/SLAM-Hive/slam_hive_results/mapping_results/2932/2140_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-10.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720485875.505794923]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720485875.507820165]: init begins[0m
[31m[ERROR] [1720485875.509109752]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/6a09a248-3d8c-11ef-a05a-0242ac110005/roslaunch-d3b2a5d434fb-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://d3b2a5d434fb:35845/[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://d3b2a5d434fb:11311/[0m
]2;roscore http://d3b2a5d434fb:11311/
[1msetting /run_id to 6a09a248-3d8c-11ef-a05a-0242ac110005[0m
[0m[ INFO] [1720485876.664602324]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720485876.666706376]: 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] [1720485876.691946448]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720485876.692587012]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720485876.692694922]: 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] [1720485876.693427643]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720485876.694169094]: 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 [236][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720485885.650781914]: 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: 316847367.73 
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] [1720485888.051929503]: IMU excitation not enouth![0m
[0m[ INFO] [1720485888.269195370]: IMU excitation not enouth![0m
[0m[ INFO] [1720485888.459916222]: IMU excitation not enouth![0m
[0m[ INFO] [1720485888.460369927]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485888.671285375]: IMU excitation not enouth![0m
[0m[ INFO] [1720485888.859470006]: IMU excitation not enouth![0m
[0m[ INFO] [1720485888.860028080]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485889.076778954]: IMU excitation not enouth![0m
[0m[ INFO] [1720485889.259269644]: IMU excitation not enouth![0m
[0m[ INFO] [1720485889.259663577]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485889.460342918]: IMU excitation not enouth![0m
[0m[ INFO] [1720485889.460542856]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485889.656939534]: IMU excitation not enouth![0m
[0m[ INFO] [1720485889.657455579]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485889.869697005]: IMU excitation not enouth![0m
[0m[ INFO] [1720485890.071380951]: IMU excitation not enouth![0m
[0m[ INFO] [1720485890.260175868]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485890.459899966]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485890.667350539]: 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] [1720485891.066137259]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485891.258897604]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485891.483354716]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485891.675893827]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485891.872673001]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485892.061117118]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485892.259823314]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485892.490942851]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485892.682995325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485892.887010774]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485893.075367467]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485893.272707915]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485893.485728593]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485893.662105647]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485893.882826203]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485894.073302902]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485894.262162711]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485894.471296961]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485894.660895126]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485894.858382197]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485895.073449067]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485895.257901179]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485895.459703690]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485895.648994715]: 