/SLAM-Hive/slam_hive_results/mapping_results/2651/1862_vins-mono+MH_01_easy+Image_comb_test-7.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/5b1e1a08-3c3c-11ef-ab9c-0242ac110004/roslaunch-3768725d1cb0-118.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://3768725d1cb0:46637/[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 5b1e1a08-3c3c-11ef-ab9c-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [145][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720341542.579773419]: init begins[0m
[0m[ INFO] [1720341542.584364060]: 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] [1720341542.584872330]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720341542.584900895]:  fix extrinsic param [0m
[0m[ INFO] [1720341542.585023397]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720341542.585051482]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720341542.585084127]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720341542.585128133]: 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] [1720341548.116965270]: 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: 316704969.40 
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720341550.910518374]: gyroscope bias initial calibration -0.0110164  0.0291553  0.0697591[0m
[0m[ INFO] [1720341550.936114248]: Initialization finish![0m
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position: 0.039005, -0.044774, -0.046optimize pose graph 
120
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positionoptimize pose graph 
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position: 0.213613,optimize pose graph 
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position: 0.143303, -2.431784, 0.181988
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position: -0.100962, -2.180506, 0.430038
position: -0.104894, -2.175777, 0.436645
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position: 0.068265, -2.286778, 0.282969
position: 0.080827, -2.309499, 0.269365
position: 0.094089, -2.330276,optimize pose graph 
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position: 0.120556, -2.370216, 0.249822
position: 0.132436, -2.391724, 0.235764
position: 0.143314, -2.413698, 0.216385
position: 0.148581, -2.435434, 0.193628
position: 0.159831, -2.455639, 0.167243
position: 0.169451, -2.472927, 0.137836
position: 0.163513, -2.486611, 0.102815
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position: 0.149137, -2.546940, 0.004761
position: 0.146656, -2.562972, -0.020093
position: 0.142017, -2.576656, -0.051629
position: 0.136144, -2.587162, -0.090416
position: 0.113589, -2.594375, -0.133943
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position: 0.087941, -2.608019, -0.228695
position: 0.073526, -2.616445, -0.269650
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position: 0.048046, -2.661180, -0.374933
position: 0.047054, -2.671621, -0.408116
position: 0.053300, -2.681744, -0.444153
poptimize pose graph 
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position: 0.084900, -2.705362, -0.494883
position: 0.104725, -2.713266, -0.501759
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position: 0.136897, -2.730844, -0.519313
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position: 0.224384, -2.808504, -0.703745
position: 0.255051, -2.828365, -0.718169
position: 0.290917, -2.850540, -0.738748
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position: 1.263545, -2.792788, 0.046748
position: 1.258690, -2.793177, 0.085164
position: 1.259138, -2.796770, 0.115945
poptimize pose graph 
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position: 1.269426, -2.807203, 0.178251
position: 1.275348, -2.811141, 0.214360
position: 1.280144, -2.814729, 0.252960
position: 1.283863, -2.818636, 0.288773
position: 1.284214, -2.822332, 0.319278
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position: 1.248293, -2.797642, 0.364348
position: 1.239629, -2.782386, 0.356657
position: 1.230258, -2.763982, 0.356611
position: 1.218392, -2.743843, 0.364576
position: 1.207534, -2.722026, 0.373123
position: 1.196677, -2.698991, 0.376982
position: 1.183604, -2.676076, 0.375447
position: 1.169967, -2.651713, 0.375177
position: 1.155411, -2.626200, 0.381377
position: 1.136964, -2.599759, 0.392351
