/SLAM-Hive/slam_hive_results/mapping_results/2499/1856_vins-mono+MH_01_easy+Image_comb_test-1.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/af5de402-3c25-11ef-ba1b-0242ac110003/roslaunch-8deec905168c-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;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch
[1mstarted roslaunch server http://8deec905168c:44159/[0m

SUMMARY
========

PARAMETERS
 * /feature_tracker/config_file: /slamhive/mapping...
 * /feature_tracker/vins_folder: /home/catkin_ws/s...
 * /pose_graph/config_file: /slamhive/mapping...
 * /pose_graph/skip_cnt: 0
 * /pose_graph/skip_dis: 0.0
 * /pose_graph/visualization_shift_x: 0
 * /pose_graph/visualization_shift_y: 0
 * /rosdistro: kinetic
 * /rosversion: 1.12.17
 * /vins_estimator/config_file: /slamhive/mapping...
 * /vins_estimator/vins_folder: /home/catkin_ws/s...

NODES
  /
    feature_tracker (feature_tracker/feature_tracker)
    pose_graph (pose_graph/pose_graph)
    vins_estimator (vins_estimator/vins_estimator)

auto-starting new master
[1mprocess[master]: started with pid [129][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch http://localhost:11311
[1msetting /run_id to af5de402-3c25-11ef-ba1b-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720331805.517809936]: init begins[0m
[0m[ INFO] [1720331805.522613435]: Loaded config_file: /slamhive/mappingtask.yaml[0m
result path /home/shaozu/output//vins_result_no_loop.csv
/home/shaozu/output/ not exists, trying to create it 
/home/shaozu not exists, trying to create it 
[0m[ INFO] [1720331805.523038303]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720331805.523060671]:  fix extrinsic param [0m
[0m[ INFO] [1720331805.523207398]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720331805.523244891]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720331805.523282259]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720331805.523329873]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [181][0m
vocabulary_file/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_pattern.yml
/home/shaozu/output/pose_graph/ not exists, trying to create it 
no previous pose graph
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720331812.440613998]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316695233.74 
[33m[ WARN] [1720331815.113756826]: gyroscope bias initial calibration  -0.0101806 0.000122956   0.0689777[0m
[0m[ INFO] [1720331815.156906748]: Initialization finish![0m
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position: -0.079377, -2.347optimize pose graph 
545, 0.260879
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position: -0.069672, -2.74optimize pose graph 
6775, -0.404390
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position: 1.optimize pose graph 
167033, -2.940396, -0.108220
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position: 1.024008, -2.721094, 0.optimize pose graph 
317815
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position: -0.0433optimize pose graph 
optimize pose graph 
40, -1.493659, 0.459529
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position: -1.219587, -0.242456, 0.590171
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position: -1.244optimize pose graph 
464, -0.185060, 0.550039
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position: -1.259427, -0.172384, 0.489207
position: -1.268274, -0.173441, 0.461433
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position: -1.284530, -0.171541, 0.434899
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position: -1.370735, -0.182719, 0.353954
position: -1.382766, -0.185121, 0.336707
position: -1.394239, -0.185817, 0.322412
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position: -1.420218, -0.181472, 0.296789
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position: -1.462978, -0.086742, 0.242879
position: -1.461680, -0.069017, 0.247205
position: -1.46
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720332001.145778930]: Shutdown request received.[0m
[33m[ WARN] [1720332001.145841779]: Reason given for shutdown: [user request][0m
0030, -0.054207, 0.254566
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position: -1.452736, 0.034420, 0.169873
position: -1.454672, 0.032609, 0.165381
position: -1.456693, 0.030734, 0.160855
[33m[ WARN] [1720332001.146833584]: Shutdown request received.[0m
[33m[ WARN] [1720332001.146859511]: Reason given for shutdown: [user request][0m
killed
