/SLAM-Hive/slam_hive_results/mapping_results/2927/2135_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-5.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720485105.382552943]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720485105.384372331]: init begins[0m
[31m[ERROR] [1720485105.385423477]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9f022f76-3d8a-11ef-88b2-0242ac110005/roslaunch-43ad71c3b3c5-118.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://43ad71c3b3c5:34721/[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] [1720485106.489087027]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720485106.490780806]: 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] [1720485106.496611363]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720485106.496797527]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720485106.496824343]: 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] [1720485106.496987618]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720485106.497251741]: 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://43ad71c3b3c5:11311/[0m
]2;roscore http://43ad71c3b3c5:11311/
[1msetting /run_id to 9f022f76-3d8a-11ef-88b2-0242ac110005[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_05_difficult.bag  --clock 
[0m[ INFO] [1720485115.551062452]: 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: 316846597.62 
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] [1720485116.895066421]: IMU excitation not enouth![0m
[0m[ INFO] [1720485116.895316320]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485117.092753271]: IMU excitation not enouth![0m
[0m[ INFO] [1720485117.304667031]: IMU excitation not enouth![0m
[0m[ INFO] [1720485117.304827568]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485117.391848300]: IMU excitation not enouth![0m
[0m[ INFO] [1720485117.391948352]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485117.609639908]: IMU excitation not enouth![0m
[0m[ INFO] [1720485117.609850798]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485117.794570953]: IMU excitation not enouth![0m
[0m[ INFO] [1720485117.906307354]: IMU excitation not enouth![0m
[0m[ INFO] [1720485117.906573805]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485118.105595406]: IMU excitation not enouth![0m
[0m[ INFO] [1720485118.105761295]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485118.289419152]: IMU excitation not enouth![0m
[0m[ INFO] [1720485118.289455349]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485118.406278837]: IMU excitation not enouth![0m
[0m[ INFO] [1720485118.406406609]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485118.588688560]: IMU excitation not enouth![0m
[0m[ INFO] [1720485118.588723507]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485118.792919451]: IMU excitation not enouth![0m
[0m[ INFO] [1720485118.793058037]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485118.893793513]: IMU excitation not enouth![0m
[0m[ INFO] [1720485118.893979242]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485119.102827404]: IMU excitation not enouth![0m
[0m[ INFO] [1720485119.103024577]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485119.289626961]: IMU excitation not enouth![0m
[0m[ INFO] [1720485119.289692955]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485119.603581364]: IMU excitation not enouth![0m
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[0m[ INFO] [1720485119.804349230]: IMU excitation not enouth![0m
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[0m[ INFO] [1720485120.793200648]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485120.904403418]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485121.093299885]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485121.294198118]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485122.408347125]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485122.892529954]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485125.094251607]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485125.304010605]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485126.294986912]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485126.393525190]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485126.605571348]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485127.293081638]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485127.393737581]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485127.609484256]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485127.794796921]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485127.908182361]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485128.104906131]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485128.294787478]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485128.606286909]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485128.793089546]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485128.893330889]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485129.091562434]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485129.294344015]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485129.597845015]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485129.797313428]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485129.910651701]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485130.095854058]: IMU excitation not enouth![0m
[0m[ INFO] [1720485130.096004284]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485130.296852452]: IMU excitation not enouth![0m
[0m[ INFO] [1720485130.297051826]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485130.399542474]: IMU excitation not enouth![0m
[0m[ INFO] [1720485130.399620891]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485130.592271558]: IMU excitation not enouth![0m
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[0m[ INFO] [1720485130.798319246]: IMU excitation not enouth![0m
[0m[ INFO] [1720485130.892524337]: IMU excitation not enouth![0m
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[0m[ INFO] [1720485131.908837915]: IMU excitation not enouth![0m
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[0m[ INFO] [1720485132.304841125]: IMU excitation not enouth![0m
[0m[ INFO] [1720485132.397701964]: IMU excitation not enouth![0m
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[0m[ INFO] [1720485132.896641405]: IMU excitation not enouth![0m
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[0m[ INFO] [1720485133.293623233]: IMU excitation not enouth![0m
[0m[ INFO] [1720485133.408202378]: IMU excitation not enouth![0m
[0m[ INFO] [1720485133.596688897]: IMU excitation not enouth![0m
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[0m[ INFO] [1720485133.796087750]: IMU excitation not enouth![0m
[0m[ INFO] [1720485133.895337112]: IMU excitation not enouth![0m
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[0m[ INFO] [1720485135.604748196]: IMU excitation not enouth![0m
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[0m[ INFO] [1720485135.794999053]: IMU excitation not enouth![0m
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[0m[ INFO] [1720485138.809002143]: IMU excitation not enouth![0m
[0m[ INFO] [1720485138.908000137]: IMU excitation not enouth![0m
[0m[ INFO] [1720485139.097136937]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485192.905794843]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485199.293522205]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485199.595478162]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485199.907233747]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485200.806057628]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485201.099180400]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485201.388882344]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485201.589787898]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485201.794569386]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485202.793766422]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485202.893955445]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485203.795067968]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485203.890668955]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485204.090146859]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485204.305202260]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485204.404065428]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485204.790146263]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485205.303752998]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485205.390503479]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485205.890335118]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485206.100644550]: IMU excitation not enouth![0m
[0m[ INFO] [1720485206.100751971]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485206.294031087]: IMU excitation not enouth![0m
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[0m[ INFO] [1720485218.394010961]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485219.093702354]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485219.294237981]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485219.389994469]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485219.803323407]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720485220.094852731]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485220.294306997]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485220.392668543]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485220.599924606]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485220.792873240]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485220.893766697]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485221.309288470]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485221.390452976]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485221.594672543]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485221.809430571]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485221.893633309]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485222.100343454]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485222.292375890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485222.392570315]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485222.594258587]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485222.793824446]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485222.894429948]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485223.292447065]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485223.390573802]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485223.590790574]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485223.800399128]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485223.905174776]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485224.108715272]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485224.305824088]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485224.404861746]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485224.594107086]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485224.805146648]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485224.895491263]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485225.089048571]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485225.299333673]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485225.405273940]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485225.590265814]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485225.792648611]: IMU excitation not enouth![0m
[0m[ INFO] [1720485225.893837739]: IMU excitation not enouth![0m
[0m[ INFO] [1720485225.894057232]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485226.088014551]: IMU excitation not enouth![0m
[0m[ INFO] [1720485226.293055220]: IMU excitation not enouth![0m
[0m[ INFO] [1720485226.406432571]: IMU excitation not enouth![0m
[0m[ INFO] [1720485226.587563537]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485226.802988155]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485226.886614582]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485227.102792390]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485227.292343913]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485227.405212788]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485227.603651276]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485227.792192411]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485228.089300058]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485228.401556317]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485228.590813610]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485228.792244096]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485228.893280315]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485229.093128774]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485229.291218413]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485229.404373359]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720485231.247210154]: Shutdown request received.[0m
[33m[ WARN] [1720485231.247246061]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720485231.248247973]: Shutdown request received.[0m
[33m[ WARN] [1720485231.248276817]: Reason given for shutdown: [user request][0m
killed
