/SLAM-Hive/slam_hive_results/mapping_results/2650/1861_vins-mono+MH_01_easy+Image_comb_test-6.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/cbe51166-3c3b-11ef-bbb0-0242ac110004/roslaunch-76d9297b39cd-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;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch
[1mstarted roslaunch server http://76d9297b39cd:39261/[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 [128][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 cbe51166-3c3b-11ef-bbb0-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [154][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720341302.234117604]: init begins[0m
[0m[ INFO] [1720341302.239664617]: 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] [1720341302.240082728]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720341302.240103754]:  fix extrinsic param [0m
[0m[ INFO] [1720341302.240266754]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720341302.240303049]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720341302.240333609]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720341302.240381234]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [180][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] [1720341309.459277878]: 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: 316704730.75 
[33m[ WARN] [1720341312.062070473]: gyroscope bias initial calibration -0.0299976  0.0161728  0.0168506[0m
[0m[ INFO] [1720341312.095897893]: Initialization finish![0m
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position: -0.01optimize pose graph 
4750, 0.013146, -0.034980
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[0m[ INFO] [1720341325.091483494]:  little feature 1[0m
optimize pose graph 
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0
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2955
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86743
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489242
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position: 4.340009, -7.562099, optimize pose graph 
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position: 6.009119, -9.100674,optimize pose graph 
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, -1.754812
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position: 6.991445, -7.52235optimize pose graph 
optimize pose graph 
9, -1.142773
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62, -1.002468
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494, -1.176668
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9514, -1.310324
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30877, -1.303065
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position: 2.823482, -5.optimize pose graph 
214430, -0.871765
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position: 2.019288, -4optimize pose graph 
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positioptimize pose graph 
on: -0.273792, -2.311888, 0.063035
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position: -0.406315, -2.6418optimize pose graph 
03, -0.589126
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position: 0.721451, -3.127195, -0.212446optimize pose graph 
optimize pose graph 

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position: 0.64867optimize pose graph 
6, -2.817971, 0.208059
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position: 0.278912, -2.162103, 0.270248
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position: 0.093813, -1.712389, 0.315737
position: 0.059549, -1.641574, 0.316007
position: 0.031571, -1.575569, 0.311948
position: -0.009096, -1.505361, 0.311352
position: -0.044566, -1.438903, 0.316237
position: -0.093574, -1.370488, 0.32871optimize pose graph 
optimize pose graph 
sition: -0.832689, 0.141371, 0.347782
position: -0.839216, 0.141918, 0.319741
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position: -0.864238, 0.149264, 0.286502
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position: -0.891769, 0.154095, 0.267743
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position: -0.930191, 0.158289, 0.214922
position: -0.942585, 0.159342, 0.198023
position: -0.953917, 0.161602, 0.183752
position: -0.964775, 0.166105, 0.170636
position: -0.975852, 0.172416, 0.158997
position: -0.987762, 0.181941, 0.145442
position: -0.998001, 0.193237, 0.131365
position: -1.005386, 0.206404, 0.118704
position: -1.006663, 0.221325, 0.110131
position: -1.003193, 0.237725, 0.105743
position: -0.997244, 0.255481, 0.103380
position: -0.990170, 0.272602, 0.105636
position: -0.984055, 0.288838, 0.110100
position: -0.977423, 0.301328, 0.118984
position: -0.973934, 0.310920, 0.126318
position: -0.970074, 0.316optimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720341498.187370185]: Shutdown request received.[0m
[33m[ WARN] [1720341498.187438699]: Reason given for shutdown: [user request][0m
520, 0.135618
position: -0.969192, 0.322256, 0.145493
position: -0.971927, 0.334621, 0.143099
position: -0.970329, 0.350092, 0.141605
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position: -0.958137, 0.379922, 0.023917
position: -0.961249, 0.377927, 0.018244
[33m[ WARN] [1720341498.188364283]: Shutdown request received.[0m
[33m[ WARN] [1720341498.188394757]: Reason given for shutdown: [user request][0m
killed
