/SLAM-Hive/slam_hive_results/mapping_results/2935/2143_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-13.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720486336.651290559]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720486336.653279827]: init begins[0m
[31m[ERROR] [1720486336.654284039]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/7ce72aec-3d8d-11ef-9d13-0242ac110005/roslaunch-f44c2e2e5bae-117.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://f44c2e2e5bae:33705/[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 [154][0m
[0m[ INFO] [1720486337.757905545]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720486337.759405212]: 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] [1720486337.765108736]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720486337.765321849]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720486337.765346471]: ROW: 384 COL: 601 [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] [1720486337.765496227]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720486337.765777059]: 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://f44c2e2e5bae:11311/[0m
]2;roscore http://f44c2e2e5bae:11311/
[1msetting /run_id to 7ce72aec-3d8d-11ef-9d13-0242ac110005[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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720486346.819560951]: 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: 316847828.89 
init first imu pose
[0m[ INFO] [1720486351.342129597]: IMU excitation not enouth![0m
[0m[ INFO] [1720486351.342660934]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486351.744217784]: IMU excitation not enouth![0m
[0m[ INFO] [1720486351.772195958]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720486352.260416689]: gyroscope bias initial calibration -0.00257967   0.0233745   0.0711483[0m
[0m[ INFO] [1720486352.365073164]: Initialization finish![0m
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time: 1403638631.077830, t: -513.318872 -1287.565065 -259.589067 q: 0.058684 0.840992 -0.132985 0.521155 
time: 1403638631.477829, t: -513.327836 -1288.354201 -261.429958 q: 0.059078 0.840871 -0.134177 0.521001 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720486462.369849368]: Shutdown request received.[0m
[33m[ WARN] [1720486462.369882978]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720486462.370749309]: Shutdown request received.[0m
[33m[ WARN] [1720486462.370780183]: Reason given for shutdown: [user request][0m
killed
