/SLAM-Hive/slam_hive_results/mapping_results/2501/1858_vins-mono+MH_01_easy+Image_comb_test-3.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/c7fc4d0e-3c26-11ef-a7a2-0242ac110003/roslaunch-b90025a52d86-120.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://b90025a52d86:46489/[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 [131][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 c7fc4d0e-3c26-11ef-a7a2-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [144][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [162][0m
[0m[ INFO] [1720332276.182768039]: init begins[0m
[0m[ INFO] [1720332276.187908288]: 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] [1720332276.188415154]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720332276.188435760]:  fix extrinsic param [0m
[0m[ INFO] [1720332276.188599961]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720332276.188635378]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720332276.188663806]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720332276.188714295]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [183][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] [1720332283.425593925]: 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: 316695704.71 
[0m[ INFO] [1720332285.954572623]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720332286.197380239]: gyroscope bias initial calibration -0.0097062 0.00178841  0.0685246[0m
[0m[ INFO] [1720332286.216032474]: Initialization finish![0m
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position: 0.2853optimize pose graph 
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positoptimize pose graph 
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position: -1.231305, -0.215807, 0.291812
position: -1.233206, -0.207905, 0.299287
position: -1.238425, -0.196
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720332472.006347904]: Shutdown request received.[0m
[33m[ WARN] [1720332472.006406490]: Reason given for shutdown: [user request][0m
047, 0.306117
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position: -1.235029, -0.127853, 0.177554
position: -1.237713, -0.127568, 0.171724
[33m[ WARN] [1720332472.007326111]: Shutdown request received.[0m
[33m[ WARN] [1720332472.007381393]: Reason given for shutdown: [user request][0m
killed
