/SLAM-Hive/slam_hive_results/mapping_results/2938/2146_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-16.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720486798.817090435]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720486798.818526396]: init begins[0m
[31m[ERROR] [1720486798.819606400]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/906005ca-3d8e-11ef-9045-0242ac110005/roslaunch-e3b35fc2b283-118.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://e3b35fc2b283:41597/[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://e3b35fc2b283:11311/[0m
]2;roscore http://e3b35fc2b283:11311/
[1msetting /run_id to 906005ca-3d8e-11ef-9045-0242ac110005[0m
[0m[ INFO] [1720486799.972442980]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720486799.974648304]: 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] [1720486799.981253685]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720486799.981476912]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720486799.981503396]: ROW: 192 COL: 300 [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] [1720486799.981672127]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720486799.981966485]: 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 [215][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720486808.988303960]: 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: 316848291.06 
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] [1720486813.492423031]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486813.893236877]: IMU excitation not enouth![0m
[0m[ INFO] [1720486813.893746797]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486814.293273911]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486814.698962972]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486815.102644351]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486815.503065526]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486815.896614454]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486816.294752254]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486816.690026931]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486817.094696633]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486817.494163381]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486817.894988492]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486818.296449008]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486818.693306402]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486819.101061338]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720486819.892849826]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486820.698153300]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486821.111033432]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486821.501554348]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486821.895074105]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486822.307123660]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486822.695923879]: 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!
[0m[ INFO] [1720486823.495141056]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486823.896205654]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486824.326988583]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486824.704857482]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486825.122099918]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486825.896355320]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486826.287601785]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486826.696915302]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486827.097114246]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486827.497516529]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486827.893422