/SLAM-Hive/slam_hive_results/mapping_results/2915/2123_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-23.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720483334.749115349]: init begins[0m
[31m[ERROR] [1720483334.750256120]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720483334.751140474]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/7fa11132-3d86-11ef-ae89-0242ac110005/roslaunch-8c69c17ff245-119.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://8c69c17ff245:43745/[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
[1mROS_MASTER_URI=http://8c69c17ff245:11311/[0m
]2;roscore http://8c69c17ff245:11311/
[0m[ INFO] [1720483335.907763180]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720483335.910216063]: Connected to master at [localhost:11311][0m
[1msetting /run_id to 7fa11132-3d86-11ef-ae89-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720483335.932431985]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720483335.932840133]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720483335.933023301]: 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] [1720483335.933464900]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720483335.933936521]: 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 [240][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720483344.893905479]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316845217.78 
wait for imu ... 
wait for imu ... 
init first imu pose
averge acc 8.948483 -0.093725 -3.927768
init R0 
  0.402014  0.0218428   0.915373
         0  -0.999715  0.0238554
  0.915633 -0.0095902    -0.4019
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483355.694502001]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483356.690411721]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483357.690680502]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483358.689744195]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483359.690681194]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483360.693538048]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483361.674844966]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483362.691403063]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483363.692087619]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483364.689946473]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483365.689053462]: IMU excitation not enouth![0m
[0m[ INFO] [1720483365.689198791]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483366.689768757]: IMU excitation not enouth![0m
[0m[ INFO] [1720483366.689898225]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483367.695952951]: IMU excitation not enouth![0m
[0m[ INFO] [1720483367.696273190]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483368.674123313]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483369.685892133]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483370.682861219]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483371.670168912]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483372.666460790]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483373.680971047]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483374.689371952]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483375.675242177]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483376.688351918]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483377.690794914]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483378.689672572]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483379.690027651]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483380.687149121]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483381.686412592]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483382.690096680]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483383.674136888]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483384.689778353]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483385.690979100]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483386.693733802]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483387.689556940]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483388.683555577]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483389.688222850]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483390.679036585]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483391.685861099]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483392.676216437]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483393.689955978]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483394.681703192]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483395.692091275]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483396.691959438]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483397.692295472]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483398.688873628]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483399.687045792]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483401.687834357]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483402.684318821]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483403.691916145]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483404.693939975]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483405.690696646]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483408.690619016]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483409.675746216]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483410.692781838]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483411.688928082]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483412.705038282]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483413.675660600]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483414.691507235]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483416.685705454]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483422.693146000]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483424.671742155]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483425.699155969]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483426.680019645]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483432.676512182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483433.690985240]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483435.684498861]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483436.669392372]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483438.675999831]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483439.671569224]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483440.691039949]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483441.674675977]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483444.676164054]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483446.673362428]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720483448.352157964]: Shutdown request received.[0m
[33m[ WARN] [1720483448.352207610]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720483448.353029143]: Shutdown request received.[0m
[33m[ WARN] [1720483448.353049266]: Reason given for shutdown: [user request][0m
killed
