/SLAM-Hive/slam_hive_results/mapping_results/2918/2126_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-26.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720483756.141395400]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720483756.142943185]: init begins[0m
[31m[ERROR] [1720483756.143915177]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/7acc6a66-3d87-11ef-9b1c-0242ac110005/roslaunch-13a98a7eaf9d-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://13a98a7eaf9d:44839/[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] [1720483757.247742333]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720483757.249288590]: 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] [1720483757.255237574]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720483757.255433359]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720483757.255467964]: ROW: 288 COL: 451 [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] [1720483757.255650816]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720483757.255930829]: 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://13a98a7eaf9d:11311/[0m
]2;roscore http://13a98a7eaf9d:11311/
[1msetting /run_id to 7acc6a66-3d87-11ef-9b1c-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_04_difficult.bag  --clock 
[0m[ INFO] [1720483766.299599190]: 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: 316845639.19 
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
wait for imu ... 
[0m[ INFO] [1720483787.628677944]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483789.618406093]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483791.629451696]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483793.595856498]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483795.594180151]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483797.620183631]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483799.618174384]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483801.601813771]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483803.590057555]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483805.596679558]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483807.617023132]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483809.591640270]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483811.610812821]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483813.618232937]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483815.590261688]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483817.621364883]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483819.619130213]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483821.627253512]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483823.617274106]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483825.609625544]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483827.616724807]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483829.622771412]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483831.588260673]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483833.614636326]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483835.587615139]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483837.620234523]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483839.621391900]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483841.626262542]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483843.586283865]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483845.583045107]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483847.587108772]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483849.600178182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483851.618688631]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483853.620555216]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483855.582240988]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483857.628170736]: 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!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720483863.624066090]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720483865.585947007]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720483867.604838153]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720483869.737791827]: Shutdown request received.[0m
[33m[ WARN] [1720483869.737831005]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720483869.738748545]: Shutdown request received.[0m
[33m[ WARN] [1720483869.738781227]: Reason given for shutdown: [user request][0m
killed