position: 1.125043, -2.564963, 0.407144
position: 1.098960, -2.535690, 0.429100
position: 1.068885, -2.503102, 0.447436
position: 1.034828, -2.467364, 0.457738
position: 1.005849, -2.42optimize pose graph 
optimize pose graph 
4072, 0.462061
position: 0.971753, -2.383248, 0.460397
position: 0.934440, -2.344486, 0.453805
position: 0.894877, -2.307902, 0.444762
position: 0.849163, -2.271700, 0.438863
position: 0.797967, -2.232839, 0.439094
position: 0.745012, -2.193735, 0.446263
position: 0.694861, -2.150283, 0.459653
position: 0.643292, -2.109656, 0.477310
position: 0.597187, -2.066939, 0.489401
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position: 0.509740, -1.966149, 0.492246
position: 0.466873, -1.919485, 0.493305
position: 0.423870, -1.866554, 0.494918
position: 0.381684, -1.815310, 0.507035
position: 0.337119, -1.760674, 0.519796
position: 0.286977, -1.705013, 0.533177
position: 0.239661, -1.648423, 0.538948
position: 0.185814, -1.592582, 0.539852
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position: 0.076986, -1.484274, 0.535154
position: 0.022458, -1.431236, 0.540493
position: -0.044418, -1.383223, 0.552873
position: -0.102153, -1.332743, 0.566915
position: -0.176385, -1.283447, 0.578227
position: -0.239897, -1.235941, 0.581701
positoptimize pose graph 
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position: -0.381454, -1.142209, 0.574557
position: -0.457403, -1.094912, 0.573140
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position: -0.600158, -0.991892, 0.587535
position: -0.663712, -0.937040, 0.608891
position: -0.719022, -0.879149, 0.640655
position: -0.771267, -0.815021, 0.673766
position: -0.822076, -0.749352, 0.700676
position: -0.879951, -0.681756, 0.719210
position: -0.934129, -0.619622, 0.728706
position: -0.988220, -0.560627, 0.728347
position: -1.035408, -0.503679, 0.724645
position: -1.077234, -0.447804, 0.720209
position: -1.106933, -0.394972, 0.717908
position: -1.129387, -0.346616, 0.712197
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position: -1.205559, -0.199986, 0.652264
position: -1.215633, -0.173408, 0.629034
position: -1.222156, -0.162985, 0.600784
position: -1.228383, -0.161576, 0.567348
position: -1.230316, -0.159707, 0.537758
position: -1.233162, -0.159750, 0.518580
posioptimize pose graph 
tion: -1.244827, -0.159717, 0.511018
position: -1.261333, -0.161717, 0.503805
position: -1.276333, -0.164770, 0.495281
position: -1.289255, -0.166619, 0.485763
position: -1.300252, -0.166363, 0.476395
position: -1.309960, -0.168365, 0.464454
position: -1.319368, -0.170843, 0.448243
position: -1.328966, -0.174704, 0.432882
position: -1.341271, -0.177478, 0.415857
position: -1.352301, -0.178596, 0.401288
position: -1.364561, -0.177532, 0.387698
position: -1.377480, -0.174830, 0.375318
position: -1.392178, -0.169355, 0.361797
position: -1.405859, -0.161511, 0.347554
position: -1.416448, -0.150814, 0.335126
position: -1.422238, -0.137046, 0.326532
position: -1.424253, -0.120584, 0.322265
position: -1.423311, -0.101712, 0.320498
position: -1.421251, -0.082731, 0.322606
position: -1.420333, -0.064965, 0.326548
position: -1.418471, -0.051016, 0.334416
position: -1.417549, -0.041371, 0.342520
position: -1.415802, -0.034521, 0.352078
position: -1.418872, -0.027916, 0.359123
position: -1.423866, -0.016897, 0.360356
pos
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720341736.878246579]: Shutdown request received.[0m
[33m[ WARN] [1720341736.878294522]: Reason given for shutdown: [user request][0m
ition: -1.427214, -0.001627, 0.358862
position: -1.427470, 0.019281, 0.351866
position: -1.424039, 0.044453, 0.340568
position: -1.417248, 0.068522, 0.325333
position: -1.406149, 0.084142, 0.299642
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position: -1.407593, 0.080742, 0.280460
position: -1.416295, 0.062597, 0.272434
position: -1.422113, 0.053653, 0.272163
position: -1.421062, 0.053663, 0.260793
position: -1.422542, 0.052894, 0.256184
position: -1.416049, 0.040187, 0.257464
position: -1.416069, 0.037671, 0.254330
position: -1.416293, 0.034907, 0.250762
position: -1.415906, 0.032947, 0.247318
[33m[ WARN] [1720341736.879116724]: Shutdown request received.[0m
[33m[ WARN] [1720341736.879147366]: Reason given for shutdown: [user request][0m
killed