986]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486828.307300087]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486828.696166497]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486829.107099217]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486829.483774973]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486830.300866901]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486830.702295929]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486831.081287459]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486831.503728925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486831.898805537]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486832.319569831]: 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!
[0m[ INFO] [1720486833.542358386]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486833.940999799]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486834.315253874]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486834.742519629]: 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!
[0m[ INFO] [1720486835.938773831]: 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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0709 01:00:37.166911   187 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0709 01:00:37.168025   187 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0709 01:00:37.169129   187 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0709 01:00:37.169523   187 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[33m[ WARN] [1720486837.170462423]: gyroscope bias initial calibration -0.00474567    0.017251    0.078666[0m
[0m[ INFO] [1720486837.198625710]: Initialization finish![0m
time: 1403638545.877830, t: 1.764343 2.376900 0.318537 q: -0.205431 0.762159 0.305129 0.532737 
time: 1403638546.277829, t: 1.883318 2.624054 0.382827 q: -0.237498 0.736233 0.370619 0.514001 
time: 1403638546.677830, t: 2.084183 3.004023 0.375202 q: -0.251876 0.730939 0.382761 0.505748 
time: 1403638547.077830, t: 2.361936 3.472713 0.437946 q: -0.251580 0.721380 0.402633 0.504187 
time: 1403638547.477829, t: 2.573771 3.937540 0.430437 q: -0.255592 0.722417 0.401932 0.501235 
time: 1403638547.877830, t: 2.658204 4.336754 0.352913 q: -0.254831 0.722439 0.401053 0.502294 
time: 1403638548.277829, t: 2.732883 4.798860 0.306426 q: -0.272937 0.714104 0.420891 0.488274 
time: 1403638548.677830, t: 2.820060 5.369694 0.361181 q: -0.305384 0.687544 0.463021 0.468654 
time: 1403638549.077830, t: 2.901325 5.922902 0.430537 q: -0.313288 0.681334 0.473121 0.462375 
time: 1403638549.477829, t: 2.976058 6.457742 0.580620 q: -0.320185 0.683710 0.466582 0.460786 
time: 1403638549.877830, t: 3.039482 6.942252 0.718674 q: -0.320444 0.684218 0.464276 0.462179 
time: 1403638550.277829, t: 3.138717 7.465783 0.944253 q: -0.321229 0.685337 0.464871 0.459370 
time: 1403638550.677830, t: 3.277039 8.008514 1.184427 q: -0.332078 0.682828 0.458556 0.461733 
time: 1403638551.077830, t: 3.443866 8.484974 1.347581 q: -0.347045 0.669243 0.447097 0.481432 
time: 1403638551.477829, t: 3.677288 8.953160 1.502622 q: -0.340360 0.688798 0.427138 0.476723 
time: 1403638551.877830, t: 3.948340 9.245577 1.629931 q: -0.304296 0.732786 0.349517 0.498263 
time: 1403638552.277829, t: 4.316931 9.437709 1.752857 q: -0.269283 0.743455 0.330249 0.515459 
time: 1403638552.677830, t: 4.702484 9.533149 1.867086 q: -0.281907 0.733404 0.320903 0.528837 
time: 1403638553.077830, t: 5.074422 9.471301 1.906937 q: -0.271294 0.729869 0.339293 0.527799 
time: 1403638553.477829, t: 5.461761 9.327814 1.940175 q: -0.279423 0.709766 0.342472 0.548515 
time: 1403638553.877830, t: 5.721262 8.968664 2.047502 q: -0.270655 0.707989 0.351079 0.549764 
time: 1403638554.277829, t: 5.903687 8.512107 2.158211 q: -0.260613 0.724544 0.358979 0.527496 
