/SLAM-Hive/slam_hive_results/mapping_results/2949/2157_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-27.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720488483.898523440]: init begins[0m
[31m[ERROR] [1720488483.899789854]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720488483.900325468]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/7cc338f8-3d92-11ef-a1e4-0242ac110005/roslaunch-bd2ff49167a0-118.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://bd2ff49167a0:35893/[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] [1720488485.006303448]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720488485.007055327]: 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] [1720488485.013226340]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720488485.013455213]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720488485.013485938]: 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] [1720488485.013644509]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720488485.013921882]: 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://bd2ff49167a0:11311/[0m
]2;roscore http://bd2ff49167a0:11311/
[1msetting /run_id to 7cc338f8-3d92-11ef-a1e4-0242ac110005[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] [1720488494.045929686]: 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: 316849976.11 
init first imu pose
averge acc 9.019961 -0.035676 -3.795306
init R0 
   0.387848  0.00866376    0.921683
          0   -0.999956  0.00939952
   0.921723 -0.00364559   -0.387831
[0m[ INFO] [1720488515.371283221]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488517.359919782]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488519.372403410]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488521.370040825]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488523.364358410]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488525.369581402]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488527.363417327]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488529.370205831]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488531.369672660]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488533.351664883]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488535.364467923]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488537.373302280]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488539.348278210]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488541.358298274]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488543.355040467]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488545.367219747]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488547.373203947]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488549.346135312]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488551.351310838]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488553.355132118]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488555.380139394]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488559.370117526]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488561.382894483]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488563.352827443]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488565.366983108]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488567.339895682]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488569.363459564]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488571.373110393]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488573.367439392]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488575.360980466]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488577.374408110]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488579.362651712]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488581.361867431]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488583.370295780]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488585.374663137]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488587.358001804]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488589.370671843]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488591.378650609]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488593.361243939]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488595.358506541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488597.375404161]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720488601.374813870]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488603.381316561]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488605.368072022]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488607.367573189]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720488609.754323711]: Shutdown request received.[0m
[33m[ WARN] [1720488609.754369067]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720488609.755221053]: Shutdown request received.[0m
[33m[ WARN] [1720488609.755252572]: Reason given for shutdown: [user request][0m
killed
