/SLAM-Hive/slam_hive_results/mapping_results/2930/2138_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-8.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720485568.439332854]: init begins[0m
[31m[ERROR] [1720485568.440455263]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720485568.444729395]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b30340e0-3d8b-11ef-a3b8-0242ac110005/roslaunch-13ba6c9be498-118.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://13ba6c9be498:36673/[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] [1720485569.546617012]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[0m[ INFO] [1720485569.549459797]: Connected to master at [localhost:11311][0m
result path /home/output/vio.csv
[33m[ WARN] [1720485569.551572607]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720485569.551775407]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720485569.551797826]: 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] [1720485569.551950374]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720485569.552224085]: 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://13ba6c9be498:11311/[0m
]2;roscore http://13ba6c9be498:11311/
[1msetting /run_id to b30340e0-3d8b-11ef-a3b8-0242ac110005[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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720485578.584802720]: 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: 316847060.66 
init first imu pose
averge acc 9.020195 -0.033170 -3.796231
init R0 
  0.387918 0.00805299   0.921659
         0  -0.999962 0.00873716
  0.921694 -0.0033893  -0.387903
[0m[ INFO] [1720485581.001096912]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485581.209080953]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485581.395126520]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485581.612198511]: IMU excitation not enouth![0m
[0m[ INFO] [1720485581.613077423]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485581.788079215]: IMU excitation not enouth![0m
[0m[ INFO] [1720485581.788426211]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485582.013917692]: IMU excitation not enouth![0m
[0m[ INFO] [1720485582.014204299]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485582.199253651]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485582.409581524]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485582.581728138]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485582.813109073]: IMU excitation not enouth![0m
[0m[ INFO] [1720485583.010188326]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485583.188745368]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485583.382851453]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720485583.648939577]: gyroscope bias initial calibration -0.000719185    0.0198544    0.0783761[0m
[0m[ INFO] [1720485583.707611790]: Initialization finish![0m
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time: 1403638523.977829, t: -0.025031 -0.084610 0.055829 q: -0.023948 0.830627 0.036134 0.555139 
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time: 1403638528.777829, t: 0.158950 -0.252218 0.160920 q: 0.015754 0.814359 -0.052752 0.577745 
time: 1403638528.977829, t: 0.168516 -0.241455 0.175680 q: 0.004405 0.813057 -0.066310 0.578379 
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time: 1403638529.577830, t: 0.004597 -0.136843 0.145654 q: 0.032821 0.843523 -0.043960 0.534284 
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time: 1403638531.577830, t: 0.060527 -0.107918 -0.015492 q: 0.038252 0.833875 -0.060937 0.547243 
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time: 1403638603.377830, t: 9.654435 8.523374 3.096815 q: -0.277168 0.722775 0.344669 0.531016 