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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720485896.066525392]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485896.254001611]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720485896.513490208]: gyroscope bias initial calibration -0.00324555   0.0194053   0.0772071[0m
[0m[ INFO] [1720485896.534490306]: Initialization finish![0m
time: 1403638528.577830, t: 0.190564 0.049475 -0.003146 q: -0.007704 0.821454 -0.008279 0.570163 
time: 1403638528.777829, t: 0.255609 0.083205 0.003669 q: -0.001769 0.821965 -0.022573 0.569088 
time: 1403638528.977829, t: 0.258584 0.097785 0.034746 q: -0.011800 0.820890 -0.037357 0.569741 
time: 1403638529.177830, t: 0.202162 0.130685 0.061577 q: 0.007762 0.821801 -0.032714 0.568782 
time: 1403638529.377830, t: 0.128129 0.160644 0.055685 q: 0.023532 0.828495 -0.021963 0.559071 
time: 1403638529.577830, t: 0.074555 0.187562 0.012537 q: 0.020875 0.848509 -0.016476 0.528512 
time: 1403638529.777829, t: 0.049404 0.208841 -0.037383 q: 0.021928 0.848653 -0.012994 0.528335 
time: 1403638529.977829, t: 0.044649 0.208913 -0.074109 q: 0.017929 0.839608 -0.013057 0.542740 
time: 1403638530.177830, t: 0.036920 0.221155 -0.091807 q: 0.020047 0.842205 -0.018307 0.538474 
time: 1403638530.377830, t: 0.063418 0.211521 -0.112976 q: 0.025932 0.841316 -0.030594 0.539054 
time: 1403638530.577830, t: 0.085718 0.204093 -0.128439 q: 0.025677 0.841133 -0.038076 0.538875 
time: 1403638530.777829, t: 0.095154 0.197850 -0.140431 q: 0.027361 0.847414 -0.041913 0.528567 
time: 1403638530.977829, t: 0.096789 0.196074 -0.146730 q: 0.024262 0.845629 -0.041420 0.531608 
time: 1403638531.177830, t: 0.095324 0.198372 -0.147402 q: 0.025381 0.839869 -0.038047 0.540859 
time: 1403638531.377830, t: 0.095348 0.200319 -0.149062 q: 0.028002 0.837388 -0.036869 0.544645 
time: 1403638531.577830, t: 0.095099 0.199774 -0.149310 q: 0.028775 0.836678 -0.036041 0.545751 
time: 1403638531.777829, t: 0.095358 0.200013 -0.149569 q: 0.028343 0.836669 -0.036573 0.545750 
time: 1403638531.977829, t: 0.095773 0.200190 -0.150250 q: 0.028790 0.836687 -0.036494 0.545705 
time: 1403638532.177830, t: 0.095896 0.200218 -0.150468 q: 0.028959 0.836677 -0.036513 0.545710 
time: 1403638532.377830, t: 0.095558 0.200212 -0.150153 q: 0.028780 0.836665 -0.036772 0.545720 
time: 1403638532.577830, t: 0.095609 0.200176 -0.150268 q: 0.028807 0.836667 -0.037000 0.545701 
time: 1403638532.777829, t: 0.095611 0.200120 -0.150270 q: 0.029001 0.836709 -0.036882 0.545635 
time: 1403638532.977829, t: 0.095731 0.200236 -0.150308 q: 0.029229 0.836733 -0.037130 0.545568 
time: 1403638533.177830, t: 0.095703 0.200236 -0.150316 q: 0.029342 0.836776 -0.037292 0.545486 
time: 1403638533.377830, t: 0.095677 0.200249 -0.150328 q: 0.029467 0.836801 -0.037362 0.545435 
time: 1403638533.577830, t: 0.095663 0.200248 -0.150339 q: 0.029488 0.836851 -0.037463 0.545351 
time: 1403638533.777829, t: 0.095644 0.200254 -0.150337 q: 0.029599 0.836897 -0.037625 0.545263 
time: 1403638533.977829, t: 0.095670 0.200219 -0.150330 q: 0.029608 0.837015 -0.037634 0.545081 
time: 1403638534.177830, t: 0.095636 0.200213 -0.150322 q: 0.029833 0.837058 -0.037949 0.544980 
time: 1403638534.377830, t: 0.095523 0.200122 -0.150244 q: 0.029587 0.837227 -0.037871 0.544740 
time: 1403638534.577830, t: 0.095651 0.200173 -0.150267 q: 0.029767 0.837442 -0.037995 0.544391 
time: 1403638534.777829, t: 0.095790 0.200183 -0.150298 q: 0.029767 0.837519 -0.037712 0.544292 
