/SLAM-Hive/slam_hive_results/mapping_results/2934/2142_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-12.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720486183.154149049]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720486183.156116417]: init begins[0m
[31m[ERROR] [1720486183.157256072]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/216a1af8-3d8d-11ef-bc62-0242ac110005/roslaunch-453a3dc037a1-120.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://453a3dc037a1:46441/[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 [157][0m
[0m[ INFO] [1720486184.261403985]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720486184.263340241]: 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] [1720486184.270000930]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720486184.270198250]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720486184.270223274]: ROW: 480 COL: 752 [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] [1720486184.270410488]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720486184.270691842]: 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://453a3dc037a1:11311/[0m
]2;roscore http://453a3dc037a1:11311/
[1msetting /run_id to 216a1af8-3d8d-11ef-bc62-0242ac110005[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 [244][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720486193.316743172]: 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: 316847675.39 
init first imu pose
averge acc 9.017038 -0.028934 -3.796764
init R0 
   0.388077  0.00702325      0.9216
          0   -0.999971  0.00762049
   0.921627 -0.00295733   -0.388065
[0m[ INFO] [1720486197.848828607]: IMU excitation not enouth![0m
[0m[ INFO] [1720486197.862002337]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486198.248886160]: IMU excitation not enouth![0m
[33m[ WARN] [1720486198.381932268]: gyroscope bias initial calibration 0.0153638 0.0355606 0.0833006[0m
[0m[ INFO] [1720486198.493771938]: Initialization finish![0m
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time: 1403638631.077830, t: -755.135711 1577.732343 -413.941470 q: 0.151236 0.813995 -0.136541 0.543963 
time: 1403638631.477829, t: -760.468236 1594.931335 -417.187876 q: 0.150747 0.814117 -0.137148 0.543764 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720486308.952586151]: Shutdown request received.[0m
[33m[ WARN] [1720486308.952639883]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720486308.953527179]: Shutdown request received.[0m
[33m[ WARN] [1720486308.953557166]: Reason given for shutdown: [user request][0m
killed