time: 1403638603.577830, t: 9.576795 8.582359 3.117741 q: -0.274419 0.728896 0.356236 0.516237 
time: 1403638603.777829, t: 9.486971 8.622211 3.122444 q: -0.270734 0.712289 0.364726 0.535091 
time: 1403638603.977829, t: 9.374106 8.649876 3.105039 q: -0.259462 0.697648 0.372298 0.554401 
time: 1403638604.177830, t: 9.224144 8.645166 3.070687 q: -0.252478 0.693432 0.375904 0.560449 
time: 1403638604.377830, t: 9.029086 8.618188 3.063026 q: -0.263665 0.705304 0.369228 0.544699 
time: 1403638604.577830, t: 8.805601 8.571132 3.077480 q: -0.258951 0.717737 0.372374 0.528333 
time: 1403638604.777829, t: 8.582820 8.517838 3.082665 q: -0.265578 0.723044 0.368369 0.520557 
time: 1403638604.977829, t: 8.357982 8.454856 3.086939 q: -0.263921 0.732159 0.369831 0.507458 
optimize pose graph 
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time: 1403638605.377830, t: 7.945935 8.350964 3.149936 q: -0.248660 0.738255 0.381295 0.497757 
time: 1403638605.577830, t: 7.758109 8.325863 3.165384 q: -0.236617 0.719469 0.390685 0.523203 
time: 1403638605.777829, t: 7.556563 8.320927 3.167241 q: -0.230685 0.712675 0.394894 0.531918 
time: 1403638605.977829, t: 7.326806 8.336256 3.199897 q: -0.223725 0.711837 0.398377 0.533414 
time: 1403638606.177830, t: 7.068665 8.373984 3.227634 q: -0.217570 0.711739 0.400565 0.534452 
time: 1403638606.377830, t: 6.782146 8.432279 3.226127 q: -0.220668 0.721618 0.396336 0.522964 
time: 1403638606.577830, t: 6.479526 8.512596 3.196716 q: -0.235043 0.740769 0.385496 0.497401 
time: 1403638606.777829, t: 6.183246 8.614004 3.149311 q: -0.244952 0.743546 0.396902 0.479173 
time: 1403638606.977829, t: 5.906597 8.745331 3.098635 q: -0.264098 0.731868 0.424821 0.462763 
optimize pose graph 
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time: 1403638607.377830, t: 5.438036 9.086218 3.068961 q: -0.321331 0.690625 0.449631 0.466493 
time: 1403638607.577830, t: 5.237982 9.265083 3.021843 q: -0.329197 0.686356 0.452023 0.464993 
time: 1403638607.777829, t: 5.062070 9.436001 2.954067 q: -0.329472 0.683132 0.452416 0.469147 
time: 1403638607.977829, t: 4.912862 9.601402 2.872512 q: -0.332686 0.689929 0.447276 0.461804 
time: 1403638608.177830, t: 4.785849 9.764069 2.775096 q: -0.329817 0.685797 0.445086 0.472020 
time: 1403638608.377830, t: 4.668944 9.907209 2.659307 q: -0.329303 0.675512 0.442926 0.488937 
time: 1403638608.577830, t: 4.548550 10.031044 2.524035 q: -0.327655 0.676945 0.443240 0.487776 
time: 1403638608.777829, t: 4.429479 10.131534 2.393242 q: -0.333800 0.674441 0.438896 0.490996 
time: 1403638608.977829, t: 4.311412 10.210759 2.286433 q: -0.331301 0.681916 0.441302 0.480086 
time: 1403638609.177830, t: 4.199861 10.274790 2.206590 q: -0.332413 0.685166 0.440557 0.475352 
time: 1403638609.377830, t: 4.101771 10.314706 2.122661 q: -0.339317 0.685629 0.435303 0.474646 
time: 1403638609.577830, t: 4.016397 10.349282 2.010770 q: -0.332114 0.685645 0.439440 0.475904 
time: 1403638609.777829, t: 3.944996 10.374655 1.879205 q: -0.328868 0.684744 0.441750 0.477314 
time: 1403638609.977829, t: 3.885070 10.392591 1.769123 q: -0.330269 0.684549 0.440681 0.477615 
time: 1403638610.177830, t: 3.840821 10.397759 1.688179 q: -0.334999 0.679352 0.437176 0.484906 
time: 1403638610.377830, t: 3.800858 10.383989 1.596290 q: -0.338361 0.677793 0.434431 0.487214 
time: 1403638610.577830, t: 3.764355 10.345794 1.485762 q: -0.341569 0.671053 0.431606 0.496723 
time: 1403638610.777829, t: 3.723982 10.283850 1.368279 q: -0.343552 0.671399 0.430978 0.495433 
time: 1403638610.977829, t: 3.685732 10.197487 1.282399 q: -0.340032 0.678004 0.435529 0.484772 
optimize pose graph 
time: 1403638611.177830, t: 3.650967 10.086810 1.192699 q: -0.344704 0.674278 0.433629 0.488359 
