/SLAM-Hive/slam_hive_results/mapping_results/2951/2159_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-29.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720488789.481643190]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720488789.483080286]: init begins[0m
[31m[ERROR] [1720488789.484116434]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/32e7cdb0-3d93-11ef-b7aa-0242ac110005/roslaunch-f37c30f3b46d-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://f37c30f3b46d:34493/[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://f37c30f3b46d:11311/[0m
]2;roscore http://f37c30f3b46d:11311/
[1msetting /run_id to 32e7cdb0-3d93-11ef-b7aa-0242ac110005[0m
[0m[ INFO] [1720488790.637195584]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720488790.639776916]: 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] [1720488790.646085106]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720488790.646296491]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720488790.646321151]: 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] [1720488790.646487558]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720488790.646760729]: 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 [211][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720488799.610443037]: 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: 316850281.68 
init first imu pose
averge acc 9.019961 -0.035676 -3.795306
init R0 
[0m[ INFO] [1720488820.933664624]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488822.933515702]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488824.940601335]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488826.937241048]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488828.931557302]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488832.921989435]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488834.925684018]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488836.927685312]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488838.929816718]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488840.938778132]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488842.932574492]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488844.935657415]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488846.925681163]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488848.929461362]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488850.931583959]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488852.905583122]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488854.930100025]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488856.932706857]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488858.941292927]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488860.938715290]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488862.936665554]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488864.907273585]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488866.935960857]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488868.929955516]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488870.923990370]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488872.906756187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488874.904288681]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488876.941803114]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488878.903150015]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488880.932543852]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488882.933103805]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488884.929687726]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488886.933247625]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488888.920202380]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488890.932612419]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488892.929248345]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488894.929087187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488896.921541494]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488898.938243607]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488900.929212654]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488902.926843694]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488904.926134999]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488906.940049622]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488908.943141668]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488910.929632152]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488912.921133749]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720488915.345432885]: Shutdown request received.[0m
[33m[ WARN] [1720488915.345482251]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720488915.346436295]: Shutdown request received.[0m
[33m[ WARN] [1720488915.346463530]: Reason given for shutdown: [user request][0m
killed
