/SLAM-Hive/slam_hive_results/mapping_results/2937/2145_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-15.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720486645.361873837]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720486645.363454430]: init begins[0m
[31m[ERROR] [1720486645.364452728]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/34e8c66e-3d8e-11ef-bc60-0242ac110005/roslaunch-717011c4e3a2-118.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://717011c4e3a2:38627/[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://717011c4e3a2:11311/[0m
]2;roscore http://717011c4e3a2:11311/
[1msetting /run_id to 34e8c66e-3d8e-11ef-bc60-0242ac110005[0m
[0m[ INFO] [1720486646.517466108]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720486646.519861837]: 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] [1720486646.526312551]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720486646.526520545]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720486646.526545800]: ROW: 240 COL: 376 [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] [1720486646.526757373]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720486646.527045380]: 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 [226][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720486655.525076716]: 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: 316848137.60 
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] [1720486660.036324495]: IMU excitation not enouth![0m
[0m[ INFO] [1720486660.435830532]: IMU excitation not enouth![0m
[0m[ INFO] [1720486660.862682964]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486661.254542954]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486661.648927596]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486662.050188263]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486662.437655221]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486662.834216704]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486663.241559835]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486663.636833132]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486664.044363037]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486664.443020883]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486664.834361263]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486665.249754270]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486665.624009573]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720486666.859420273]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486667.239614681]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486667.639565621]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486668.044943051]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486668.440243505]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486668.832500230]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486669.225497115]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486669.638557211]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486670.038341287]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486670.437771799]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486670.825072967]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486671.239829695]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486671.623357449]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486672.051189112]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486672.420977371]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486672.836954549]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486673.237710107]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486673.644839057]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486674.043465070]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486674.448791748]