/SLAM-Hive/slam_hive_results/mapping_results/2669/1880_vins-mono+MH_01_easy+Image_comb_test-25.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/21073502-3c46-11ef-b867-0242ac110004/roslaunch-ee858de1b71f-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://ee858de1b71f:34807/[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 21073502-3c46-11ef-b867-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [158][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720345740.140663620]: init begins[0m
[0m[ INFO] [1720345740.144965273]: 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 
[1mprocess[pose_graph-4]: started with pid [180][0m
[0m[ INFO] [1720345740.703195354]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720345740.703228044]:  fix extrinsic param [0m
[0m[ INFO] [1720345740.703395491]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720345740.703446008]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720345740.703486487]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720345740.703549233]: waiting for image and imu...[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] [1720345747.240326111]: 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: 316709168.52 
[0m[ INFO] [1720345761.481437565]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345762.462652966]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345763.448850581]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345764.478549313]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345765.485714006]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345766.485988154]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345767.492610671]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345768.486386068]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345769.461329408]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345770.463140070]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345771.450693552]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345772.450015584]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345773.450496853]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345774.437307791]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345775.454394681]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345776.450929237]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345777.450784978]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345778.450765665]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345779.460044133]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345780.464756364]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345781.464559213]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345782.477791915]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345783.468923601]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345784.448286468]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345785.455134249]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345786.464305525]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345787.468945400]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345788.450008143]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345789.435716280]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345790.476594748]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345791.442541530]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345792.462551963]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720345794.481466178]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345795.485417828]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345796.475092151]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345797.480095168]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345798.496731085]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345799.491235315]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345800.469797755]: 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] [1720345803.492797112]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720345805.481581601]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345806.496003220]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345807.446224390]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345808.480917387]: 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] [1720345810.466945441]: 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!
[0m[ INFO] [1720345815.490517730]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345816.477728271]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345817.481567339]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345818.460055940]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345819.477496677]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345820.462930585]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345821.470192931]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345822.494211823]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345823.484301040]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345824.477436602]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345825.480389359]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345826.479189285]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345827.476307203]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345828.478659403]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345829.451602550]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345830.486171812]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345831.478142743]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345832.458533666]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345833.478989476]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345834.475917933]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345835.449196639]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345836.490612452]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345837.456881056]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345838.490248225]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345839.477504553]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345840.456801878]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345841.480173963]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345842.477150938]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345843.480104972]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345844.466576717]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345846.482963792]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345848.481496758]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345849.475925481]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345850.490493125]: 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] [1720345852.487383187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345854.487955346]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345855.483445426]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345856.484516520]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345857.485553815]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345858.473525129]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345859.478760160]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345860.488659407]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345861.488321721]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345862.445327481]: 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] [1720345867.491275908]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345868.478924955]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345869.478008562]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345870.474327164]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345871.475188381]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345872.459929032]: 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] [1720345875.477077936]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720345877.474642882]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345878.473421687]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345879.484720361]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345880.488533481]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345881.478047555]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345882.486317774]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720345884.447446962]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345885.460895679]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345886.444932036]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345887.479683456]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345888.471537999]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345889.488881729]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345890.481341402]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345891.466165634]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345892.456747572]: IMU excitation not enouth![0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720345893.475948576]: IMU excitation not enouth![0m
[0m[ INFO] [1720345893.476061248]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345894.462716374]: IMU excitation not enouth![0m
[0m[ INFO] [1720345895.475431527]: 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!
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] [1720345905.481471359]: 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] [1720345908.479690606]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345909.462573182]: 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] [1720345919.487098493]: gyroscope bias initial calibration -0.00233754    0.022097   0.0782062[0m
[0m[ INFO] [1720345919.545236655]: Initialization finish![0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720345935.878556116]: Shutdown request received.[0m
[33m[ WARN] [1720345935.878628298]: Reason given for shutdown: [user request][0m
position: 1.358064, -0.103609, -0.711348
position: 1.193842, 0.043335, -0.162377
position: 1.171299, 0.043217, 0.271483
position: 1.128853, 0.171804, 0.365498
position: 0.959423, 0.408367, 0.467519
position: 0.580107, 0.754442, 0.523017
position: 0.104436, 1.271465, 0.524681
position: -0.842241, 1.183330, 0.485260
position: -1.505155, 1.544740, 0.610741
position: -2.060645, 1.827804, 0.470213
position: -2.345928, 1.764447, 0.347780
position: -2.246165, 1.815499, 0.237412
position: -2.297914, 1.945085, 0.206062
position: -2.308387, 1.881314, 0.147506
[33m[ WARN] [1720345935.879567320]: Shutdown request received.[0m
[33m[ WARN] [1720345935.879613755]: Reason given for shutdown: [user request][0m
killed
