/SLAM-Hive/slam_hive_results/mapping_results/2929/2137_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-7.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720485414.366667991]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720485414.368596720]: init begins[0m
[31m[ERROR] [1720485414.369642290]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/572e1aa6-3d8b-11ef-bdbf-0242ac110005/roslaunch-b172ad17529b-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://b172ad17529b:37483/[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] [1720485415.473388476]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720485415.475104653]: 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] [1720485415.480954814]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720485415.481149808]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720485415.481179417]: ROW: 384 COL: 601 [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] [1720485415.481373052]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720485415.481625755]: 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://b172ad17529b:11311/[0m
]2;roscore http://b172ad17529b:11311/
[1msetting /run_id to 572e1aa6-3d8b-11ef-bdbf-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] [1720485424.529735405]: 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: 316846906.60 
init first imu pose
averge acc 9.020195 -0.033170 -3.796231
init R0 
  0.387918 0.00805299   0.921659
         0  -0.999962 0.00873716
  0.921694 -0.0033893  -0.387903
[0m[ INFO] [1720485426.924640858]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485427.147594846]: IMU excitation not enouth![0m
[0m[ INFO] [1720485427.336940184]: IMU excitation not enouth![0m
[0m[ INFO] [1720485427.337747990]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485427.545338195]: IMU excitation not enouth![0m
[0m[ INFO] [1720485427.735010720]: IMU excitation not enouth![0m
[0m[ INFO] [1720485427.736087504]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485427.958132590]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485428.126479394]: IMU excitation not enouth![0m
[0m[ INFO] [1720485428.359867335]: IMU excitation not enouth![0m
[0m[ INFO] [1720485428.360312566]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485428.528046947]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485428.760078421]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485428.947286650]: IMU excitation not enouth![0m
[0m[ INFO] [1720485429.178750138]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485429.368637300]: Not enough features or parallax; Move device around[0m
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0709 00:37:09.658994   180 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0709 00:37:09.663481   180 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0709 00:37:09.667584   180 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0709 00:37:09.672214   180 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0709 00:37:10.043520   180 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0709 00:37:10.048696   180 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0709 00:37:10.053740   180 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0709 00:37:10.058768   180 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0709 00:37:10.063498   180 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0709 00:37:10.065246   180 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[0m[ INFO] [1720485430.379920650]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720485430.660344032]: gyroscope bias initial calibration -0.000273508    0.0201451    0.0789036[0m
[0m[ INFO] [1720485430.697434882]: Initialization finish![0m
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time: 1403638523.977829, t: 0.018263 0.007630 0.000186 q: -0.026516 0.825486 0.035198 0.562700 
time: 1403638524.177830, t: 0.033730 0.025486 0.091195 q: -0.021437 0.832608 0.049626 0.551218 
time: 1403638524.377830, t: 0.063172 0.044933 0.272547 q: -0.041559 0.829340 0.052658 0.554702 
time: 1403638524.577830, t: 0.094439 0.054785 0.495105 q: -0.078708 0.805302 0.069861 0.583449 
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time: 1403638524.977829, t: 0.193359 0.020466 0.895366 q: -0.158236 0.767322 0.128966 0.607903 
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time: 1403638525.977829, t: 1.678584 0.456101 2.241053 q: -0.394209 0.700358 0.316296 0.504039 
