1403638524.627830, t: -0.041075 -0.056003 0.296333 q: -0.040152 0.817261 0.041771 0.573348 
time: 1403638524.727829, t: -0.033962 -0.051720 0.343771 q: -0.030539 0.812211 0.036296 0.581432 
time: 1403638524.827830, t: -0.028526 -0.048039 0.376608 q: -0.017601 0.809440 0.030962 0.586122 
time: 1403638524.927830, t: -0.025680 -0.044116 0.395113 q: -0.021291 0.808158 0.030755 0.587777 
time: 1403638525.027829, t: -0.025909 -0.043803 0.394267 q: -0.025539 0.805816 0.034166 0.590628 
time: 1403638525.127830, t: -0.024628 -0.042579 0.370021 q: -0.020764 0.803315 0.037829 0.593988 
time: 1403638525.227829, t: -0.022785 -0.043944 0.331117 q: -0.019126 0.803449 0.042617 0.593538 
time: 1403638525.327830, t: -0.025155 -0.044540 0.281365 q: -0.019701 0.809194 0.047175 0.585314 
time: 1403638525.427830, t: -0.029714 -0.043841 0.226920 q: -0.024435 0.820350 0.050186 0.569132 
time: 1403638525.527829, t: -0.035646 -0.044950 0.176495 q: -0.033281 0.831698 0.050566 0.551918 
time: 1403638525.627830, t: -0.039292 -0.047479 0.132423 q: -0.036405 0.837502 0.048389 0.543068 
time: 1403638525.727829, t: -0.042982 -0.045131 0.096385 q: -0.034274 0.837987 0.043713 0.542856 
time: 1403638525.827830, t: -0.043333 -0.045541 0.069199 q: -0.029458 0.834798 0.037503 0.548487 
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time: 1403638526.027829, t: -0.042721 -0.064242 0.049376 q: -0.013464 0.831897 0.033672 0.553744 
time: 1403638526.127830, t: -0.045378 -0.088604 0.053879 q: -0.010022 0.834356 0.026643 0.550490 
time: 1403638526.227829, t: -0.049402 -0.121263 0.066264 q: -0.007068 0.835205 0.016551 0.549644 
time: 1403638526.327830, t: -0.055990 -0.159441 0.081102 q: -0.003489 0.832162 0.007668 0.554469 
time: 1403638526.427830, t: -0.065332 -0.202874 0.095129 q: -0.000624 0.827027 -0.002191 0.562157 
time: 1403638526.527829, t: -0.076808 -0.251282 0.106136 q: 0.000720 0.821618 -0.014067 0.569864 
time: 1403638526.627830, t: -0.089692 -0.307079 0.114353 q: 0.003576 0.815715 -0.023900 0.577949 
time: 1403638526.727829, t: -0.106220 -0.369074 0.121344 q: 0.009507 0.811303 -0.031393 0.583705 
time: 1403638526.827830, t: -0.125285 -0.436896 0.127491 q: 0.020302 0.808817 -0.035303 0.586649 
time: 1403638526.927830, t: -0.145482 -0.502515 0.132457 q: 0.025220 0.809793 -0.039674 0.584830 
time: 1403638527.027829, t: -0.164933 -0.563829 0.136556 q: 0.031454 0.813817 -0.049918 0.578118 
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time: 1403638527.227829, t: -0.194221 -0.670795 0.149476 q: 0.048363 0.816062 -0.080097 0.570340 
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time: 1403638527.727829, t: -0.180490 -0.644833 0.162750 q: 0.082345 0.804579 -0.094628 0.580446 
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optimize pose graph 
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time: 1403638543.027829, t: 1.444738 1.018692 0.579599 q: -0.163914 0.779906 0.258057 0.546154 
optimize pose graph 
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time: 1403638603.227829, t: 9.545974 8.335997 3.005002 q: -0.284139 0.706605 0.318402 0.564441 
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time: 1403638604.027829, t: 9.128171 8.447701 3.021792 q: -0.253482 0.697456 0.371278 0.558082 