time: 1403638554.677830, t: 6.089923 8.043465 2.224843 q: -0.263568 0.732097 0.360801 0.514188 
time: 1403638555.077830, t: 6.216349 7.554741 2.285460 q: -0.271183 0.734136 0.347837 0.516250 
time: 1403638555.477829, t: 6.433445 7.086566 2.298486 q: -0.245021 0.747689 0.323592 0.525561 
time: 1403638555.877830, t: 6.595646 6.630185 2.306698 q: -0.240806 0.751700 0.320206 0.523859 
time: 1403638556.277829, t: 6.767554 6.130334 2.396047 q: -0.238165 0.758689 0.324200 0.512409 
time: 1403638556.677830, t: 6.952036 5.677383 2.444098 q: -0.244091 0.768416 0.318257 0.498667 
time: 1403638557.077830, t: 7.253149 5.296167 2.532481 q: -0.256922 0.759291 0.309776 0.511377 
time: 1403638557.477829, t: 7.658103 5.021437 2.578275 q: -0.245866 0.754261 0.321287 0.517122 
time: 1403638557.877830, t: 8.053718 4.724006 2.651334 q: -0.235753 0.751626 0.328892 0.520873 
time: 1403638558.277829, t: 8.435385 4.340942 2.678372 q: -0.229077 0.767284 0.332412 0.498299 
time: 1403638558.677830, t: 8.872492 4.153493 2.791070 q: -0.228894 0.775537 0.329953 0.487115 
time: 1403638559.077830, t: 9.382901 4.069893 2.904929 q: -0.238617 0.763655 0.322212 0.506036 
time: 1403638559.477829, t: 9.931238 3.952309 2.917970 q: -0.229436 0.754426 0.332134 0.517578 
time: 1403638559.877830, t: 10.402766 4.080265 2.859085 q: -0.229454 0.752090 0.334275 0.519589 
time: 1403638560.277829, t: 10.899090 4.060638 2.794699 q: -0.197591 0.774450 0.272219 0.535800 
time: 1403638560.677830, t: 11.370872 4.002781 2.664754 q: -0.146389 0.792964 0.163767 0.568295 
time: 1403638561.077830, t: 11.754967 3.821188 2.572387 q: -0.099933 0.800388 0.072011 0.586691 
time: 1403638561.477829, t: 11.987697 3.670596 2.542302 q: -0.058241 0.807006 0.037836 0.586445 
time: 1403638561.877830, t: 12.170312 3.432572 2.472694 q: -0.042281 0.813080 0.047138 0.578699 
time: 1403638562.277829, t: 12.257793 3.220946 2.376871 q: -0.014299 0.813159 0.015141 0.581668 
time: 1403638562.677830, t: 12.267251 3.024580 2.381186 q: 0.019469 0.809098 -0.057814 0.584499 
time: 1403638563.077830, t: 12.275776 2.785212 2.388754 q: 0.065033 0.796382 -0.154005 0.581231 
time: 1403638563.477829, t: 12.219079 2.503605 2.328881 q: 0.098224 0.771838 -0.199449 0.595683 
time: 1403638563.877830, t: 12.058668 2.202994 2.276417 q: 0.096489 0.778079 -0.199214 0.587875 
time: 1403638564.277829, t: 11.700923 1.899053 2.284386 q: 0.089624 0.778041 -0.185612 0.593438 
time: 1403638564.677830, t: 11.399206 1.450102 2.307444 q: 0.080906 0.780644 -0.177870 0.593643 
time: 1403638565.077830, t: 10.837808 1.045242 2.248954 q: 0.072481 0.779078 -0.186014 0.594291 
time: 1403638565.477829, t: 10.251113 0.554294 2.004302 q: 0.079077 0.781582 -0.183626 0.590896 
time: 1403638565.877830, t: 9.631166 0.017309 1.821408 q: 0.112932 0.786577 -0.168209 0.583308 
time: 1403638566.277829, t: 8.938384 -0.441568 1.661839 q: 0.114999 0.788624 -0.170315 0.579517 
time: 1403638566.677830, t: 8.288411 -0.843441 1.389706 q: 0.107311 0.802599 -0.168483 0.562079 
time: 1403638567.077830, t: 7.710400 -1.225664 1.051922 q: 0.100873 0.818896 -0.163370 0.540874 
time: 1403638567.477829, t: 7.243367 -1.536293 0.686543 q: 0.115802 0.797610 -0.155981 0.571032 
time: 1403638567.877830, t: 6.707007 -1.872882 0.388882 q: 0.118416 0.809784 -0.162791 0.551115 
time: 1403638568.277829, t: 6.345421 -2.088166 0.215997 q: 0.124927 0.809738 -0.161318 0.550176 
time: 1403638568.677830, t: 5.957407 -2.353776 0.049602 q: 0.126592 0.814173 -0.160134 0.543558 
time: 1403638569.077830, t: 5.747326 -2.559720 -0.075915 q: 0.127554 0.814235 -0.159026 0.543564 
time: 1403638569.477829, t: 5.467609 -2.690982 -0.126125 q: 0.131370 0.814688 -0.157206 0.542504 
time: 1403638569.877830, t: 5.360811 -2.772665 -0.196627 q: 0.134023 0.810268 -0.155208 0.549011 