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time: 1403638526.977829, t: 6.047071 4.865169 5.448554 q: -0.439084 0.711558 0.269249 0.477907 
time: 1403638527.177830, t: 6.670656 6.462936 6.265279 q: -0.423256 0.733269 0.251947 0.468715 
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time: 1403638527.777829, t: 9.664327 11.153718 9.095677 q: -0.419728 0.733971 0.240589 0.476687 
time: 1403638528.177830, t: 12.764830 15.490491 11.227104 q: -0.457095 0.717082 0.260270 0.457294 
time: 1403638528.377830, t: 13.657599 20.953411 11.519769 q: -0.428588 0.726868 0.251404 0.474100 
time: 1403638528.577830, t: 12.259678 25.730284 12.430663 q: -0.410806 0.723089 0.258632 0.491417 
time: 1403638528.777829, t: 14.167362 28.869612 13.184772 q: -0.435958 0.725230 0.252855 0.469091 
time: 1403638528.977829, t: 18.141977 26.454769 15.665190 q: -0.487534 0.706596 0.262105 0.440832 
time: 1403638529.177830, t: 21.221407 29.446277 16.794551 q: -0.461245 0.724251 0.251903 0.446384 
time: 1403638529.377830, t: 20.900750 36.533603 17.598000 q: -0.397632 0.741986 0.254341 0.476084 
time: 1403638529.577830, t: 21.375869 41.900253 18.072590 q: -0.423510 0.742321 0.286272 0.433183 
time: 1403638529.777829, t: 26.295781 40.317720 20.335450 q: -0.457884 0.724432 0.303790 0.416236 
time: 1403638529.977829, t: 29.246250 46.245148 20.895526 q: -0.431457 0.740245 0.272131 0.437981 
time: 1403638530.177830, t: 26.359656 55.941840 21.704336 q: -0.395550 0.745215 0.272666 0.462437 
time: 1403638530.377830, t: 27.157939 62.359839 22.245121 q: -0.443501 0.734366 0.276997 0.432766 
time: 1403638530.577830, t: 34.048230 62.265264 24.695743 q: -0.434522 0.741728 0.268286 0.434802 
time: 1403638530.777829, t: 36.759572 66.843998 26.241123 q: -0.436862 0.744257 0.275979 0.423165 
time: 1403638530.977829, t: 40.587785 69.869873 28.117947 q: -0.443677 0.741006 0.276159 0.421660 
time: 1403638531.177830, t: 42.259473 79.659252 28.054937 q: -0.443399 0.740865 0.263915 0.429960 
time: 1403638531.377830, t: 45.765726 83.142966 30.039412 q: -0.456548 0.726551 0.275259 0.433498 
time: 1403638531.577830, t: 43.888900 95.854042 30.059502 q: -0.436197 0.739179 0.261102 0.441784 
time: 1403638531.777829, t: 53.363235 88.681495 34.457364 q: -0.462240 0.721068 0.280682 0.433142 
time: 1403638531.977829, t: 53.936711 101.165992 34.780495 q: -0.434379 0.736806 0.264978 0.445218 
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time: 1403638532.377830, t: 62.133461 107.071012 39.702777 q: -0.482937 0.707263 0.293726 0.424590 
time: 1403638532.577830, t: 63.570600 122.780587 38.856517 q: -0.457134 0.734257 0.265228 0.426087 
time: 1403638532.777829, t: 73.161669 118.684613 42.694000 q: -0.462952 0.728775 0.272940 0.424342 
time: 1403638532.977829, t: 71.209839 134.431293 43.135988 q: -0.434377 0.731196 0.270101 0.451348 
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time: 1403638533.377830, t: 80.823663 140.094978 48.732498 q: -0.498324 0.700058 0.297466 0.416059 
time: 1403638533.577830, t: 83.521551 159.028745 47.238771 q: -0.442271 0.738696 0.262267 0.435822 
time: 1403638533.777829, t: 96.462503 152.618561 51.581591 q: -0.459402 0.732322 0.269291 0.424424 
time: 1403638533.977829, t: 91.366746 172.139481 52.052208 q: -0.442207 0.725208 0.276056 0.449799 
time: 1403638534.177830, t: 82.818801 195.008991 51.109313 q: -0.454490 0.724489 0.273404 0.440232 
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time: 1403638547.177830, t: 629.510791 984.618278 169.115279 q: -0.462959 0.451371 0.657209 0.387311 
time: 1403638547.377830, t: 633.477483 1000.887512 169.864043 q: -0.446340 0.469636 0.657192 0.385125 
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time: 1403638631.177830, t: 6621.904698 26023.656237 -8193.933437 q: 0.574818 0.758802 0.157615 0.262606 
time: 1403638631.377830, t: 6687.366682 26143.067937 -8262.966439 q: 0.575354 0.759066 0.157325 0.260837 
time: 1403638631.577830, t: 6746.022768 26265.870130 -8331.519046 q: 0.580598 0.754996 0.151864 0.264244 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720485540.191566341]: Shutdown request received.[0m
[33m[ WARN] [1720485540.191633437]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720485540.192618295]: Shutdown request received.[0m
[33m[ WARN] [1720485540.192642573]: Reason given for shutdown: [user request][0m
killed
