/SLAM-Hive/slam_hive_results/mapping_results/2925/2133_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-3.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720484799.031646702]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720484799.033286186]: init begins[0m
[31m[ERROR] [1720484799.034309224]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e868d5f8-3d89-11ef-af98-0242ac110005/roslaunch-6df087328c1e-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://6df087328c1e:45013/[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
[0m[ INFO] [1720484800.141645057]: 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] [1720484800.146420762]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720484800.146650335]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720484800.146703222]: ROW: 240 COL: 376 [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] [1720484800.146874151]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720484800.147114256]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://6df087328c1e:11311/[0m
]2;roscore http://6df087328c1e:11311/
[1msetting /run_id to e868d5f8-3d89-11ef-af98-0242ac110005[0m
[0m[ INFO] [1720484800.187387221]: Connected to master at [localhost:11311][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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720484809.197336679]: 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: 316846291.28 
init first imu pose
averge acc 9.015113 -0.047866 -3.797742
init R0 
 0.388249 0.0116141  0.921482
        0 -0.999921 0.0126027
 0.921555 -0.004893 -0.388218
[0m[ INFO] [1720484810.553596037]: IMU excitation not enouth![0m
[0m[ INFO] [1720484810.554002643]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484810.749452817]: IMU excitation not enouth![0m
[0m[ INFO] [1720484810.749822674]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484810.970562502]: IMU excitation not enouth![0m
[0m[ INFO] [1720484811.052645695]: IMU excitation not enouth![0m
[0m[ INFO] [1720484811.053134488]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484811.273014866]: IMU excitation not enouth![0m
[0m[ INFO] [1720484811.457282203]: IMU excitation not enouth![0m
[0m[ INFO] [1720484811.458024915]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484811.571108183]: IMU excitation not enouth![0m
[0m[ INFO] [1720484811.764240553]: IMU excitation not enouth![0m
[0m[ INFO] [1720484811.957879366]: IMU excitation not enouth![0m
[0m[ INFO] [1720484811.958565836]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484812.070318672]: IMU excitation not enouth![0m
[0m[ INFO] [1720484812.245395293]: IMU excitation not enouth![0m
[0m[ INFO] [1720484812.455761526]: IMU excitation not enouth![0m
[0m[ INFO] [1720484812.456559298]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484812.553344986]: IMU excitation not enouth![0m
[0m[ INFO] [1720484812.553816613]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484812.770036721]: IMU excitation not enouth![0m
[0m[ INFO] [1720484812.963093096]: IMU excitation not enouth![0m
[0m[ INFO] [1720484812.963613306]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484813.053127993]: IMU excitation not enouth![0m
[0m[ INFO] [1720484813.053550308]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484813.269302882]: IMU excitation not enouth![0m
[0m[ INFO] [1720484813.470346306]: IMU excitation not enouth![0m
[0m[ INFO] [1720484813.558285046]: IMU excitation not enouth![0m