time: 1403638534.977829, t: 0.095797 0.200123 -0.150324 q: 0.030248 0.837559 -0.038020 0.544182 
time: 1403638535.177830, t: 0.095917 0.200144 -0.150342 q: 0.030078 0.837677 -0.038012 0.544010 
time: 1403638535.377830, t: 0.095967 0.200257 -0.150387 q: 0.030170 0.837699 -0.038033 0.543970 
time: 1403638535.577830, t: 0.096056 0.200216 -0.150422 q: 0.030348 0.837733 -0.037915 0.543917 
time: 1403638535.777829, t: 0.096047 0.200209 -0.150438 q: 0.030396 0.837716 -0.038047 0.543931 
time: 1403638535.977829, t: 0.096039 0.200222 -0.150431 q: 0.030358 0.837812 -0.038067 0.543783 
time: 1403638536.177830, t: 0.096049 0.200198 -0.150431 q: 0.030477 0.837781 -0.038251 0.543812 
time: 1403638536.377830, t: 0.096055 0.200189 -0.150433 q: 0.030616 0.837762 -0.038264 0.543832 
time: 1403638536.577830, t: 0.096045 0.200202 -0.150439 q: 0.030633 0.837769 -0.038311 0.543817 
time: 1403638536.777829, t: 0.096028 0.200206 -0.150438 q: 0.030784 0.837754 -0.038407 0.543825 
time: 1403638536.977829, t: 0.096027 0.200205 -0.150460 q: 0.030737 0.837746 -0.038622 0.543824 
time: 1403638537.177830, t: 0.096034 0.200220 -0.150432 q: 0.030964 0.837736 -0.038544 0.543833 
time: 1403638537.377830, t: 0.096031 0.200224 -0.150416 q: 0.031217 0.837737 -0.038514 0.543819 
time: 1403638537.577830, t: 0.096036 0.200226 -0.150399 q: 0.031282 0.837754 -0.038449 0.543794 
time: 1403638537.777829, t: 0.096055 0.200221 -0.150372 q: 0.031410 0.837800 -0.038534 0.543710 
time: 1403638537.977829, t: 0.096066 0.200220 -0.150364 q: 0.031653 0.837752 -0.038630 0.543761 
time: 1403638538.177830, t: 0.096076 0.200207 -0.150326 q: 0.031719 0.837749 -0.038690 0.543758 
time: 1403638538.377830, t: 0.096092 0.200208 -0.150323 q: 0.032044 0.837634 -0.038637 0.543920 
time: 1403638538.577830, t: 0.096140 0.200222 -0.150157 q: 0.032359 0.837698 -0.038695 0.543799 
time: 1403638538.777829, t: 0.096255 0.200202 -0.149728 q: 0.032070 0.836788 -0.038607 0.545221 
time: 1403638538.977829, t: 0.101190 0.201167 -0.146545 q: 0.032003 0.831071 -0.037429 0.553983 
time: 1403638539.177830, t: 0.110446 0.202975 -0.132208 q: 0.032417 0.820219 -0.039300 0.569777 
time: 1403638539.377830, t: 0.123706 0.206981 -0.089116 q: 0.031711 0.817431 -0.037913 0.573902 
time: 1403638539.577830, t: 0.137872 0.212182 -0.022239 q: 0.031326 0.820388 -0.035618 0.569837 
time: 1403638539.777829, t: 0.152011 0.216010 0.025759 q: 0.030251 0.822189 -0.033543 0.567420 
time: 1403638539.977829, t: 0.173254 0.219156 0.046318 q: 0.027948 0.829318 -0.032841 0.557110 
time: 1403638540.177830, t: 0.213499 0.221394 0.062927 q: 0.027931 0.839219 -0.032565 0.542099 
time: 1403638540.377830, t: 0.278036 0.218471 0.085730 q: 0.028798 0.828983 -0.029513 0.557752 
time: 1403638540.577830, t: 0.359084 0.223131 0.102883 q: 0.018321 0.826755 -0.012238 0.562130 
time: 1403638540.777829, t: 0.451802 0.235655 0.117001 q: 0.002133 0.825487 0.028739 0.563685 
time: 1403638540.977829, t: 0.553769 0.259181 0.125414 q: -0.021923 0.822478 0.082755 0.562317 
time: 1403638541.177830, t: 0.662368 0.294375 0.120583 q: -0.045593 0.818151 0.115269 0.561483 
time: 1403638541.377830, t: 0.774332 0.346008 0.117990 q: -0.053863 0.817091 0.127476 0.559653 
time: 1403638541.577830, t: 0.884255 0.408975 0.131268 q: -0.054748 0.815573 0.128315 0.561585 
time: 1403638541.777829, t: 0.996281 0.508630 0.179861 q: -0.068851 0.812635 0.136608 0.562336 
time: 1403638541.977829, t: 1.094961 0.623575 0.240370 q: -0.092344 0.809911 0.159464 0.556856 
time: 1403638542.177830, t: 1.188347 0.741488 0.278880 q: -0.121507 0.803311 0.196004 0.549099 
time: 1403638542.377830, t: 1.272046 0.860535 0.301262 q: -0.150204 0.790585 0.240779 0.542623 
time: 1403638542.577830, t: 1.363398 0.984510 0.314081 q: -0.153699 0.763691 0.279449 0.561303 
time: 1403638542.777829, t: 1.417266 1.125546 0.333563 q: -0.164414 0.763080 0.288525 0.554464 
time: 1403638542.977829, t: 1.428106 1.272350 0.379240 q: -0.176605 0.771904 0.283416 0.540972 
