/SLAM-Hive/slam_hive_results/mapping_results/2668/1879_vins-mono+MH_01_easy+Image_comb_test-24.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/97a6e046-3c45-11ef-9cf1-0242ac110004/roslaunch-e9cf0c359b70-117.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://e9cf0c359b70:33765/[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 97a6e046-3c45-11ef-9cf1-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720345509.478076726]: init begins[0m
[0m[ INFO] [1720345509.483017600]: 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] [1720345509.483474833]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720345509.483498894]:  fix extrinsic param [0m
[0m[ INFO] [1720345509.483677899]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720345509.483718227]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720345509.483754829]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720345509.483805879]: 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] [1720345516.759866447]: 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: 316708938.04 
[0m[ INFO] [1720345531.001729452]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345532.008798641]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345533.000339876]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345533.974586294]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345535.000056745]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345536.004239019]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345537.017868924]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345537.995718029]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345538.968692134]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345540.968066754]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345541.979976966]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345542.967325837]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345543.950383914]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345544.969428400]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345545.978575512]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345546.968859438]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345547.969733584]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345548.980253157]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345549.954993441]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345550.985004843]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345551.992730399]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345552.986113524]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345553.973959125]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345554.969781923]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345555.979860292]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345556.981109264]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345557.967457894]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345558.964622623]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345559.975969554]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345560.962171765]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345561.973636217]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345562.970403466]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345564.003059330]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345564.983593936]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345566.001339246]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345566.999878772]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345568.007855912]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345569.047990536]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345569.984589069]: 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] [1720345573.014359642]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345573.998268414]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345575.002673179]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345576.011365806]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345576.997754300]: 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!
[0m[ INFO] [1720345585.004936167]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345585.997147118]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345586.993655749]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345587.998051498]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345588.997807675]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345589.967197989]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345590.963994306]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345592.007771475]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345592.998270087]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345593.997469718]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345594.999929780]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345595.992896992]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345596.997066397]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345597.998358456]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345598.985482301]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345600.007431580]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345600.982827214]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345602.005889010]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345602.992570246]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345603.995740854]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345604.999963591]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345606.000382790]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345606.976761979]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345608.011807122]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345608.984455101]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345609.973216999]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345610.999886076]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345611.978222869]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345612.964044799]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345614.013462261]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345614.999238928]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345615.963673657]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345617.004579840]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345617.987700729]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345618.996222865]: 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] [1720345622.007184914]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345622.961549221]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345624.004995239]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345625.008232034]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345625.997555865]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345626.993886754]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345627.980891328]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345628.995845175]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345630.008861942]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345631.007408376]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345631.962662245]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345632.996715350]: 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!
[0m[ INFO] [1720345637.012933786]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345637.997501421]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345638.997548772]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345639.995540463]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345640.996584102]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345641.955656175]: 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] [1720345646.992850823]: 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!
[0m[ INFO] [1720345649.013397182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345650.011061511]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345650.997706502]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345652.008346537]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720345653.997442346]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345654.984338343]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345655.993506380]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345656.995602109]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345657.998119794]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345659.008343378]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345659.977675347]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345660.953900889]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345661.975786708]: IMU excitation not enouth![0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720345662.973396463]: IMU excitation not enouth![0m
[0m[ INFO] [1720345662.973546400]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345663.981686322]: IMU excitation not enouth![0m
[0m[ INFO] [1720345663.981898348]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345664.987128033]: IMU excitation not enouth![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!
[33m[ WARN] [1720345674.069871127]: gyroscope bias initial calibration -0.00124121   0.0219426   0.0774441[0m
[0m[ INFO] [1720345674.135153616]: Initialization finish![0m
position: -3.511235, 1.201390, 0.837607
position: -3.668090, 1.411337, 1.049551
position: -3.914558, 1.707884, 0.982375
position: -4.139289, 1.877477, 1.144053
position: -4.152757, 1.655182, 0.948432
position: -4.072965, 1.336476, 0.687248
position: -4.293650, 1.012508, 0.317445
position: -4.531715, 0.637357, 0.085983
position: -3.795626, 1.256843, -0.020180
position: -3.463585, 1.022421, -0.636028
position: -3.301558, 0.803351, -1.021677
position: -3.269783, 0.913136, -0.799759
position: -3.076824, 1.040040, -0.644387
position: -2.723596, 1.122364, -0.336364
position: -2.695457, 1.081396, -0.111281
position: -2.800814, 1.145829, 0.129313
position: -2.911158, 1.305565, 0.647664
position: -2.896233, 1.286636, 1.059660
[0m[ INFO] [1720345692.022075766]:  little feature 1[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720345705.411790758]: Shutdown request received.[0m
[33m[ WARN] [1720345705.411842774]: Reason given for shutdown: [user request][0m
position: -2.877860, 1.380548, 1.147947
position: -2.962863, 1.619083, 1.266120
position: -3.230412, 1.978311, 1.317886
position: -3.355582, 2.477331, 1.344452
position: -4.129815, 2.530877, 1.314659
position: -4.334844, 2.908881, 1.449212
position: -4.139281, 2.917843, 1.291709
position: -3.847171, 2.710301, 1.187980
position: -4.151702, 3.336203, 1.206391
position: -4.329683, 3.690568, 1.275558
position: -4.573907, 3.709620, 1.208966
[33m[ WARN] [1720345705.412719430]: Shutdown request received.[0m
[33m[ WARN] [1720345705.412762469]: Reason given for shutdown: [user request][0m
killed
