/SLAM-Hive/slam_hive_results/mapping_results/2950/2158_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-28.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720488636.459677533]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720488636.461597736]: init begins[0m
[31m[ERROR] [1720488636.462614391]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/d7b2078a-3d92-11ef-bcb0-0242ac110005/roslaunch-4978bd68dce7-119.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://4978bd68dce7:38531/[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 [156][0m
[0m[ INFO] [1720488637.565819021]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720488637.568433496]: 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] [1720488637.574593902]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720488637.574821592]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720488637.574850884]: 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] [1720488637.575027462]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720488637.575283893]: 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://4978bd68dce7:11311/[0m
]2;roscore http://4978bd68dce7:11311/
[1msetting /run_id to d7b2078a-3d92-11ef-bcb0-0242ac110005[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 [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720488646.605540551]: 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: 316850128.68 
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] [1720488667.936154979]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488669.936167333]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488671.949812884]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488673.921081604]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488675.936799853]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488677.939550347]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488679.947379187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488681.941055667]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488683.923261068]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488685.929355512]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488687.911166315]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488689.941373519]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488691.941098659]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488693.934151281]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488695.905712917]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488697.909984894]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488699.930941848]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488701.935884597]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488703.927867062]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488705.920497057]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488707.943721450]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488709.913908857]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488711.931715630]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488713.955238738]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488715.930019560]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488717.931691442]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488719.933009377]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488721.932385521]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488723.920960407]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488725.922176082]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488727.929138000]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488729.935616535]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488731.905044252]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488733.932775689]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488735.934549112]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488737.930956477]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488739.917856431]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488741.930173472]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488743.927616527]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488745.942138783]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488747.932366265]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488749.933009891]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720488753.915197848]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488755.948890893]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488757.927578804]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488759.927517003]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720488762.333026132]: Shutdown request received.[0m
[33m[ WARN] [1720488762.333067022]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720488762.333963821]: Shutdown request received.[0m
[33m[ WARN] [1720488762.333984226]: Reason given for shutdown: [user request][0m
killed