time: 1403638570.277829, t: 5.352206 -2.762902 -0.219804 q: 0.118577 0.806131 -0.164446 0.555922 
time: 1403638571.077830, t: 5.322976 -2.827473 -0.472744 q: 0.156534 0.736320 -0.326433 0.571639 
time: 1403638571.477829, t: 5.105512 -3.011033 -0.582431 q: 0.212459 0.731985 -0.355164 0.541219 
time: 1403638571.877830, t: 4.797159 -3.211294 -0.634331 q: 0.238005 0.718204 -0.398371 0.518495 
time: 1403638572.277829, t: 4.413279 -3.442946 -0.645568 q: 0.280787 0.682613 -0.463849 0.489941 
time: 1403638572.677830, t: 4.010593 -3.730451 -0.659061 q: 0.319350 0.660807 -0.505968 0.453152 
time: 1403638573.077830, t: 3.621684 -4.077833 -0.604757 q: 0.328038 0.669294 -0.504003 0.436369 
time: 1403638573.477829, t: 3.310308 -4.493488 -0.560532 q: 0.326452 0.673891 -0.500686 0.434296 
time: 1403638573.877830, t: 3.056600 -4.978223 -0.443721 q: 0.350939 0.658731 -0.508294 0.429596 
time: 1403638574.277829, t: 2.887251 -5.484061 -0.382330 q: -0.385546 -0.570106 0.576031 -0.441046 
time: 1403638574.677830, t: 2.656480 -5.934263 -0.362387 q: -0.426200 -0.519556 0.627355 -0.393498 
time: 1403638575.077830, t: 2.382695 -6.311701 -0.291449 q: -0.425116 -0.520244 0.642842 -0.367937 
time: 1403638575.477829, t: 2.094556 -6.721823 -0.319748 q: -0.410981 -0.525066 0.645881 -0.371805 
time: 1403638575.877830, t: 1.723016 -7.104561 -0.303502 q: -0.411678 -0.548985 0.636296 -0.352510 
time: 1403638576.277829, t: 1.373698 -7.617956 -0.137617 q: -0.416839 -0.549989 0.631059 -0.354291 
time: 1403638576.677830, t: 1.075551 -8.154845 -0.036268 q: -0.430323 -0.561318 0.621808 -0.336301 
time: 1403638577.077830, t: 0.880977 -8.761623 0.012010 q: -0.435755 -0.544095 0.618817 -0.362137 
time: 1403638577.477829, t: 0.819062 -9.396384 0.077278 q: -0.442955 -0.549735 0.613226 -0.354312 
time: 1403638577.877830, t: 0.848563 -9.979656 0.125183 q: -0.434615 -0.547404 0.618338 -0.359328 
time: 1403638578.277829, t: 0.927623 -10.593686 0.179534 q: -0.423782 -0.538426 0.623661 -0.376234 
time: 1403638578.677830, t: 0.987225 -11.209489 0.216470 q: -0.424593 -0.534927 0.624628 -0.378699 
time: 1403638579.077830, t: 1.040517 -11.803659 0.208471 q: -0.436161 -0.543913 0.615704 -0.367193 
time: 1403638579.477829, t: 1.108716 -12.438183 0.282401 q: -0.424984 -0.534596 0.622165 -0.382762 
time: 1403638579.877830, t: 1.196619 -13.013425 0.303614 q: -0.418052 -0.571866 0.572584 -0.412735 
time: 1403638580.277829, t: 1.337772 -13.444368 0.246571 q: 0.351315 0.657884 -0.453978 0.487514 
time: 1403638580.677830, t: 1.442984 -13.739022 0.133979 q: 0.265531 0.713737 -0.391450 0.516566 
time: 1403638581.077830, t: 1.499356 -13.926599 0.077333 q: 0.242378 0.738145 -0.363088 0.514356 
time: 1403638581.477829, t: 1.553295 -14.088616 0.103238 q: 0.255029 0.734815 -0.363200 0.512926 
time: 1403638581.877830, t: 1.637797 -14.294381 0.170898 q: 0.269683 0.723326 -0.364711 0.520631 
time: 1403638582.277829, t: 1.699884 -14.344353 0.244363 q: 0.267714 0.727342 -0.368301 0.513475 
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time: 1403638583.077830, t: 1.886584 -14.376688 0.736455 q: 0.269001 0.730773 -0.369616 0.506945 
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time: 1403638630.677830, t: 0.409903 -0.685437 -0.024771 q: 0.182548 0.788232 -0.269998 0.521985 
time: 1403638631.077830, t: 0.351715 -0.677083 -0.041873 q: 0.180426 0.794314 -0.265769 0.515635 
time: 1403638631.477829, t: 0.375449 -0.701899 -0.048630 q: 0.179730 0.794520 -0.266475 0.515196 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720486924.695995005]: Shutdown request received.[0m
[33m[ WARN] [1720486924.696034521]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720486924.697022763]: Shutdown request received.[0m
[33m[ WARN] [1720486924.697050266]: Reason given for shutdown: [user request][0m
killed
