/SLAM-Hive/slam_hive_results/mapping_results/2659/1870_vins-mono+MH_01_easy+Image_comb_test-15.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/b42d7cde-3c40-11ef-b184-0242ac110004/roslaunch-5c2462b91677-119.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://5c2462b91677:45725/[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 [130][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 b42d7cde-3c40-11ef-b184-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [143][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [160][0m
[1mprocess[vins_estimator-3]: started with pid [161][0m
[0m[ INFO] [1720343410.094313388]: init begins[0m
[0m[ INFO] [1720343410.099075000]: 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] [1720343410.099520407]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720343410.099535333]:  fix extrinsic param [0m
[0m[ INFO] [1720343410.099658480]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720343410.099695078]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720343410.099727474]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720343410.099777290]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [182][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] [1720343417.146926129]: 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: 316706838.43 
[0m[ INFO] [1720343420.965730091]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343421.176920979]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343421.360260329]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720343421.751505561]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343421.956776474]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343422.181155411]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343422.385285969]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343422.554211418]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343422.750518792]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343422.975320633]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343423.148110897]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343423.374626202]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343423.544990534]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343423.751205461]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343423.971975500]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343424.163911320]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343424.363065627]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343424.544686242]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343424.741325001]: 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!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720343425.552693387]: 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!
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!
[0m[ INFO] [1720343426.563962197]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343426.758843519]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343426.950640327]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343427.150231825]: 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!
[0m[ INFO] [1720343427.776795814]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343427.978623626]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343428.170785753]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343428.365412045]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343428.560388365]: 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!
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!
[0m[ INFO] [1720343429.568446704]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343429.757460465]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343429.957918137]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343430.158419690]: 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!
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!
[0m[ INFO] [1720343431.177642791]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343431.372012488]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343431.575972207]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343431.770236073]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343431.975046025]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343432.174971913]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343432.380290631]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343432.558546870]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343432.769823639]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343432.975873449]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343433.185511276]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343433.378910588]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343433.585867302]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343433.764087147]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343433.947508150]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343434.161014123]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343434.374852166]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343434.575532380]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343434.770918456]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343434.977863836]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343435.158118766]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343435.352821542]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343435.557652609]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343435.787638518]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343435.984883425]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343436.176566663]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343436.372094782]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343436.569876289]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343436.990570824]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343437.157238397]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343437.374164369]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720343437.778897055]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720343438.176622856]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343438.358508661]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343438.543825082]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343438.749148067]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720343462.945059196]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343463.146287904]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343463.346479842]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343463.554489182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343463.773340840]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343463.966029577]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343464.147367916]: IMU excitation not enouth![0m
[0m[ INFO] [1720343464.147752853]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343464.379035139]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343464.561157845]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343464.774541804]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343464.954681442]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343465.150627985]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343465.343277451]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343465.548193413]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720343465.949309099]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343466.160023254]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343466.383381413]: 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!
[0m[ INFO] [1720343466.960771731]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720343467.255558675]: gyroscope bias initial calibration -0.0030944  0.0205515  0.0795549[0m
[0m[ INFO] [1720343467.280152908]: Initialization finish![0m
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positionoptimize pose graph 
optimize pose graph 
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position: 1.471332, -3.393647, 0.079953
position: 1.436379, -3.334261, 0.106706
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position: 0.301655, -1.832132, 0.274786
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position: -0.089539, -1.481444, 0.282368
position: -0.202779, -1.345484, 0.335647
position: -0.293920, -1.207305, 0.396918
position: -0.383822, -1.076539, 0.430859
position: -0.472430, -0.951084, 0.432165
position: -0.530770, -0.838533, 0.429052
position: -0.562613, -0.74
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720343605.742560447]: Shutdown request received.[0m
[33m[ WARN] [1720343605.742624480]: Reason given for shutdown: [user request][0m
3480, 0.417805
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position: -0.815618, -0.397516, -0.072852
[33m[ WARN] [1720343605.743444399]: Shutdown request received.[0m
[33m[ WARN] [1720343605.743497578]: Reason given for shutdown: [user request][0m
killed
