/SLAM-Hive/slam_hive_results/mapping_results/2663/1874_vins-mono+MH_01_easy+Image_comb_test-19.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/e08e2ac4-3c42-11ef-b0b2-0242ac110004/roslaunch-37096760771f-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://37096760771f:34511/[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 e08e2ac4-3c42-11ef-b0b2-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [143][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [161][0m
[0m[ INFO] [1720344343.301048759]: init begins[0m
[0m[ INFO] [1720344343.305807215]: 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] [1720344343.306345641]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720344343.306364460]:  fix extrinsic param [0m
[0m[ INFO] [1720344343.306488868]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720344343.306515755]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720344343.306543927]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720344343.306596445]: 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] [1720344350.562326204]: 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: 316707771.84 
[0m[ INFO] [1720344358.291548391]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344358.806574963]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344359.291090777]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344359.812120664]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344360.267115701]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344360.783866042]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344361.300947714]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344362.305193961]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344362.801444514]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344363.310666346]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344363.798040623]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344364.274114410]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344364.793059961]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344365.297068708]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344365.783891217]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344366.309889083]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344366.806586399]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344367.304697436]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344367.800127306]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344368.299969323]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344368.791553069]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344369.311227886]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344369.788554633]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344370.266754268]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344370.812833387]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344371.277944950]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344371.796026054]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344372.280921973]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344372.777115174]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344373.274560277]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344373.779736062]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344374.277885917]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344374.762300391]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344375.269624122]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344375.777295151]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344376.253799671]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344376.762504163]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344377.264225426]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344377.779056985]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344378.262533728]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344378.765896313]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344379.274753635]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344379.777697223]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344380.264331927]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344380.753848095]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344381.269756374]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344381.763770851]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344382.253705296]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344382.768003398]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344383.271768401]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344383.754962446]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344384.285360644]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344384.757255973]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344385.273770063]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344385.794411122]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344386.280383849]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344386.772233322]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344387.267049091]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344387.766564690]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344388.261577223]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344388.767069980]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344389.263818365