[0m[ INFO] [1720484813.558909987]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484813.896786996]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484813.987665413]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484814.052764423]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484814.282913482]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484814.489294586]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484814.598859841]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720484814.829461571]: gyroscope bias initial calibration 0.0320012 0.0870378 0.0812006[0m
[0m[ INFO] [1720484814.831722026]: misalign visual structure with IMU[0m
[0m[ INFO] [1720484814.946374086]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484815.074710696]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720484815.527173443]: gyroscope bias initial calibration  -0.0313314  -0.0542165 -0.00138736[0m
[0m[ INFO] [1720484815.551751031]: Initialization finish![0m
time: 1403638524.027829, t: -0.040880 -0.059698 -0.099973 q: -0.035106 0.832569 0.070619 0.548279 
time: 1403638524.127830, t: -0.036538 -0.062805 -0.129924 q: -0.034138 0.836101 0.079971 0.541640 
time: 1403638524.227829, t: -0.029813 -0.064775 -0.115321 q: -0.039649 0.839028 0.082893 0.536273 
time: 1403638524.327830, t: -0.025900 -0.064463 -0.069325 q: -0.047991 0.837868 0.082332 0.537490 
time: 1403638524.427830, t: -0.019506 -0.063652 -0.014969 q: -0.056703 0.833306 0.079367 0.544138 
time: 1403638524.527829, t: -0.011143 -0.063089 0.043717 q: -0.062595 0.825145 0.078224 0.555966 
time: 1403638524.627830, t: -0.004938 -0.058664 0.103046 q: -0.062695 0.817098 0.073722 0.568318 
time: 1403638524.727829, t: 0.003092 -0.055256 0.151330 q: -0.053804 0.812270 0.068195 0.576777 
time: 1403638524.827830, t: 0.008573 -0.050628 0.185897 q: -0.041351 0.809840 0.062921 0.581799 
time: 1403638524.927830, t: 0.012551 -0.045446 0.205637 q: -0.045103 0.808752 0.062645 0.583062 
time: 1403638525.027829, t: 0.012736 -0.043239 0.205673 q: -0.049620 0.806333 0.066037 0.585665 
time: 1403638525.127830, t: 0.014896 -0.042700 0.182962 q: -0.045525 0.803862 0.069917 0.588935 
time: 1403638525.227829, t: 0.016534 -0.043644 0.141726 q: -0.044393 0.803921 0.075016 0.588314 
time: 1403638525.327830, t: 0.014952 -0.044459 0.091723 q: -0.045111 0.809593 0.080069 0.579753 
time: 1403638525.427830, t: 0.010481 -0.042954 0.038621 q: -0.049592 0.820682 0.083826 0.563023 
time: 1403638525.527829, t: 0.007340 -0.045308 -0.012065 q: -0.058401 0.832104 0.085101 0.544932 
time: 1403638525.627830, t: 0.002488 -0.045393 -0.055911 q: -0.061350 0.838067 0.083408 0.535652 
time: 1403638525.727829, t: -0.002356 -0.047026 -0.091520 q: -0.059635 0.838756 0.079128 0.535417 
time: 1403638525.827830, t: -0.001678 -0.047157 -0.118731 q: -0.055402 0.836062 0.073107 0.540913 
time: 1403638525.927830, t: -0.003110 -0.052324 -0.135994 q: -0.046789 0.833149 0.070300 0.546563 
time: 1403638526.027829, t: -0.005565 -0.066570 -0.143167 q: -0.040504 0.833470 0.069919 0.546624 
time: 1403638526.127830, t: -0.006797 -0.091926 -0.140673 q: -0.037521 0.836366 0.063508 0.543186 
time: 1403638526.227829, t: -0.008126 -0.125363 -0.129354 q: -0.035123 0.837780 0.054023 0.542192 
time: 1403638526.427830, t: -0.016762 -0.207947 -0.100680 q: -0.029909 0.830777 0.035560 0.554663 
time: 1403638526.527829, t: -0.023477 -0.257554 -0.089727 q: -0.029465 0.826147 0.023808 0.562179 
