/SLAM-Hive/slam_hive_results/mapping_results/2917/2125_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-25.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720483615.967372895]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720483615.969611990]: init begins[0m
[31m[ERROR] [1720483615.970752423]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/273f8cac-3d87-11ef-b4ac-0242ac110005/roslaunch-663d9a00ad3d-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://663d9a00ad3d:42645/[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://663d9a00ad3d:11311/[0m
]2;roscore http://663d9a00ad3d:11311/
[1msetting /run_id to 273f8cac-3d87-11ef-b4ac-0242ac110005[0m
[0m[ INFO] [1720483617.122839683]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720483617.126135945]: 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] [1720483617.132264952]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720483617.132464919]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720483617.132514363]: 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] [1720483617.132687256]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720483617.132969410]: 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 [198][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720483626.083673486]: 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: 316845498.97 
init first imu pose
averge acc 8.944065 -0.091937 -3.935752
init R0 
    0.402862    0.0213742     0.915011
-1.54074e-33    -0.999727    0.0233532
    0.915261   -0.0094081    -0.402752
[0m[ INFO] [1720483647.380915435]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483649.391071256]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483651.393311979]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483653.396687426]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483655.387445788]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720483657.381154328]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483659.377582563]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483661.384630550]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483663.365839483]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483665.384727043]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483667.378172652]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483669.388035564]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483671.393804990]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483673.379312761]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483675.395040695]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483677.401718685]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483679.369223889]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483681.385016352]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483683.392620490]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483685.431752979]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483687.369022079]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483689.395629702]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483691.397374230]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483693.370040850]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483695.376882564]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483697.385811266]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483699.373346364]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483701.390502924]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483703.381434637]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483705.390569899]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483707.397740543]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483709.366373823]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483711.367218710]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483713.385309356]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483715.379104124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483717.395186094]: 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] [1720483723.391209114]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483725.386934130]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483727.378788026]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720483729.585185217]: Shutdown request received.[0m
[33m[ WARN] [1720483729.585222920]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720483729.586122436]: Shutdown request received.[0m
[33m[ WARN] [1720483729.586163867]: Reason given for shutdown: [user request][0m
killed
