/SLAM-Hive/slam_hive_results/mapping_results/2947/2155_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-25.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720488177.851810731]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720488177.853429094]: init begins[0m
[31m[ERROR] [1720488177.854623907]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c657b47c-3d91-11ef-bc12-0242ac110005/roslaunch-b3a8832d0609-118.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://b3a8832d0609:45981/[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] [1720488178.957919659]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720488178.959809138]: 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] [1720488178.965994101]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720488178.966178425]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720488178.966202516]: 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] [1720488178.966391626]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720488178.966668738]: 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://b3a8832d0609:11311/[0m
]2;roscore http://b3a8832d0609:11311/
[1msetting /run_id to c657b47c-3d91-11ef-bc12-0242ac110005[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] [1720488188.007965959]: 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: 316849670.08 
init first imu pose
averge acc 9.019961 -0.035676 -3.795306
init R0 
[0m[ INFO] [1720488209.349760872]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488211.320880436]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488213.356887680]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488215.313608559]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488217.308759554]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488219.351233030]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488221.357803513]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488223.352652025]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720488227.343331083]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488229.349773906]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488231.344948841]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488233.314862662]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488235.339182882]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488237.343156254]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488239.311297554]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488241.349422148]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488243.340790179]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488245.336556566]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488247.352751050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488249.352636036]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488251.342315530]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488253.310584613]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488255.328962815]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488257.333587280]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488259.321831874]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488261.340867075]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488265.352052168]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488267.329410566]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488269.332061223]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488271.341694459]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488273.343854367]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488275.342254949]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488277.311979851]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488279.338236180]: 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] [1720488285.341785909]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488287.357743070]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488289.338305192]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488291.333841351]: 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] [1720488299.304955503]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488301.340594390]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720488303.669826996]: Shutdown request received.[0m
[33m[ WARN] [1720488303.669888778]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720488303.670736090]: Shutdown request received.[0m
[33m[ WARN] [1720488303.670756311]: Reason given for shutdown: [user request][0m
killed