time: 1403638526.627830, t: -0.031697 -0.314726 -0.080980 q: -0.027337 0.820926 0.013951 0.570209 
time: 1403638526.727829, t: -0.041694 -0.378730 -0.074420 q: -0.022098 0.817098 0.006579 0.576038 
time: 1403638526.827830, t: -0.053478 -0.446312 -0.068686 q: -0.011629 0.815036 0.002807 0.579286 
time: 1403638526.927830, t: -0.066317 -0.510974 -0.064119 q: -0.006853 0.816411 -0.001265 0.577429 
time: 1403638527.027829, t: -0.079916 -0.572620 -0.059723 q: -0.000606 0.821022 -0.010966 0.570791 
time: 1403638527.127830, t: -0.089842 -0.630492 -0.053574 q: 0.007688 0.825135 -0.025780 0.564294 
time: 1403638527.227829, t: -0.097443 -0.679777 -0.045629 q: 0.016478 0.825038 -0.040486 0.563384 
time: 1403638527.327830, t: -0.100728 -0.714467 -0.037066 q: 0.030986 0.820948 -0.052209 0.567766 
time: 1403638527.427830, t: -0.098855 -0.729747 -0.030231 q: 0.044898 0.816458 -0.058706 0.572655 
time: 1403638527.527829, t: -0.092927 -0.720272 -0.026109 q: 0.051338 0.814575 -0.061414 0.574509 
time: 1403638527.627830, t: -0.082653 -0.683717 -0.029636 q: 0.051988 0.814837 -0.060923 0.574132 
time: 1403638527.727829, t: -0.071790 -0.638824 -0.030315 q: 0.048632 0.815487 -0.054367 0.574160 
time: 1403638527.827830, t: -0.058452 -0.584217 -0.030963 q: 0.039094 0.817929 -0.048605 0.571927 
time: 1403638527.927830, t: -0.045758 -0.524128 -0.029611 q: 0.024948 0.820382 -0.044052 0.569571 
time: 1403638528.127830, t: -0.017215 -0.400588 -0.025651 q: 0.009473 0.818752 -0.029867 0.573291 
time: 1403638528.227829, t: -0.002402 -0.344067 -0.027765 q: -0.001215 0.819769 -0.020319 0.572332 
time: 1403638528.327830, t: 0.021298 -0.297147 -0.030929 q: -0.012539 0.820426 -0.009746 0.571532 
time: 1403638528.427830, t: 0.051751 -0.263338 -0.034432 q: -0.015246 0.819014 -0.003839 0.573558 
time: 1403638528.527829, t: 0.086493 -0.239684 -0.037895 q: -0.013967 0.819771 -0.003315 0.572512 
time: 1403638528.627830, t: 0.123378 -0.214788 -0.040759 q: -0.014429 0.822251 -0.010443 0.568846 
time: 1403638528.727829, t: 0.152319 -0.202147 -0.037422 q: -0.012811 0.822460 -0.015898 0.568456 
time: 1403638528.827830, t: 0.175098 -0.192351 -0.032571 q: -0.011444 0.821637 -0.021615 0.569486 
time: 1403638528.927830, t: 0.180128 -0.185923 -0.022066 q: -0.018239 0.821100 -0.029121 0.569749 
time: 1403638529.027829, t: 0.168114 -0.170705 -0.007458 q: -0.023563 0.821952 -0.033473 0.568084 
time: 1403638529.127830, t: 0.141165 -0.160054 0.006951 q: -0.013346 0.822654 -0.029689 0.567610 
time: 1403638529.227829, t: 0.110713 -0.149657 0.013612 q: 0.001525 0.823813 -0.021905 0.566436 
time: 1403638529.327830, t: 0.068648 -0.133675 0.008742 q: 0.008831 0.826864 -0.016277 0.562096 
time: 1403638529.427830, t: 0.031092 -0.118098 -0.006278 q: 0.010746 0.834392 -0.012077 0.550934 
time: 1403638529.527829, t: 0.001075 -0.106883 -0.028853 q: 0.007109 0.845480 -0.009478 0.533876 
time: 1403638529.627830, t: -0.027291 -0.095290 -0.049007 q: 0.008010 0.852710 -0.005414 0.522296 
time: 1403638529.727829, t: -0.027261 -0.091450 -0.082590 q: 0.007499 0.852925 -0.003181 0.521970 
time: 1403638529.827830, t: -0.042414 -0.083152 -0.101245 q: 0.005244 0.846903 -0.003703 0.531709 
time: 1403638529.927830, t: -0.061834 -0.073529 -0.117448 q: 0.004253 0.841696 -0.003707 0.539923 
time: 1403638530.027829, t: -0.049253 -0.071493 -0.134513 q: 0.004803 0.841577 -0.004128 0.540100 
