/SLAM-Hive/slam_hive_results/mapping_results/2933/2141_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-11.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720486028.903106244]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720486028.907662122]: init begins[0m
[31m[ERROR] [1720486028.909002973]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c57895e4-3d8c-11ef-8fbb-0242ac110005/roslaunch-927681ad65ec-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://927681ad65ec:42105/[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] [1720486030.011565834]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720486030.013955448]: 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] [1720486030.020816762]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720486030.021053912]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720486030.021080940]: ROW: 96 COL: 150 [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] [1720486030.021277419]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720486030.021512192]: 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://927681ad65ec:11311/[0m
]2;roscore http://927681ad65ec:11311/
[1msetting /run_id to c57895e4-3d8c-11ef-8fbb-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] [1720486039.059561648]: 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: 316847521.13 
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] [1720486041.450251588]: IMU excitation not enouth![0m
[0m[ INFO] [1720486041.450475649]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486041.664218900]: IMU excitation not enouth![0m
[0m[ INFO] [1720486041.664453005]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486041.848034899]: IMU excitation not enouth![0m
[0m[ INFO] [1720486041.848120688]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486042.062321526]: IMU excitation not enouth![0m
[0m[ INFO] [1720486042.062586817]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486042.249125946]: IMU excitation not enouth![0m
[0m[ INFO] [1720486042.471279204]: IMU excitation not enouth![0m
[0m[ INFO] [1720486042.471460064]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486042.649352764]: IMU excitation not enouth![0m
[0m[ INFO] [1720486042.649509184]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486042.857001294]: IMU excitation not enouth![0m
[0m[ INFO] [1720486042.857043922]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486043.049508000]: IMU excitation not enouth![0m
[0m[ INFO] [1720486043.049653883]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486043.263034316]: IMU excitation not enouth![0m
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[0m[ INFO] [1720486043.461284070]: IMU excitation not enouth![0m
[0m[ INFO] [1720486043.461475484]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486043.651842466]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720486044.261981381]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720486044.652732298]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720486048.461993822]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720486051.255370476]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486051.474407797]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486051.850326553]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486052.059206863]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486052.246834128]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486052.453799227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486052.654311802]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486052.866021460]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486053.051752041]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486053.264260722]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486053.467358598]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486053.653330646]: IMU excitation not enouth![0m
[0m[ INFO] [1720486053.653476013]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486053.853276954]: IMU excitation not enouth![0m
[0m[ INFO] [1720486053.853416005]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486054.058189203]: IMU excitation not enouth![0m
[0m[ INFO] [1720486054.058450082]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486054.254224851]: IMU excitation not enouth![0m
[0m[ INFO] [1720486054.254428659]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486054.452846868]: IMU excitation not enouth![0m
[0m[ INFO] [1720486054.452982839]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486054.652099985]: IMU excitation not enouth![0m
[0m[ INFO] [1720486054.652249900]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486054.867146976]: IMU excitation not enouth![0m
[0m[ INFO] [1720486055.054782083]: IMU excitation not enouth![0m
[0m[ INFO] [1720486055.253694759]: IMU excitation not enouth![0m
[0m[ INFO] [1720486055.253817557]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486055.466182553]: IMU excitation not enouth![0m
[0m[ INFO] [1720486055.466327355]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486055.650195140]: IMU excitation not enouth![0m
[0m[ INFO] [1720486055.650330718]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486055.853560492]: IMU excitation not enouth![0m
[0m[ INFO] [1720486055.853694876]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486056.054437037]: IMU excitation not enouth![0m
[0m[ INFO] [1720486056.054652714]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486056.254296699]: IMU excitation not enouth![0m
[0m[ INFO] [1720486056.254433957]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486056.453362498]: IMU excitation not enouth![0m
[0m[ INFO] [1720486056.662588448]: IMU excitation not enouth![0m
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[0m[ INFO] [1720486056.848041398]: IMU excitation not enouth![0m
[0m[ INFO] [1720486056.848120925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486057.065926859]: IMU excitation not enouth![0m
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[0m[ INFO] [1720486126.850967502]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486127.051851181]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486127.250575054]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486127.654333000]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486127.850863851]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486128.052778494]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486128.251671711]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486128.453056639]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486128.649645599]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486128.851358796]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486129.050216063]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486129.261895475]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486129.449545234]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486129.656762697]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486129.852583712]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486130.053674109]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486130.252989860]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486130.450934934]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486130.652636896]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486130.846729178]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486131.050875013]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486131.261838375]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486131.647087249]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486131.848169258]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486132.062217591]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486132.251012799]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486132.445205350]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486132.650008505]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486132.849422216]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486133.050566878]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486133.251459664]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486133.451776530]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486133.656113591]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486133.863429439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486134.054490109]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486134.261476732]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486134.452835742]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486134.649722273]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486134.853076526]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486135.064342340]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486135.252700514]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486135.451085947]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486135.663041087]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720486136.075558378]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720486137.649374173]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486137.851731829]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486138.051655340]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486138.249028079]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486138.461064383]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486138.649522001]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486138.859172828]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486139.049839843]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720486140.262365507]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720486141.251719214]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486141.465288066]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486141.662296033]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720486142.056188824]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720486142.449888987]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720486144.644411024]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486144.850398754]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486145.052551298]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720486145.450057826]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486145.648593602]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486145.862356710]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486146.062411843]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486146.262217851]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486146.452083192]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486146.649111451]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486146.845174068]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486147.050237135]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486147.249890409]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486147.450577364]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486147.661952369]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486147.850433164]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486148.050807498]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486148.250030572]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486148.449151698]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486148.660541041]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486148.850691428]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486149.050292031]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486149.249062161]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486149.451276388]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486149.662829555]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486149.853759936]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486150.058982197]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486150.249332416]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486150.450182218]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486150.649781537]: IMU excitation not enouth![0m
[0m[ INFO] [1720486150.863514832]: IMU excitation not enouth![0m
[0m[ INFO] [1720486150.863673963]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486151.051909291]: IMU excitation not enouth![0m
[0m[ INFO] [1720486151.249793340]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486151.461468337]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486151.649697551]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486151.849244323]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486152.043130898]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486152.243261380]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486152.459589439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486152.649976570]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486152.845683999]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720486154.780559081]: Shutdown request received.[0m
[33m[ WARN] [1720486154.780601598]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720486154.781537691]: Shutdown request received.[0m
[33m[ WARN] [1720486154.781568065]: Reason given for shutdown: [user request][0m
killed
