/SLAM-Hive/slam_hive_results/mapping_results/2926/2134_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-4.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720484952.359715220]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720484952.361947010]: init begins[0m
[31m[ERROR] [1720484952.362985191]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/43cd0324-3d8a-11ef-b38d-0242ac110005/roslaunch-5159d49a87c9-118.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://5159d49a87c9:36545/[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://5159d49a87c9:11311/[0m
]2;roscore http://5159d49a87c9:11311/
[0m[ INFO] [1720484953.515053714]: Connected to master at [localhost:11311][0m
[1msetting /run_id to 43cd0324-3d8a-11ef-b38d-0242ac110005[0m
[0m[ INFO] [1720484953.518963330]: 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] [1720484953.527295750]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720484953.527492573]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720484953.527516865]: ROW: 192 COL: 300 [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] [1720484953.527779568]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720484953.528136518]: 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 [231][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720484962.482930683]: 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: 316846444.56 
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] [1720484963.835902024]: IMU excitation not enouth![0m
[0m[ INFO] [1720484963.836428316]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484964.034561953]: IMU excitation not enouth![0m
[0m[ INFO] [1720484964.034992191]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484964.243465594]: IMU excitation not enouth![0m
[0m[ INFO] [1720484964.333111552]: IMU excitation not enouth![0m
[0m[ INFO] [1720484964.333580169]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484964.550703024]: IMU excitation not enouth![0m
[0m[ INFO] [1720484964.738307928]: IMU excitation not enouth![0m
[0m[ INFO] [1720484964.738809932]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484964.846824383]: IMU excitation not enouth![0m
[0m[ INFO] [1720484965.046610352]: IMU excitation not enouth![0m
[0m[ INFO] [1720484965.233589210]: IMU excitation not enouth![0m
[0m[ INFO] [1720484965.234072226]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484965.335604659]: IMU excitation not enouth![0m
[0m[ INFO] [1720484965.335737029]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484965.538955131]: IMU excitation not enouth![0m
[0m[ INFO] [1720484965.539170028]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484965.725193773]: IMU excitation not enouth![0m
[0m[ INFO] [1720484965.725335004]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484965.832023027]: IMU excitation not enouth![0m
[0m[ INFO] [1720484965.832546776]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484966.035680622]: IMU excitation not enouth![0m
[0m[ INFO] [1720484966.035793581]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484966.235052460]: IMU excitation not enouth![0m
[0m[ INFO] [1720484966.335209576]: IMU excitation not enouth![0m
[0m[ INFO] [1720484966.335712317]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484966.547076359]: IMU excitation not enouth![0m
[0m[ INFO] [1720484966.745182949]: IMU excitation not enouth![0m
[0m[ INFO] [1720484966.827144481]: IMU excitation not enouth![0m
[0m[ INFO] [1720484967.050058399]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720484967.318414186]: gyroscope bias initial calibration -0.00261117   0.0227552   0.0736852[0m
[0m[ INFO] [1720484967.356267057]: Initialization finish![0m
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time: 1403638522.627830, t: 0.016990 0.005651 0.177714 q: -0.045248 0.830037 0.011314 0.555755 
time: 1403638522.727829, t: 0.024491 0.006850 0.223851 q: -0.046719 0.825166 0.019190 0.562629 
time: 1403638522.827830, t: 0.031318 0.008424 0.272163 q: -0.055482 0.819139 0.023208 0.570434 
time: 1403638522.927830, t: 0.035451 0.009020 0.320718 q: -0.068341 0.813560 0.018210 0.577164 
time: 1403638523.027829, t: 0.038432 0.004311 0.361708 q: -0.072544 0.809445 0.015180 0.582500 
time: 1403638523.127830, t: 0.038087 -0.000935 0.386316 q: -0.072342 0.807935 0.015649 0.584605 
time: 1403638523.227829, t: 0.034517 -0.006889 0.389890 q: -0.068128 0.806355 0.015438 0.587292 
time: 1403638523.327830, t: 0.032732 -0.012008 0.372643 q: -0.058731 0.803995 0.014803 0.591543 
time: 1403638523.427830, t: 0.031969 -0.017077 0.336955 q: -0.055587 0.804899 0.015518 0.590599 
