/SLAM-Hive/slam_hive_results/mapping_results/2673/1884_vins-mono+MH_01_easy+Image_comb_test-29.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/4dcf0a18-3c48-11ef-b647-0242ac110004/roslaunch-5d41bd4f0310-118.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://5d41bd4f0310:35483/[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 4dcf0a18-3c48-11ef-b647-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [153][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720346674.112923844]: init begins[0m
[0m[ INFO] [1720346674.117708932]: 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] [1720346674.118239603]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720346674.118266101]:  fix extrinsic param [0m
[0m[ INFO] [1720346674.118429437]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720346674.118470664]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720346674.118501723]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720346674.118553414]: 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] [1720346681.380632716]: 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: 316710102.66 
[0m[ INFO] [1720346695.577216127]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720346700.579390577]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720346704.590663714]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346705.572469902]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346706.591470675]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346707.590976332]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346708.571664374]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346709.594805880]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346710.570836866]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346711.590830004]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346712.574061680]: IMU excitation not enouth![0m
[0m[ INFO] [1720346712.574148429]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346713.584999552]: IMU excitation not enouth![0m
[0m[ INFO] [1720346713.585074234]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346714.579085997]: IMU excitation not enouth![0m
[0m[ INFO] [1720346714.579161623]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346715.575194842]: IMU excitation not enouth![0m
[0m[ INFO] [1720346715.575244942]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346716.604150724]: IMU excitation not enouth![0m
[0m[ INFO] [1720346716.604293139]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346717.595238275]: IMU excitation not enouth![0m
[0m[ INFO] [1720346717.595345476]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346718.592057886]: IMU excitation not enouth![0m
[0m[ INFO] [1720346718.592196757]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346719.591240289]: IMU excitation not enouth![0m
[0m[ INFO] [1720346719.591363379]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346720.583926412]: IMU excitation not enouth![0m
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[0m[ INFO] [1720346721.594431412]: IMU excitation not enouth![0m
[0m[ INFO] [1720346721.594649006]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346722.585820350]: IMU excitation not enouth![0m
[0m[ INFO] [1720346722.585916586]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346723.581661980]: IMU excitation not enouth![0m
[0m[ INFO] [1720346723.581873745]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346724.584177922]: IMU excitation not enouth![0m
[0m[ INFO] [1720346724.584341574]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346725.571687400]: IMU excitation not enouth![0m
[0m[ INFO] [1720346725.571751592]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346726.585571853]: IMU excitation not enouth![0m
[0m[ INFO] [1720346727.571427372]: IMU excitation not enouth![0m
[0m[ INFO] [1720346727.571499056]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346728.595932975]: IMU excitation not enouth![0m
[0m[ INFO] [1720346728.596091453]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346729.594499624]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720346732.591547876]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720346820.577088486]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346821.589084975]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346822.592627244]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346823.599990348]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346824.591638301]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346825.575048069]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346826.590043205]: IMU excitation not enouth![0m
[0m[ INFO] [1720346826.590198625]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346827.590158762]: IMU excitation not enouth![0m
[0m[ INFO] [1720346827.590328015]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346828.588788827]: IMU excitation not enouth![0m
[0m[ INFO] [1720346828.588928005]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346829.583123615]: IMU excitation not enouth![0m
[0m[ INFO] [1720346829.583193027]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346830.575245050]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720346832.566293548]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346833.570807996]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346835.578952069]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346836.596949433]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720346839.587006392]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346840.566393343]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346841.588927799]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346842.567561001]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346843.567043574]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346844.572827097]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346845.567980918]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720346847.589252966]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346848.586197236]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720346850.574408740]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346851.565231496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346852.588880455]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346853.586192051]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346854.586925037]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346855.567679140]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346856.600105693]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346857.588903098]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346858.598910032]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346859.588905084]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346860.575538102]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346861.588903168]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346862.567912931]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346863.599703165]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346864.587375735]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346865.571319455]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720346866.574488388]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720346870.026196361]: Shutdown request received.[0m
[33m[ WARN] [1720346870.026255255]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720346870.027119647]: Shutdown request received.[0m
[33m[ WARN] [1720346870.027160243]: Reason given for shutdown: [user request][0m
killed
