/SLAM-Hive/slam_hive_results/mapping_results/2939/2147_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-17.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720486952.027129401]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720486952.028957763]: init begins[0m
[31m[ERROR] [1720486952.030062213]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ebb164d2-3d8e-11ef-9dfe-0242ac110005/roslaunch-237f5bf8ba23-118.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://237f5bf8ba23:42439/[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] [1720486953.133865761]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720486953.135621454]: 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] [1720486953.141090798]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720486953.141270233]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720486953.141296260]: 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] [1720486953.141469937]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720486953.141724209]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://237f5bf8ba23:11311/[0m
]2;roscore http://237f5bf8ba23:11311/
[1msetting /run_id to ebb164d2-3d8e-11ef-9dfe-0242ac110005[0m
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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720486962.170704993]: 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: 316848444.24 
init first imu pose
averge acc 9.017038 -0.028934 -3.796764
init R0 
   0.388077  0.00702325      0.9216
          0   -0.999971  0.00762049
   0.921627 -0.00295733   -0.388065
[0m[ INFO] [1720486966.668089694]: IMU excitation not enouth![0m
[0m[ INFO] [1720486967.067480500]: IMU excitation not enouth![0m
[0m[ INFO] [1720486967.067746340]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720486969.070010688]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720486971.065934611]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720486978.679457933]: IMU excitation not enouth![0m
[0m[ INFO] [1720486979.063162794]: IMU excitation not enouth![0m
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[0m[ INFO] [1720486979.469120892]: IMU excitation not enouth![0m
[0m[ INFO] [1720486979.469333414]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486979.868792778]: IMU excitation not enouth![0m
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[0m[ INFO] [1720486980.269654947]: IMU excitation not enouth![0m
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[0m[ INFO] [1720486980.686321809]: IMU excitation not enouth![0m
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[0m[ INFO] [1720486981.082543873]: IMU excitation not enouth![0m
[0m[ INFO] [1720486981.082687163]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486981.481264002]: IMU excitation not enouth![0m
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[0m[ INFO] [1720486981.862494737]: IMU excitation not enouth![0m
[0m[ INFO] [1720486982.281948834]: IMU excitation not enouth![0m
[0m[ INFO] [1720486982.282143446]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486982.669425923]: IMU excitation not enouth![0m
[0m[ INFO] [1720486983.076156623]: IMU excitation not enouth![0m
[0m[ INFO] [1720486983.076264659]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486983.461870152]: IMU excitation not enouth![0m
[0m[ INFO] [1720486983.461949575]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720487045.470077967]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720487046.277154845]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487046.679048649]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487047.069778248]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487047.465121472]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487047.871351242]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487048.267832478]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487048.677852972]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487049.066513946]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487049.461471080]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487049.867541139]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487050.260087665]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487050.666655368]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487051.057601599]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487051.466536713]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487051.866880415]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487052.266728823]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487052.658805619]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487053.060347800]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487053.466302553]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487053.868177094]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487054.257431755]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487054.666995868]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487055.076782430]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487055.466321214]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487055.859858360]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487056.267297985]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487056.669782463]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487057.066336349]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487057.467239887]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487057.877372680]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487058.267306047]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487058.667290629]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487059.077800717]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487059.464698192]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487059.867059345]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487060.275697803]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487060.666315113]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487061.066388851]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487061.471097683]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487061.865144088]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487062.266889684]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487062.678762717]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487063.066055142]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487063.464198870]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487064.276929606]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487064.659279609]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487065.077169490]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487065.464845943]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487065.865339441]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487066.264199676]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487066.678969454]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487067.064959661]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487067.458159364]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487067.865522124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487068.266756452]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487068.677899404]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487069.078790652]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487069.475694872]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487070.264614332]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487070.671700000]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487071.077879578]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487071.473742907]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487071.868006257]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487072.261033642]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487072.676826816]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487073.064579608]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487073.465033124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487073.865993870]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487074.266583908]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487074.656903267]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487075.065799577]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487075.457992912]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720487075.868134802]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720487077.824124162]: Shutdown request received.[0m
[33m[ WARN] [1720487077.824155832]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720487077.825329043]: Shutdown request received.[0m
[33m[ WARN] [1720487077.825375132]: Reason given for shutdown: [user request][0m
killed
