/SLAM-Hive/slam_hive_results/mapping_results/2946/2154_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-24.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720488025.178941083]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720488025.180615588]: init begins[0m
[31m[ERROR] [1720488025.181659609]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/6b58195e-3d91-11ef-ad73-0242ac110005/roslaunch-69a7a9be4576-118.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://69a7a9be4576:37853/[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
[1mROS_MASTER_URI=http://69a7a9be4576:11311/[0m
]2;roscore http://69a7a9be4576:11311/
[1msetting /run_id to 6b58195e-3d91-11ef-ad73-0242ac110005[0m
[0m[ INFO] [1720488026.334713999]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720488026.336679975]: 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] [1720488026.343949242]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720488026.344160684]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720488026.344183018]: ROW: 480 COL: 752 [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] [1720488026.344340224]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720488026.344648202]: 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 [233][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720488035.343917858]: 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: 316849517.42 
init first imu pose
averge acc 9.019961 -0.035676 -3.795306
init R0 
   0.387848  0.00866376    0.921683
          0   -0.999956  0.00939952
   0.921723 -0.00364559   -0.387831
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720488058.690726159]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488060.708235608]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488064.654050061]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488066.671248281]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488068.698275932]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488070.688363422]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720488074.655348628]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488076.695257388]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488078.697281394]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488080.694957067]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488082.690968227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488084.692736148]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488086.691864046]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488088.689028127]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488090.692367922]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488092.686801977]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488094.693512760]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488096.661648049]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488098.693858501]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488100.691354752]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488102.705276494]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488104.681685731]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488106.677691274]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488108.677827386]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488110.688033570]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488112.699254982]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488114.693466496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488116.681323403]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488118.660155540]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488120.665494303]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488122.692907930]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488124.685314944]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488126.672444796]: 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] [1720488132.683458898]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488134.659220870]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488136.672167325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488138.686096210]: 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!
[0m[ INFO] [1720488146.689745809]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488148.689280316]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720488151.039090211]: Shutdown request received.[0m
[33m[ WARN] [1720488151.039152315]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720488151.040058636]: Shutdown request received.[0m
[33m[ WARN] [1720488151.040079258]: Reason given for shutdown: [user request][0m
killed
