/SLAM-Hive/slam_hive_results/mapping_results/2948/2156_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-26.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720488330.894746729]: init begins[0m
[31m[ERROR] [1720488330.895014907]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720488330.895808679]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/2190d396-3d92-11ef-8e21-0242ac110005/roslaunch-26b4a05fc23d-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://26b4a05fc23d:46515/[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
[1mROS_MASTER_URI=http://26b4a05fc23d:11311/[0m
]2;roscore http://26b4a05fc23d:11311/
[1msetting /run_id to 2190d396-3d92-11ef-8e21-0242ac110005[0m
[0m[ INFO] [1720488332.050604053]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720488332.051298020]: 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] [1720488332.057664115]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720488332.057878429]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720488332.057908011]: ROW: 288 COL: 451 [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] [1720488332.058124741]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720488332.058405182]: 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 [213][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720488341.044398650]: 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: 316849823.12 
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
[0m[ INFO] [1720488362.385630701]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488364.375656415]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488366.397715078]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488368.377567661]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488370.379162391]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488372.391325189]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488374.389905661]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488376.397848018]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488378.383005841]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488380.379815150]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488382.385439451]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488384.356754449]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488386.391545322]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488388.351739817]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488390.355503007]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488392.381828517]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488394.383145409]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488396.365276687]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488398.383552303]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488400.387624488]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488402.386294477]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488404.391706945]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488406.353437243]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488408.402208130]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488410.369794909]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488412.382900588]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488414.376945325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488416.382402165]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488418.384618549]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488420.380202448]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488422.380437735]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488424.385056084]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488426.382278734]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488428.385734746]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488430.381559937]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488432.378901273]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720488436.353827251]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488438.383328514]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488440.382846094]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488442.364603654]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488444.384194249]: 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] [1720488452.381343442]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720488454.375590501]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720488456.761225000]: Shutdown request received.[0m
[33m[ WARN] [1720488456.761261474]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720488456.762157450]: Shutdown request received.[0m
[33m[ WARN] [1720488456.762182209]: Reason given for shutdown: [user request][0m
killed
