/SLAM-Hive/slam_hive_results/mapping_results/2945/2153_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-23.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720487871.750686276]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720487871.761630577]: init begins[0m
[31m[ERROR] [1720487871.762708031]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/0fe4f042-3d91-11ef-ba9d-0242ac110005/roslaunch-3a2d65f96659-118.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://3a2d65f96659:41453/[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] [1720487872.857597337]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
[0m[ INFO] [1720487872.867696527]: 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] [1720487872.872456530]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720487872.872643830]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720487872.872660188]: 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] [1720487872.872817307]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720487872.873049806]: waiting for image and imu...[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://3a2d65f96659:11311/[0m
]2;roscore http://3a2d65f96659:11311/
[1msetting /run_id to 0fe4f042-3d91-11ef-ba9d-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] [1720487881.879370021]: 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: 316849363.95 
init first imu pose
averge acc 9.018495 -0.034290 -3.793590
init R0 
    0.387752   0.00833132     0.921726
-1.54074e-33    -0.999959   0.00903845
    0.921764  -0.00350467    -0.387736
[0m[ INFO] [1720487892.686376334]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487893.681913651]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487894.689966150]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487895.697597191]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487896.675082421]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487897.688389402]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487898.689238603]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487899.677023285]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487900.687368166]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487901.672763894]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487903.689196017]: IMU excitation not enouth![0m
[0m[ INFO] [1720487904.696781536]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487905.701037552]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487906.686998839]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720487910.683860629]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487911.687545726]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487912.679205852]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720487947.684436558]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720487953.687426746]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487954.686744268]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487955.682051905]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487956.682446100]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487957.686024258]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720487962.681689555]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487963.685318888]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487964.686025181]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487965.677996976]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720487967.687560328]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487968.687223039]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720487972.681877903]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720487976.697990381]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487977.685857822]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487978.685724905]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487979.682598516]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487980.685109636]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487981.692877615]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487982.684723014]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487983.685410635]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487984.686702439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487985.695846050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487986.670352691]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487987.686093080]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487988.699829941]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720487990.685070701]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720487993.698939410]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720487995.683468941]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720487997.571531189]: Shutdown request received.[0m
[33m[ WARN] [1720487997.571561397]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720487997.572377302]: Shutdown request received.[0m
[33m[ WARN] [1720487997.572404009]: Reason given for shutdown: [user request][0m
killed