time: 1403638611.377830, t: 3.623522 9.952805 1.101759 q: -0.337968 0.671347 0.438883 0.492395 
time: 1403638611.577830, t: 3.594517 9.795385 1.042216 q: -0.317233 0.666283 0.452020 0.501106 
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time: 1403638611.977829, t: 3.487193 9.456393 0.927671 q: -0.328648 0.683697 0.441468 0.479223 
time: 1403638612.177830, t: 3.435034 9.283110 0.869968 q: -0.329325 0.686958 0.439656 0.475748 
time: 1403638612.377830, t: 3.396163 9.115402 0.843210 q: -0.328174 0.686561 0.439554 0.477210 
time: 1403638612.577830, t: 3.363659 8.944643 0.806430 q: -0.324742 0.683244 0.439289 0.484506 
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time: 1403638613.577830, t: 3.116118 8.080943 0.625677 q: -0.315147 0.686416 0.430984 0.493729 
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time: 1403638614.577830, t: 2.761291 7.054559 0.348272 q: -0.258812 0.739555 0.335017 0.523296 
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time: 1403638614.977829, t: 2.640642 6.605522 0.389274 q: -0.233099 0.776653 0.270918 0.518728 
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time: 1403638615.377830, t: 2.605951 6.142482 0.517871 q: -0.148293 0.795644 0.181987 0.558427 
time: 1403638615.577830, t: 2.605083 5.919558 0.571942 q: -0.111288 0.803290 0.132233 0.569960 
time: 1403638615.777829, t: 2.594895 5.687517 0.614610 q: -0.090557 0.807416 0.102741 0.573867 
time: 1403638615.977829, t: 2.573595 5.453469 0.672920 q: -0.078293 0.810775 0.079232 0.574662 
time: 1403638616.177830, t: 2.546710 5.214582 0.704108 q: -0.059775 0.813201 0.053020 0.576471 
time: 1403638616.377830, t: 2.520945 4.972489 0.672224 q: -0.036066 0.815860 0.015746 0.576909 
time: 1403638616.577830, t: 2.494330 4.719305 0.605516 q: -0.016303 0.818839 -0.014425 0.573610 
time: 1403638616.777829, t: 2.467733 4.474221 0.525254 q: -0.013064 0.832385 -0.033903 0.553005 
time: 1403638616.977829, t: 2.457049 4.223355 0.451606 q: -0.011542 0.836403 -0.038109 0.546666 
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time: 1403638618.777829, t: 3.350419 2.259570 0.686204 q: 0.004698 0.832399 -0.001649 0.554155 
time: 1403638618.977829, t: 3.524680 2.105995 0.732206 q: 0.013496 0.826807 -0.014000 0.562150 
time: 1403638619.177830, t: 3.702661 1.959585 0.758649 q: 0.038772 0.820483 -0.046687 0.568440 
time: 1403638619.377830, t: 3.879782 1.826352 0.751879 q: 0.068913 0.813354 -0.095456 0.569731 
time: 1403638619.577830, t: 4.050769 1.703141 0.724186 q: 0.085915 0.806371 -0.132440 0.569951 
time: 1403638619.777829, t: 4.220517 1.587311 0.685243 q: 0.078492 0.801135 -0.160424 0.571214 
time: 1403638619.977829, t: 4.378809 1.468512 0.639344 q: 0.079631 0.798384 -0.170528 0.571981 
time: 1403638620.177830, t: 4.515418 1.329633 0.606443 q: 0.086217 0.792805 -0.171025 0.578600 
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time: 1403638621.577830, t: 5.030804 0.291779 0.558260 q: 0.098680 0.799121 -0.136741 0.577035 
time: 1403638621.977829, t: 5.097730 0.056927 0.488625 q: 0.100998 0.790456 -0.132066 0.589522 
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time: 1403638623.377830, t: 4.661741 -0.267646 0.460190 q: 0.094043 0.792460 -0.145405 0.584825 
time: 1403638623.577830, t: 4.509046 -0.262594 0.450663 q: 0.096170 0.794278 -0.144578 0.582212 
time: 1403638623.777829, t: 4.343387 -0.258330 0.463561 q: 0.099908 0.795774 -0.143853 0.579714 
time: 1403638623.977829, t: 4.162030 -0.252828 0.492162 q: 0.103013 0.798045 -0.144395 0.575901 
time: 1403638624.177830, t: 3.975486 -0.239496 0.503649 q: 0.099013 0.798393 -0.149811 0.574736 
time: 1403638624.377830, t: 3.784333 -0.226482 0.498832 q: 0.096580 0.797705 -0.154273 0.574925 
time: 1403638624.577830, t: 3.596547 -0.218103 0.481357 q: 0.093094 0.789366 -0.159712 0.585429 