time: 1403638604.127830, t: 9.053237 8.445990 3.003286 q: -0.249899 0.694390 0.372875 0.562439 
time: 1403638604.227829, t: 8.968776 8.439285 2.990326 q: -0.252988 0.695809 0.371386 0.560285 
time: 1403638604.327830, t: 8.872959 8.430711 2.984412 q: -0.259454 0.702409 0.367477 0.551603 
time: 1403638604.427830, t: 8.768931 8.414885 2.983887 q: -0.261571 0.710564 0.366361 0.540794 
time: 1403638604.527829, t: 8.661093 8.396572 2.989619 q: -0.258475 0.717803 0.368545 0.531154 
time: 1403638604.627830, t: 8.550250 8.375611 2.994441 q: -0.257450 0.720888 0.369476 0.526809 
time: 1403638604.727829, t: 8.436930 8.353744 2.994233 q: -0.261492 0.723592 0.366760 0.522995 
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time: 1403638605.027829, t: 8.104679 8.270478 2.993549 q: -0.260380 0.737162 0.367849 0.503470 
optimize pose graph 
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time: 1403638605.327830, t: 7.800703 8.192985 3.042980 q: -0.249875 0.743186 0.375560 0.494158 
time: 1403638605.427830, t: 7.709053 8.178131 3.056367 q: -0.243277 0.735428 0.380561 0.505110 
time: 1403638605.527829, t: 7.615218 8.168288 3.064140 q: -0.237360 0.725149 0.384853 0.519334 
time: 1403638605.627830, t: 7.519851 8.161073 3.065840 q: -0.231317 0.717644 0.389152 0.529189 
time: 1403638605.727829, t: 7.418726 8.158246 3.066298 q: -0.228571 0.714338 0.391135 0.533376 
time: 1403638605.827830, t: 7.313011 8.160605 3.073864 q: -0.227089 0.714901 0.391980 0.532634 
time: 1403638605.927830, t: 7.201937 8.168967 3.090661 q: -0.224250 0.714305 0.393521 0.533499 
time: 1403638606.027829, t: 7.084828 8.185105 3.109237 q: -0.220167 0.713639 0.395173 0.534869 
time: 1403638606.127830, t: 6.958976 8.203924 3.124995 q: -0.217277 0.713691 0.396054 0.535329 
time: 1403638606.227829, t: 6.828273 8.230623 3.130217 q: -0.214138 0.713879 0.397499 0.535272 
time: 1403638606.327830, t: 6.688792 8.259929 3.131398 q: -0.215338 0.717849 0.395627 0.530850 
time: 1403638606.427830, t: 6.543017 8.295975 3.121187 q: -0.222161 0.728183 0.390006 0.517966 
time: 1403638606.527829, t: 6.394322 8.335413 3.106067 q: -0.230662 0.738810 0.383327 0.504000 
time: 1403638606.627830, t: 6.250363 8.382384 3.085449 q: -0.236128 0.744850 0.382133 0.493373 
time: 1403638606.727829, t: 6.107706 8.436246 3.060970 q: -0.240097 0.746174 0.388689 0.484251 
time: 1403638606.827830, t: 5.969495 8.497344 3.032195 q: -0.246601 0.743487 0.399784 0.476012 
time: 1403638606.927830, t: 5.833464 8.565682 3.006267 q: -0.256200 0.737271 0.414038 0.468365 
time: 1403638607.027829, t: 5.707971 8.642804 2.987341 q: -0.269442 0.728833 0.428941 0.460666 
time: 1403638607.127830, t: 5.593713 8.726886 2.979091 q: -0.286249 0.721127 0.438504 0.453599 
optimize pose graph 
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time: 1403638607.327830, t: 5.383023 8.909158 2.965994 q: -0.313947 0.696473 0.446492 0.465840 
time: 1403638607.427830, t: 5.282011 9.001329 2.949465 q: -0.323298 0.689840 0.447003 0.468814 
time: 1403638607.527829, t: 5.185172 9.092685 2.925055 q: -0.327606 0.688880 0.447540 0.466719 
time: 1403638607.627830, t: 5.092930 9.181329 2.895700 q: -0.328767 0.687590 0.448728 0.466665 
time: 1403638607.727829, t: 5.005687 9.269216 2.863099 q: -0.328428 0.685243 0.448999 0.470082 