]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344389.765308461]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344390.288692923]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344390.779606274]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344391.262929917]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344391.782293638]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344392.269915143]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344392.761169944]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344393.254953800]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344393.768747832]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344394.261968568]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344394.754371971]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344395.281311331]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344395.759293381]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344396.280895625]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344396.785845437]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344397.295109961]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344397.780075645]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344398.298929742]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344398.774080412]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344399.286927410]: 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] [1720344400.811533280]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344401.818972266]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344402.304045137]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344402.794430396]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344403.285183397]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344403.779999494]: 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!
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] [1720344408.788460880]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344409.261708868]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344409.792212859]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344410.290188059]: 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!
[33m[ WARN] [1720344414.312485448]: gyroscope bias initial calibration -0.00445351   0.0212256   0.0792226[0m
[0m[ INFO] [1720344414.357832521]: Initialization finish![0m
position: 2.458008, -1.019108, -0.094363
position: 2.503370, -1.077351, -0.147914
position: 2.562255, -1.145393, -0.160096
position: 2.682593, -1.251955, -0.131438
position: 2.866752, -1.351968, -0.085380
position: 3.130813, -1.525199, -0.181774
position: 3.334333, -1.756484, -0.328995
position: 3.686369, -1.994357, -0.371422
position: 4.122908, -2.232865, -0.295077
position: 4.411714, -2.494270, -0.236918
position: 4.608902, -2.751505, -0.135169
position: 4.728021, -2.996334, -0.122130
position: 4.706264, -3.236886, -0.166136
position: 4.808296, -3.385050, -0.244144
position: 4.679329, -3.477491, -0.213755
position: 4.548360, -3.522050, -0.043556
position: 4.371834, -3.535969, 0.016284
position: 4.542324, -3.795403, -0.047047
position: 4.638327, -4.110449, -0.014987
position: 4.539035, -4.394297, 0.126373
position: 4.316426, -4.395651, 0.048439
[0m[ INFO] [1720344424.813079903]:  little feature 0[0m
position: 3.988539, -4.280936, -0.074540
position: 3.694679, -4.323458, -0.088875
position: 3.449705, -4.372354, -0.082427
position: 3.217924, -4.408298, -0.117939
position: 3.077793, -4.425699, 0.047899
position: 2.963084, -4.325908, 0.016749
position: 2.808957, -4.129546, -0.029536
position: 2.604111, -3.887115, -0.142834
position: 2.275959, -3.706103, -0.083416
position: 1.995988, -3.507128, -0.120522
position: 1.760764, -3.245968, -0.172695
position: 1.460252, -2.956687, -0.238711
position: 1.036808, -2.583528, -0.323765
position: 0.644907, -2.259696, -0.477920
position: 0.402008, -1.984368, -0.591336
position: 0.256754, -1.750772, -0.778242
position: 0.269645, -1.791383, -0.918916
position: 0.409081, -2.129463, -1.089208
position: 0.538909, -2.361990, -1.182594
position: 0.680483, -2.358619, -1.140849
position: 0.846531, -2.305354, -1.162665
position: 0.950492, -2.274136, -1.241929
position: 0.953147, -2.319241, -1.361537
position: 1.031159, -2.593162, -1.398865
position: 1.281772, -2.918729, -1.509022
position: 1.622141, -3.177678, -1.502745
position: 1.949094, -3.416471, -1.429797
position: 2.294090, -3.655214, -1.385656
position: 2.573105, -3.827727, -1.374036
position: 2.778599, -3.981391, -1.347302
position: 2.923886, -4.164875, -1.390931
position: 2.987680, -4.474285, -1.432041
position: 2.963932, -4.855354, -1.585283
position: 3.185099, -5.123710, -1.629146
position: 3.472716, -5.345276, -1.709941
position: 3.783672, -5.415513, -1.673779
position: 3.811780, -5.236757, -1.607401
position: 3.390450, -4.804831, -1.452181
position: 2.627698, -4.277747, -1.281386
position: 1.958444, -4.017881, -1.123272
position: 1.572503, -4.051787, -1.061483
position: 1.355941, -4.134061, -1.135357
position: 1.351558, -4.345101, -1.104105
position: 1.541706, -4.629950, -1.109288
position: 2.127529, -4.225080, -1.281814
position: 2.302539, -4.354338, -1.401711
position: 2.632674, -4.689328, -1.406933
position: 3.019029, -4.944998, -1.539927
position: 3.435446, -5.144080, -1.636921
position: 3.872250, -5.313409, -1.702003
position: 4.278273, -5.414374, -1.776204
position: 4.554833, -5.471434, -1.767410