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486674.850953651]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486675.237062221]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486675.647452682]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486676.038029352]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486676.450978364]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486676.840512473]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486677.245089861]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486677.640675137]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486678.037892345]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486678.441231184]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486678.864805853]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720486681.300951423]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
pts_3_vector size 5
[33m[ WARN] [1720486682.896239056]: gyroscope bias initial calibration -0.00180958   0.0171316   0.0804418[0m
[0m[ INFO] [1720486682.929964721]: Initialization finish![0m
time: 1403638545.077830, t: 1.696184 2.210773 0.477311 q: -0.181410 0.774803 0.269310 0.542442 
time: 1403638545.477829, t: 1.831105 2.455492 0.408436 q: -0.183908 0.771655 0.271697 0.544892 
time: 1403638545.877830, t: 2.015177 2.775130 0.402607 q: -0.218357 0.754881 0.327273 0.524754 
time: 1403638546.277829, t: 2.214822 3.138579 0.456535 q: -0.249984 0.727218 0.392032 0.504948 
time: 1403638546.677830, t: 2.376130 3.512376 0.445596 q: -0.265583 0.720783 0.405813 0.495230 
time: 1403638547.077830, t: 2.577710 3.970839 0.504269 q: -0.266570 0.709879 0.426495 0.493066 
time: 1403638547.477829, t: 2.719015 4.437205 0.494549 q: -0.271464 0.710307 0.426216 0.490011 
time: 1403638547.877830, t: 2.768086 4.868048 0.424070 q: -0.271714 0.709866 0.425803 0.490870 
time: 1403638548.277829, t: 2.783380 5.303228 0.371445 q: -0.289753 0.700560 0.445805 0.475937 
time: 1403638548.677830, t: 2.805384 5.821442 0.421726 q: -0.321914 0.672434 0.487027 0.454982 
time: 1403638549.077830, t: 2.834179 6.338189 0.493108 q: -0.330688 0.665239 0.497317 0.448083 
time: 1403638549.477829, t: 2.850472 6.833955 0.642134 q: -0.338117 0.667279 0.491476 0.445944 
time: 1403638549.877830, t: 2.888328 7.352463 0.762122 q: -0.338599 0.667662 0.489379 0.447310 
time: 1403638550.277829, t: 2.955368 7.859249 0.961630 q: -0.339628 0.668528 0.490235 0.444289 
time: 1403638550.677830, t: 3.047312 8.421313 1.190347 q: -0.350818 0.666090 0.483839 0.446263 
time: 1403638551.077830, t: 3.192656 8.978680 1.342647 q: -0.366019 0.653308 0.471753 0.465475 
time: 1403638551.477829, t: 3.382790 9.458135 1.484241 q: -0.358778 0.673628 0.452550 0.461196 
time: 1403638552.277829, t: 3.981779 10.045626 1.690654 q: -0.287281 0.732388 0.358396 0.502622 
time: 1403638552.677830, t: 4.391132 10.271300 1.696680 q: -0.299253 0.723544 0.349900 0.514297 
time: 1403638553.077830, t: 4.705821 10.107150 1.814682 q: -0.290401 0.718537 0.368084 0.513699 
time: 1403638553.477829, t: 5.073644 9.975725 1.842595 q: -0.299967 0.698271 0.371099 0.533594 
time: 1403638553.877830, t: 5.371991 9.688613 1.955612 q: -0.292157 0.696109 0.380527 0.534112 
time: 1403638554.277829, t: 5.594029 9.314573 2.062517 q: -0.281605 0.712171 0.389854 0.511395 
time: 1403638554.677830, t: 5.761972 8.909875 2.104327 q: -0.282804 0.719867 0.391861 0.498256 
time: 1403638555.077830, t: 5.987116 8.586338 2.175260 q: -0.291684 0.722441 0.380319 0.498354 
time: 1403638555.477829, t: 6.193617 8.201531 2.179224 q: -0.265187 0.736955 0.356517 0.509380 
time: 1403638555.877830, t: 6.392364 7.852192 2.194796 q: -0.260797 0.741023 0.353463 0.507872 
time: 1403638556.277829, t: 6.595873 7.521810 2.273689 q: -0.257033 0.748010 0.357794 0.496385 
time: 1403638557.077830, t: 7.140487 6.954173 2.404294 q: -0.275130 0.749157 0.343318 0.495177 