time: 1403638523.527829, t: 0.027494 -0.023172 0.288423 q: -0.049588 0.811666 0.019272 0.581694 
time: 1403638523.627830, t: 0.021609 -0.029979 0.236760 q: -0.042235 0.821901 0.023252 0.567587 
time: 1403638523.727829, t: 0.017472 -0.037859 0.186513 q: -0.037638 0.828909 0.026344 0.557493 
time: 1403638523.827830, t: 0.012256 -0.045275 0.139604 q: -0.035554 0.831318 0.029138 0.553893 
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time: 1403638524.127830, t: -0.004482 -0.052358 0.078387 q: -0.015512 0.836557 0.048962 0.545467 
time: 1403638524.227829, t: -0.002246 -0.052170 0.109636 q: -0.020161 0.839809 0.051582 0.540050 
time: 1403638524.327830, t: -0.000149 -0.052665 0.160116 q: -0.028483 0.838616 0.051312 0.541552 
time: 1403638524.427830, t: 0.005465 -0.051915 0.218367 q: -0.037212 0.833995 0.049122 0.548320 
time: 1403638524.527829, t: 0.012629 -0.050781 0.279056 q: -0.042640 0.825778 0.048472 0.560288 
time: 1403638524.627830, t: 0.021828 -0.048129 0.336132 q: -0.043070 0.817795 0.044864 0.572139 
time: 1403638524.727829, t: 0.027783 -0.042767 0.384302 q: -0.033636 0.812742 0.039487 0.580309 
time: 1403638524.827830, t: 0.035132 -0.039764 0.417100 q: -0.021563 0.810183 0.034699 0.584752 
time: 1403638524.927830, t: 0.040490 -0.036420 0.435792 q: -0.026071 0.809126 0.034989 0.586013 
time: 1403638525.027829, t: 0.040111 -0.032752 0.434788 q: -0.030353 0.806772 0.038396 0.588833 
time: 1403638525.127830, t: 0.042051 -0.031694 0.410872 q: -0.026331 0.804356 0.042506 0.592040 
time: 1403638525.227829, t: 0.074275 -0.020990 0.421727 q: -0.024744 0.805565 0.047675 0.590067 
time: 1403638525.327830, t: 0.039360 -0.025741 0.319750 q: -0.025664 0.810266 0.052319 0.583158 
time: 1403638525.427830, t: 0.037060 -0.025662 0.265571 q: -0.031328 0.821468 0.056116 0.566621 
time: 1403638525.527829, t: 0.039854 -0.030440 0.215314 q: -0.041425 0.832955 0.057572 0.548776 
time: 1403638525.627830, t: 0.034084 -0.032442 0.171240 q: -0.045060 0.838773 0.055926 0.539723 
time: 1403638525.727829, t: 0.031005 -0.033678 0.135734 q: -0.043613 0.839311 0.051731 0.539425 
time: 1403638525.827830, t: 0.029830 -0.038093 0.108265 q: -0.039930 0.836282 0.046323 0.544879 
time: 1403638525.927830, t: 0.031351 -0.038802 0.090807 q: -0.030839 0.833333 0.043456 0.550197 
time: 1403638526.027829, t: 0.024368 -0.055494 0.087470 q: -0.025063 0.833492 0.043436 0.550251 
time: 1403638526.127830, t: 0.023122 -0.079055 0.090580 q: -0.022295 0.836168 0.037106 0.546763 
time: 1403638526.227829, t: 0.019432 -0.112342 0.102571 q: -0.020193 0.837222 0.027819 0.545782 
time: 1403638526.327830, t: 0.014268 -0.150935 0.116488 q: -0.017214 0.834375 0.019315 0.550590 
time: 1403638526.427830, t: 0.007189 -0.195532 0.129454 q: -0.015024 0.829532 0.009782 0.558171 
time: 1403638526.527829, t: -0.001366 -0.244517 0.139306 q: -0.014321 0.824442 -0.001829 0.565763 
time: 1403638526.627830, t: -0.011838 -0.300911 0.146818 q: -0.012005 0.818845 -0.011486 0.573774 
time: 1403638526.727829, t: -0.025113 -0.363876 0.152713 q: -0.006648 0.814756 -0.018733 0.579464 
time: 1403638526.827830, t: -0.039167 -0.432746 0.157523 q: 0.003557 0.812593 -0.022262 0.582396 
time: 1403638526.927830, t: -0.055347 -0.497737 0.159227 q: 0.008115 0.813762 -0.026271 0.580548 
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time: 1403638527.427830, t: -0.096978 -0.708785 0.178568 q: 0.059754 0.811646 -0.083985 0.574984 
time: 1403638527.527829, t: -0.090608 -0.694574 0.181747 q: 0.066686 0.809524 -0.086994 0.576764 
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time: 1403638527.727829, t: -0.060495 -0.616670 0.178266 q: 0.063909 0.810573 -0.079917 0.576628 
time: 1403638527.827830, t: -0.041534 -0.567485 0.179512 q: 0.053819 0.813216 -0.073797 0.574750 
time: 1403638527.927830, t: -0.024517 -0.511316 0.182787 q: 0.039213 0.815759 -0.068933 0.572929 
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time: 1403638533.627830, t: 0.085710 -0.061420 0.003135 q: 0.031364 0.835594 -0.054876 0.545699 
time: 1403638533.727829, t: 0.085856 -0.061614 0.003057 q: 0.031463 0.835611 -0.054955 0.545660 
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time: 1403638631.627830, t: 0.145890 -0.022775 -0.075452 q: 0.105887 0.824538 -0.150942 0.534922 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720485078.099963091]: Shutdown request received.[0m
[33m[ WARN] [1720485078.100021437]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720485078.100949089]: Shutdown request received.[0m
[33m[ WARN] [1720485078.100975211]: Reason given for shutdown: [user request][0m
killed