time: 1403638543.177830, t: 1.429674 1.423608 0.430236 q: -0.181042 0.775703 0.278929 0.536384 
time: 1403638543.377830, t: 1.431265 1.577094 0.460663 q: -0.182316 0.776235 0.276545 0.536417 
time: 1403638543.577830, t: 1.441240 1.739659 0.478699 q: -0.190961 0.771013 0.292671 0.532369 
time: 1403638543.777829, t: 1.452682 1.911732 0.490058 q: -0.208673 0.755628 0.331606 0.524900 
time: 1403638543.977829, t: 1.465470 2.103190 0.526910 q: -0.234199 0.735561 0.371840 0.515592 
time: 1403638544.177830, t: 1.471407 2.293741 0.579255 q: -0.259153 0.727632 0.389478 0.501696 
time: 1403638544.377830, t: 1.480707 2.484993 0.613284 q: -0.267489 0.724089 0.395312 0.497868 
time: 1403638544.577830, t: 1.501980 2.667465 0.626901 q: -0.268624 0.721952 0.395433 0.500259 
time: 1403638544.777829, t: 1.521941 2.845141 0.658649 q: -0.275384 0.714623 0.395585 0.506942 
time: 1403638544.977829, t: 1.546785 3.015008 0.682852 q: -0.273382 0.718791 0.398760 0.499592 
time: 1403638545.177830, t: 1.574526 3.192024 0.683582 q: -0.274643 0.717290 0.399712 0.500297 
time: 1403638545.377830, t: 1.602259 3.356670 0.661932 q: -0.275855 0.714100 0.400382 0.503646 
time: 1403638545.577830, t: 1.625428 3.514113 0.631563 q: -0.282145 0.711559 0.407955 0.497645 
time: 1403638545.777829, t: 1.642481 3.677220 0.626608 q: -0.299576 0.697326 0.435612 0.483975 
time: 1403638545.977829, t: 1.659499 3.838766 0.650641 q: -0.320140 0.672800 0.476587 0.466599 
time: 1403638546.177830, t: 1.676643 4.008635 0.685256 q: -0.334116 0.651093 0.507333 0.455036 
time: 1403638546.377830, t: 1.695044 4.179165 0.692428 q: -0.345305 0.644474 0.517022 0.445090 
time: 1403638546.577830, t: 1.708704 4.357919 0.681742 q: -0.348955 0.641942 0.521586 0.440554 
time: 1403638546.777829, t: 1.716499 4.547197 0.693630 q: -0.354913 0.632179 0.533003 0.436227 
time: 1403638546.977829, t: 1.721089 4.748445 0.729634 q: -0.354356 0.624937 0.542250 0.435718 
time: 1403638547.177830, t: 1.720824 4.959200 0.743008 q: -0.349601 0.620148 0.548748 0.438259 
time: 1403638547.377830, t: 1.703248 5.169012 0.738502 q: -0.351062 0.620104 0.548174 0.437872 
time: 1403638547.577830, t: 1.671479 5.375751 0.719047 q: -0.358859 0.626742 0.541450 0.430403 
time: 1403638547.777829, t: 1.636394 5.575832 0.683093 q: -0.357744 0.627243 0.540619 0.431644 
time: 1403638547.977829, t: 1.599386 5.793982 0.636399 q: -0.354640 0.624107 0.543144 0.435563 
time: 1403638548.177830, t: 1.548777 6.014464 0.611791 q: -0.361537 0.619587 0.550851 0.426575 
time: 1403638548.377830, t: 1.484813 6.245076 0.619270 q: -0.375278 0.603098 0.570393 0.412421 
time: 1403638548.577830, t: 1.416073 6.486272 0.645151 q: -0.389380 0.584988 0.588431 0.399900 
time: 1403638548.777829, t: 1.346124 6.729295 0.659107 q: -0.396614 0.575310 0.597575 0.393217 
time: 1403638548.977829, t: 1.278075 6.963400 0.693570 q: -0.399290 0.571933 0.601086 0.390072 
time: 1403638549.177830, t: 1.212570 7.206260 0.749100 q: -0.401091 0.571564 0.600571 0.389557 
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time: 1403638630.577830, t: 0.592373 -0.048222 -0.187491 q: 0.089067 0.805339 -0.126855 0.572193 
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time: 1403638630.977829, t: 0.591049 -0.056490 -0.207066 q: 0.085421 0.829621 -0.118626 0.538850 
time: 1403638631.177830, t: 0.602682 -0.073022 -0.224731 q: 0.085660 0.830057 -0.118256 0.538222 
time: 1403638631.377830, t: 0.539289 -0.065389 -0.230150 q: 0.085318 0.829706 -0.118281 0.538812 
time: 1403638631.577830, t: 0.524773 -0.046954 -0.241365 q: 0.085486 0.829554 -0.118919 0.538878 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720486001.219832759]: Shutdown request received.[0m
[33m[ WARN] [1720486001.219899521]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720486001.220796306]: Shutdown request received.[0m
[33m[ WARN] [1720486001.220822134]: Reason given for shutdown: [user request][0m
killed