time: 1403638557.477829, t: 7.519593 6.677529 2.447467 q: -0.263928 0.743248 0.353689 0.502820 
time: 1403638557.877830, t: 7.915859 6.395561 2.517765 q: -0.253582 0.740087 0.360197 0.508160 
time: 1403638558.277829, t: 8.298118 6.121646 2.538770 q: -0.245659 0.755482 0.363778 0.486378 
time: 1403638558.677830, t: 8.712452 5.922336 2.651466 q: -0.245077 0.763474 0.360895 0.476235 
time: 1403638559.077830, t: 9.198529 5.874900 2.758576 q: -0.255739 0.751685 0.352666 0.495171 
time: 1403638559.477829, t: 9.732594 5.798036 2.761295 q: -0.247317 0.741728 0.362180 0.507445 
time: 1403638559.877830, t: 10.208390 5.787911 2.712406 q: -0.248342 0.738577 0.364226 0.510068 
time: 1403638560.277829, t: 10.649976 5.827470 2.649366 q: -0.217005 0.763290 0.302827 0.527819 
time: 1403638560.677830, t: 11.060712 5.847166 2.515293 q: -0.167047 0.785844 0.195190 0.562534 
time: 1403638561.077830, t: 11.401195 5.788794 2.421246 q: -0.121452 0.796741 0.103943 0.582794 
time: 1403638561.477829, t: 11.620578 5.606444 2.413441 q: -0.080420 0.804404 0.069949 0.584444 
time: 1403638561.877830, t: 11.787158 5.371839 2.358907 q: -0.064559 0.810011 0.079516 0.577401 
time: 1403638562.277829, t: 11.927996 5.134073 2.283095 q: -0.037785 0.811528 0.048301 0.581086 
time: 1403638562.677830, t: 11.992801 4.899884 2.293842 q: -0.004953 0.810638 -0.024306 0.585022 
time: 1403638563.077830, t: 12.012840 4.641497 2.312182 q: 0.040614 0.801972 -0.120981 0.583570 
time: 1403638563.477829, t: 11.963868 4.337024 2.249914 q: 0.073412 0.779217 -0.167576 0.599458 
time: 1403638563.877830, t: 11.787895 4.004020 2.200420 q: 0.072150 0.785370 -0.167292 0.591609 
time: 1403638564.277829, t: 11.504243 3.631723 2.200928 q: 0.064146 0.785080 -0.153172 0.596719 
time: 1403638564.677830, t: 11.183171 3.192433 2.235015 q: 0.055912 0.787311 -0.145623 0.596498 
time: 1403638565.077830, t: 10.728837 2.759182 2.178314 q: 0.047359 0.786511 -0.153595 0.596293 
time: 1403638565.477829, t: 10.145119 2.239867 1.951113 q: 0.054597 0.788824 -0.151279 0.593204 
time: 1403638565.877830, t: 9.496231 1.684132 1.792225 q: 0.089251 0.793027 -0.135891 0.587091 
time: 1403638566.277829, t: 8.833733 1.190167 1.647722 q: 0.091513 0.795272 -0.137861 0.583234 
time: 1403638566.677830, t: 8.167139 0.737254 1.394419 q: 0.084593 0.809042 -0.135546 0.565617 
time: 1403638567.077830, t: 7.590615 0.322297 1.071553 q: 0.078993 0.825119 -0.129748 0.544154 
time: 1403638567.477829, t: 7.139830 -0.046076 0.710784 q: 0.092483 0.803629 -0.123173 0.574853 
time: 1403638568.277829, t: 6.318764 -0.630416 0.258000 q: 0.102252 0.816173 -0.128018 0.554091 
time: 1403638568.677830, t: 5.926585 -0.905685 0.102970 q: 0.104041 0.820552 -0.126697 0.547557 
time: 1403638569.077830, t: 5.697003 -1.096546 -0.007705 q: 0.104880 0.820589 -0.125520 0.547612 
time: 1403638569.477829, t: 5.430209 -1.308037 -0.089824 q: 0.108284 0.821117 -0.123327 0.546655 
time: 1403638569.877830, t: 5.310037 -1.372417 -0.131187 q: 0.110647 0.816641 -0.121491 0.553258 
time: 1403638570.277829, t: 5.316315 -1.359309 -0.149144 q: 0.094732 0.813052 -0.130931 0.559312 
time: 1403638570.677830, t: 5.328718 -1.342760 -0.249714 q: 0.078382 0.794786 -0.208358 0.564588 
time: 1403638571.077830, t: 5.262689 -1.442357 -0.402629 q: 0.132311 0.750069 -0.295842 0.576513 
time: 1403638571.477829, t: 5.038831 -1.641724 -0.508253 q: 0.189725 0.746821 -0.324746 0.548455 
time: 1403638571.877830, t: 4.749880 -1.877176 -0.573326 q: 0.215995 0.734953 -0.368245 0.526864 
time: 1403638572.277829, t: 4.397589 -2.150189 -0.614811 q: 0.260023 0.701998 -0.435232 0.500160 
time: 1403638572.677830, t: 4.019751 -2.472668 -0.633217 q: 0.299943 0.681920 -0.478218 0.465108 
time: 1403638573.077830, t: 3.674840 -2.863403 -0.585115 q: 0.309270 0.690384 -0.475898 0.448602 
time: 1403638573.477829, t: 3.374849 -3.288071 -0.547153 q: 0.308223 0.694393 -0.472629 0.446586 