time: 1403638607.827830, t: 4.920650 9.356002 2.826502 q: -0.327606 0.685911 0.448596 0.470067 
time: 1403638607.927830, t: 4.845288 9.438174 2.786876 q: -0.329903 0.690187 0.445286 0.465324 
time: 1403638608.027829, t: 4.771226 9.522723 2.741872 q: -0.331978 0.692022 0.441636 0.464601 
time: 1403638608.127830, t: 4.705152 9.604649 2.693056 q: -0.330433 0.689434 0.440639 0.470459 
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time: 1403638608.327830, t: 4.580893 9.753557 2.584864 q: -0.327089 0.680486 0.439603 0.486518 
time: 1403638608.427830, t: 4.518937 9.820609 2.522374 q: -0.327716 0.676939 0.438688 0.491842 
time: 1403638608.527829, t: 4.456244 9.883125 2.454443 q: -0.326033 0.678805 0.439388 0.489760 
time: 1403638608.627830, t: 4.398266 9.941768 2.384069 q: -0.328237 0.678065 0.437010 0.491437 
time: 1403638608.727829, t: 4.335903 9.995980 2.318448 q: -0.332130 0.675350 0.434696 0.494601 
time: 1403638608.827830, t: 4.276320 10.042342 2.256903 q: -0.330419 0.678037 0.436130 0.490795 
time: 1403638608.927830, t: 4.215294 10.083150 2.201873 q: -0.328647 0.681968 0.437521 0.485270 
time: 1403638609.027829, t: 4.156085 10.122386 2.153370 q: -0.328666 0.685766 0.437727 0.479687 
time: 1403638609.127830, t: 4.099140 10.157257 2.111172 q: -0.327452 0.687323 0.438463 0.477610 
time: 1403638609.227829, t: 4.046112 10.188214 2.072263 q: -0.334213 0.687458 0.433613 0.477162 
optimize pose graph 
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time: 1403638609.927830, t: 3.774901 10.311472 1.672008 q: -0.326801 0.687441 0.437525 0.478746 
time: 1403638610.027829, t: 3.750425 10.319553 1.624880 q: -0.329205 0.686290 0.435971 0.480166 
time: 1403638610.127830, t: 3.726635 10.319274 1.587064 q: -0.332423 0.683436 0.433669 0.484088 
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time: 1403638611.027829, t: 3.548127 10.088911 1.137950 q: -0.339896 0.679266 0.430445 0.487632 
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time: 1403638613.127830, t: 3.095960 8.407751 0.504314 q: -0.314125 0.685750 0.432167 0.494271 
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time: 1403638630.927830, t: 0.260615 -0.155420 -0.119324 q: 0.091743 0.827978 -0.128403 0.538096 
time: 1403638631.027829, t: 0.282095 -0.167791 -0.096159 q: 0.091021 0.828734 -0.128780 0.536965 
time: 1403638631.127830, t: 0.243671 -0.148681 -0.127513 q: 0.091123 0.828138 -0.129339 0.537732 
time: 1403638631.227829, t: 0.235801 -0.145177 -0.133112 q: 0.091336 0.828144 -0.129240 0.537710 
time: 1403638631.327830, t: 0.227130 -0.144979 -0.136877 q: 0.091233 0.828049 -0.129234 0.537876 
time: 1403638631.427830, t: 0.218732 -0.143551 -0.141152 q: 0.091466 0.828061 -0.129061 0.537858 
time: 1403638631.527829, t: 0.210783 -0.142040 -0.145404 q: 0.091523 0.828159 -0.129162 0.537674 
time: 1403638631.627830, t: 0.202355 -0.141405 -0.149292 q: 0.091751 0.828239 -0.128984 0.537555 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720484770.630284720]: Shutdown request received.[0m
[33m[ WARN] [1720484770.630324431]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720484770.631272243]: Shutdown request received.[0m
[33m[ WARN] [1720484770.631298944]: Reason given for shutdown: [user request][0m
killed