position: 4.775301, -5.561432, -1.722333
position: 4.973686, -5.561377, -1.776121
position: 5.108844, -5.499005, -1.770706
position: 5.191990, -5.472924, -1.610809
position: 4.996843, -5.299472, -1.550090
position: 4.527832, -4.953215, -1.522851
position: 4.257079, -4.603336, -1.430497
position: 3.987052, -4.295687, -1.376811
position: 3.719747, -4.000986, -1.360223
position: 3.424623, -3.709724, -1.321817
position: 3.103843, -3.426915, -1.378753
position: 2.803386, -3.153257, -1.345054
position: 2.500838, -2.925545, -1.300550
position: 2.153740, -2.777100, -1.330561
position: 1.758621, -2.608770, -1.327586
position: 1.395374, -2.426463, -1.391033
position: 1.073499, -2.241051, -1.388449
position: 0.796275, -2.060588, -1.355475
position: 0.536028, -1.918512, -1.392133
position: 0.275920, -1.822663, -1.543651
position: 0.030934, -1.724750, -1.666286
position: -0.226793, -1.563252, -1.725974
position: -0.424447, -1.390690, -1.605306
position: -0.482223, -1.238066, -1.512368
position: -0.387867, -1.095785, -1.424861
position: -0.186032, -1.126235, -1.451692
position: 0.057798, -1.484236, -1.299221
[0m[ INFO] [1720344464.307897974]:  little feature 1[0m
position: 0.134534, -1.855035, -1.166638
position: 0.148338, -2.216376, -0.915832
position: 0.126847, -2.457462, -0.704425
position: 0.116977, -2.653337, -0.667777
position: 0.305674, -2.636759, -0.659287
position: 0.491314, -2.597105, -0.678849
position: 0.620526, -2.617567, -0.735053
position: 0.738924, -2.673139, -0.699547
position: 0.825658, -2.705268, -0.753326
position: 0.883899, -2.706579, -0.791113
position: 0.866471, -2.705784, -0.817588
position: 0.735996, -2.580511, -0.710422
position: 0.585483, -2.402314, -0.672511
position: 0.452778, -2.194292, -0.749510
position: 0.352242, -1.969355, -0.829459
position: 0.296638, -1.825877, -0.823721
position: 0.254242, -1.786487, -0.895760
position: 0.188807, -1.829263, -1.074787
position: 0.090373, -1.998688, -1.146625
position: -0.018353, -2.176982, -1.125332
position: -0.080940, -2.334923, -1.187023
position: -0.120632, -2.499975, -1.365452
position: -0.057184, -2.682532, -1.536621
position: -0.022672, -2.887100, -1.549769
position: -0.028472, -3.092248, -1.620952
position: -0.002677, -3.327845, -1.661530
position: 0.149946, -3.612380, -1.745050
position: 0.422508, -3.927239, -1.801392
position: 0.743348, -4.258747, -1.836899
position: 1.020909, -4.578811, -1.886247
position: 1.379703, -4.900356, -1.843064
position: 1.806563, -5.185927, -1.713741
position: 2.277024, -5.522835, -1.760429
position: 2.659717, -5.860961, -1.843776
position: 2.946546, -6.125097, -1.893889
position: 3.186869, -6.211339, -1.938531
position: 3.524369, -6.238232, -1.986614
position: 3.892127, -6.208283, -2.118792
position: 4.198050, -6.181972, -2.181274
position: 4.424877, -6.034007, -2.150409
position: 4.539130, -5.780719, -2.064264
position: 4.588195, -5.529234, -1.883575
position: 4.437399, -5.171596, -1.767535
position: 4.229351, -4.798163, -1.562831
position: 3.967822, -4.504122, -1.464654
position: 3.688009, -4.312862, -1.476966
position: 3.496114, -4.139473, -1.371366
position: 3.384659, -4.032257, -1.339262
position: 3.212814, -3.967585, -1.282072
position: 2.968002, -3.904742, -1.266014
position: 2.793805, -3.934925, -1.333823
position: 2.570720, -3.852405, -1.331933
position: 2.308114, -3.613904, -1.323185
position: 2.060291, -3.318848, -1.392020
position: 1.858812, -3.071815, -1.433788
position: 1.622777, -2.847256, -1.451292
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position: -3.430232, -0.805974, -1.603775
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position: -3.179066, -1.219596, -2.247605
position: -3.132367, -1.130358, -2.188852
position: -3.040912, -1.097943, -2.152078
position: -2.890363, -1.083242, -2.014466
position: -2.717179, -1.047397, -1.833620
position: -2.593632, -1.036595, -1.712048
position: -2.538166, -1.062863, -1.638823
position: -2.536933, -1.123991, -1.509647
position: -2.555264, -1.117722, -1.462018
position: -2.608992, -1.046581, -1.267956
position: -2.664280, -0.938688, -0.967993
position: -2.690927, -0.829443, -0.737874
position: -2.707841, -0.813159, -0.550337
position: -2.702642, -0.809306, -0.345648
position: -2.710089, -0.776204, -0.282888
position: -2.712
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720344539.223747181]: Shutdown request received.[0m
[33m[ WARN] [1720344539.223804377]: Reason given for shutdown: [user request][0m
596, -0.661109, -0.278613
position: -2.757188, -0.510015, -0.254420
position: -2.863052, -0.297056, -0.192908
position: -3.047365, -0.036493, -0.214131
position: -3.258868, 0.239659, -0.166028
position: -3.417904, 0.563068, -0.146372
position: -3.605206, 0.888297, -0.125676
position: -3.875238, 1.178437, -0.083470
position: -4.152302, 1.457313, -0.082059
position: -4.318556, 1.795602, 0.049534
position: -4.452695, 2.125571, 0.050988
position: -4.508933, 2.362514, 0.002537
position: -4.515868, 2.349789, -0.120757
position: -4.522136, 2.269828, -0.184160
position: -4.589475, 2.290726, -0.261568
position: -4.651050, 2.336850, -0.325171
position: -4.640689, 2.422797, -0.320635
position: -4.657124, 2.477264, -0.285141
position: -4.633104, 2.575813, -0.351673
position: -4.664684, 2.554839, -0.422417
position: -4.677513, 2.560691, -0.451480
[33m[ WARN] [1720344539.224630719]: Shutdown request received.[0m
[33m[ WARN] [1720344539.224663545]: Reason given for shutdown: [user request][0m
killed