time: 1403638573.877830, t: 3.165939 -3.789252 -0.438736 q: 0.333012 0.679496 -0.480929 0.442827 
time: 1403638574.277829, t: 3.001303 -4.309379 -0.375696 q: 0.367195 0.593534 -0.552384 0.455805 
time: 1403638574.677830, t: 2.764978 -4.756602 -0.343480 q: -0.409854 -0.544907 0.605789 -0.410019 
time: 1403638575.077830, t: 2.479264 -5.154271 -0.273464 q: -0.409712 -0.546135 0.621242 -0.384617 
time: 1403638575.477829, t: 2.223130 -5.591058 -0.289150 q: -0.395327 -0.551163 0.624128 -0.387814 
time: 1403638575.877830, t: 1.939644 -6.045941 -0.287574 q: -0.396628 -0.574898 0.613777 -0.368044 
time: 1403638576.277829, t: 1.647684 -6.541831 -0.143853 q: -0.402127 -0.575178 0.608688 -0.370086 
time: 1403638576.677830, t: 1.414912 -7.113142 -0.034562 q: -0.416260 -0.586118 0.599140 -0.352454 
time: 1403638577.077830, t: 1.298502 -7.770601 -0.001437 q: -0.420515 -0.568780 0.597041 -0.378416 
time: 1403638577.477829, t: 1.287568 -8.389585 0.077151 q: -0.428274 -0.573826 0.591575 -0.370600 
time: 1403638577.877830, t: 1.319126 -9.038653 0.153164 q: -0.419303 -0.571889 0.596791 -0.375458 
time: 1403638578.277829, t: 1.432979 -9.685217 0.202544 q: -0.407594 -0.563288 0.602387 -0.392051 
time: 1403638578.677830, t: 1.534563 -10.338217 0.254277 q: -0.408186 -0.559882 0.603575 -0.394479 
time: 1403638579.077830, t: 1.634597 -10.971488 0.255354 q: -0.420044 -0.568586 0.594419 -0.383326 
time: 1403638579.477829, t: 1.801495 -11.558839 0.336250 q: -0.408771 -0.559278 0.601444 -0.397970 
time: 1403638579.877830, t: 1.955877 -12.134789 0.340020 q: 0.400686 0.594443 -0.550627 0.427665 
time: 1403638580.277829, t: 2.118049 -12.621344 0.285130 q: 0.330832 0.675585 -0.429087 0.500019 
time: 1403638580.677830, t: 2.265467 -12.976889 0.164538 q: 0.244030 0.728768 -0.364694 0.525685 
time: 1403638581.077830, t: 2.351098 -13.328472 0.126665 q: 0.220765 0.752039 -0.335753 0.522466 
time: 1403638581.477829, t: 2.469716 -13.607809 0.165204 q: 0.233647 0.748813 -0.336275 0.521160 
time: 1403638581.877830, t: 2.598271 -13.898149 0.233490 q: 0.247956 0.737446 -0.338340 0.529355 
time: 1403638582.277829, t: 2.747496 -14.033023 0.299909 q: 0.246769 0.741526 -0.342120 0.521726 
time: 1403638582.677830, t: 2.824197 -14.010505 0.510761 q: 0.253148 0.738096 -0.336541 0.527135 
time: 1403638583.077830, t: 2.972900 -14.336320 0.758364 q: 0.248024 0.745044 -0.343532 0.515150 
time: 1403638583.477829, t: 3.070958 -14.262563 0.920862 q: 0.246877 0.747332 -0.344962 0.511417 
time: 1403638583.877830, t: 3.111160 -13.948237 1.078543 q: 0.249229 0.746655 -0.341908 0.513313 
time: 1403638584.277829, t: 3.278874 -13.676998 1.172737 q: 0.263432 0.726027 -0.331326 0.541952 
time: 1403638584.677830, t: 3.294091 -13.122734 1.143314 q: 0.263965 0.724656 -0.330356 0.544115 
time: 1403638585.077830, t: 3.465184 -13.047193 1.274071 q: 0.248009 0.743126 -0.342007 0.518928 
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time: 1403638629.477829, t: 0.088373 -0.065261 -0.188769 q: 0.178893 0.786966 -0.255131 0.532531 
time: 1403638629.877830, t: 0.123624 -0.055476 -0.189290 q: 0.158279 0.773541 -0.271806 0.550186 
time: 1403638630.277829, t: 0.127518 -0.070928 -0.285269 q: 0.183691 0.774023 -0.254662 0.549813 
time: 1403638630.677830, t: 0.169481 -0.089178 -0.330564 q: 0.172751 0.793837 -0.254621 0.524545 
time: 1403638631.077830, t: 0.146098 -0.087021 -0.355782 q: 0.170689 0.799848 -0.250316 0.518121 
time: 1403638631.477829, t: 0.218682 -0.119855 -0.284142 q: 0.170181 0.800460 -0.251112 0.516958 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720486771.206668168]: Shutdown request received.[0m
[33m[ WARN] [1720486771.206724296]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720486771.207635128]: Shutdown request received.[0m
[33m[ WARN] [1720486771.207667841]: Reason given for shutdown: [user request][0m
killed