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time: 1403638530.727829, t: 0.026159 -0.081806 -0.195315 q: 0.010760 0.848855 -0.029744 0.527679 
time: 1403638530.827830, t: 0.029091 -0.083342 -0.200784 q: 0.010832 0.850929 -0.030315 0.524293 
time: 1403638530.927830, t: 0.030982 -0.083961 -0.204463 q: 0.008286 0.849971 -0.029670 0.525928 
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time: 1403638531.527829, t: 0.030741 -0.080514 -0.208869 q: 0.011646 0.839471 -0.025925 0.542661 
time: 1403638531.627830, t: 0.030750 -0.080590 -0.208973 q: 0.012166 0.839558 -0.024910 0.542562 
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time: 1403638532.127830, t: 0.030846 -0.080416 -0.209170 q: 0.011851 0.839534 -0.026030 0.542553 
time: 1403638532.227829, t: 0.030786 -0.080430 -0.209185 q: 0.012028 0.839559 -0.025916 0.542517 
time: 1403638532.327830, t: 0.030826 -0.080464 -0.209198 q: 0.012104 0.839518 -0.025886 0.542579 
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time: 1403638532.627830, t: 0.030820 -0.080492 -0.209247 q: 0.012019 0.839498 -0.025887 0.542612 
time: 1403638532.727829, t: 0.030810 -0.080466 -0.209270 q: 0.011944 0.839464 -0.025907 0.542665 
time: 1403638532.827830, t: 0.030833 -0.080452 -0.209265 q: 0.011859 0.839448 -0.025922 0.542691 
time: 1403638532.927830, t: 0.030803 -0.080441 -0.209274 q: 0.011872 0.839433 -0.025866 0.542717 
time: 1403638533.127830, t: 0.030812 -0.080450 -0.209284 q: 0.011791 0.839392 -0.025860 0.542783 
time: 1403638533.227829, t: 0.030806 -0.080446 -0.209308 q: 0.011738 0.839362 -0.025850 0.542830 
time: 1403638533.327830, t: 0.030821 -0.080431 -0.209307 q: 0.011710 0.839330 -0.025827 0.542882 
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time: 1403638533.727829, t: 0.030803 -0.080416 -0.209332 q: 0.011496 0.839268 -0.025714 0.542989 
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time: 1403638533.927830, t: 0.030788 -0.080491 -0.209315 q: 0.011248 0.839226 -0.025585 0.543064 
time: 1403638534.027829, t: 0.030741 -0.080416 -0.209301 q: 0.011330 0.839185 -0.025709 0.543120 
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time: 1403638534.427830, t: 0.030765 -0.080361 -0.209224 q: 0.010825 0.839293 -0.025707 0.542963 
time: 1403638534.527829, t: 0.030746 -0.080471 -0.209215 q: 0.011070 0.839296 -0.025995 0.542940 
time: 1403638534.627830, t: 0.030680 -0.080396 -0.209020 q: 0.010893 0.839310 -0.025505 0.542945 
time: 1403638534.727829, t: 0.030718 -0.080404 -0.209023 q: 0.010663 0.839309 -0.025248 0.542963 
time: 1403638534.827830, t: 0.030740 -0.080408 -0.209040 q: 0.010675 0.839263 -0.025270 0.543034 
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optimize pose graph 
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time: 1403638543.027829, t: 1.319812 1.126794 0.338154 q: -0.197221 0.766082 0.294431 0.536221 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403638631.427830, t: 0.227707 -0.272193 -0.255668 q: 0.075367 0.831557 -0.104549 0.540280 
time: 1403638631.527829, t: 0.221805 -0.275730 -0.260150 q: 0.075296 0.831677 -0.104538 0.540106 
time: 1403638631.627830, t: 0.214210 -0.276190 -0.263956 q: 0.075555 0.831750 -0.104419 0.539981 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720484924.751262892]: Shutdown request received.[0m
[33m[ WARN] [1720484924.751304018]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720484924.752218574]: Shutdown request received.[0m
[33m[ WARN] [1720484924.752245266]: Reason given for shutdown: [user request][0m
killed