time: 1403638624.777829, t: 3.387206 -0.207631 0.453774 q: 0.099590 0.790735 -0.147627 0.585684 
time: 1403638624.977829, t: 3.174901 -0.194897 0.457435 q: 0.093922 0.799865 -0.137108 0.576711 
time: 1403638625.177830, t: 2.959755 -0.176457 0.463259 q: 0.079942 0.801805 -0.136318 0.576312 
time: 1403638625.377830, t: 2.747395 -0.164120 0.454309 q: 0.076730 0.802798 -0.133661 0.575988 
time: 1403638625.577830, t: 2.540647 -0.158689 0.461908 q: 0.076299 0.802851 -0.132567 0.576225 
time: 1403638625.777829, t: 2.323410 -0.156141 0.489127 q: 0.075400 0.809029 -0.133424 0.567437 
time: 1403638625.977829, t: 2.123597 -0.170477 0.505637 q: 0.076620 0.812131 -0.133838 0.562726 
time: 1403638626.177830, t: 1.928198 -0.185305 0.504794 q: 0.075360 0.813846 -0.136071 0.559876 
time: 1403638626.377830, t: 1.736243 -0.208396 0.485428 q: 0.086049 0.810328 -0.129470 0.564979 
time: 1403638626.577830, t: 1.560877 -0.228081 0.454896 q: 0.089197 0.811385 -0.126366 0.563676 
time: 1403638626.777829, t: 1.395998 -0.238964 0.427861 q: 0.085668 0.817232 -0.128468 0.555238 
time: 1403638626.977829, t: 1.244693 -0.251275 0.426106 q: 0.084566 0.820791 -0.128303 0.550171 
time: 1403638627.177830, t: 1.120163 -0.264583 0.421431 q: 0.083142 0.820778 -0.127856 0.550512 
optimize pose graph 
time: 1403638627.377830, t: 1.010924 -0.274570 0.400344 q: 0.086572 0.820069 -0.124739 0.551753 
time: 1403638627.577830, t: 0.928004 -0.287476 0.377326 q: 0.088021 0.819310 -0.124052 0.552806 
time: 1403638627.777829, t: 0.860395 -0.298341 0.352689 q: 0.091643 0.814417 -0.122462 0.559759 
time: 1403638627.977829, t: 0.816931 -0.302555 0.311292 q: 0.093056 0.815715 -0.122606 0.557600 
time: 1403638628.177830, t: 0.777273 -0.299232 0.279661 q: 0.095212 0.817434 -0.123323 0.554552 
time: 1403638628.377830, t: 0.740636 -0.287671 0.256713 q: 0.094068 0.818245 -0.125551 0.553049 
time: 1403638628.577830, t: 0.733513 -0.270445 0.244076 q: 0.079799 0.808556 -0.136228 0.566843 
time: 1403638628.777829, t: 0.761641 -0.239740 0.246090 q: 0.076540 0.805805 -0.140008 0.570278 
time: 1403638628.977829, t: 0.722996 -0.232188 0.227189 q: 0.086046 0.806895 -0.134325 0.568747 
time: 1403638629.177830, t: 0.699478 -0.227113 0.213968 q: 0.093260 0.809084 -0.128841 0.565761 
time: 1403638629.377830, t: 0.690883 -0.215166 0.203383 q: 0.094985 0.812483 -0.128200 0.560727 
time: 1403638629.577830, t: 0.675602 -0.198232 0.203348 q: 0.090404 0.819981 -0.132651 0.549420 
time: 1403638629.777829, t: 0.683143 -0.186810 0.210564 q: 0.072487 0.812545 -0.146529 0.559505 
time: 1403638629.977829, t: 0.694329 -0.187014 0.201529 q: 0.081621 0.800502 -0.141746 0.576579 
time: 1403638630.177830, t: 0.692054 -0.191837 0.155372 q: 0.095034 0.799476 -0.132286 0.578192 
time: 1403638630.377830, t: 0.687095 -0.188758 0.095387 q: 0.092840 0.823456 -0.131897 0.543971 
time: 1403638630.577830, t: 0.706204 -0.184835 0.105488 q: 0.091290 0.804756 -0.131809 0.571543 
time: 1403638630.777829, t: 0.708456 -0.188235 0.077690 q: 0.092213 0.830284 -0.122306 0.535879 
time: 1403638630.977829, t: 0.689738 -0.187326 0.067936 q: 0.087571 0.828829 -0.123660 0.538593 
time: 1403638631.177830, t: 0.680122 -0.202264 0.059570 q: 0.087702 0.829075 -0.123242 0.538288 
time: 1403638631.377830, t: 0.700319 -0.232626 0.078874 q: 0.086925 0.829636 -0.123276 0.537541 
time: 1403638631.577830, t: 0.659717 -0.236306 0.072597 q: 0.086533 0.829314 -0.123558 0.538038 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720485694.276785080]: Shutdown request received.[0m
[33m[ WARN] [1720485694.276830908]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720485694.277587851]: Shutdown request received.[0m
[33m[ WARN] [1720485694.277615608]: Reason given for shutdown: [user request][0m
killed
