/SLAM-Hive/slam_hive_results/mapping_results/2706/1917_vins-mono+MH_03_medium+Image_comb_test-2.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/709d0f4a-3c57-11ef-847f-0242ac110004/roslaunch-3d4db9f94e1b-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://3d4db9f94e1b:36995/[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 709d0f4a-3c57-11ef-847f-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720353174.930567298]: init begins[0m
[0m[ INFO] [1720353174.935571138]: 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] [1720353174.936025139]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720353174.936051492]:  fix extrinsic param [0m
[0m[ INFO] [1720353174.936206434]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720353174.936253869]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720353174.936287770]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720353174.936345582]: 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_03_medium.bag  --clock 
[0m[ INFO] [1720353182.215312918]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316716051.89 
[0m[ INFO] [1720353183.880564892]: IMU excitation not enouth![0m
[0m[ INFO] [1720353184.081574038]: IMU excitation not enouth![0m
[0m[ INFO] [1720353184.271599380]: IMU excitation not enouth![0m
[0m[ INFO] [1720353184.272085088]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353184.365802951]: IMU excitation not enouth![0m
[0m[ INFO] [1720353184.366052059]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353184.580392076]: IMU excitation not enouth![0m
[0m[ INFO] [1720353184.780961157]: IMU excitation not enouth![0m
[0m[ INFO] [1720353184.882916272]: IMU excitation not enouth![0m
[0m[ INFO] [1720353185.081021008]: IMU excitation not enouth![0m
[0m[ INFO] [1720353185.081843945]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353185.275288146]: IMU excitation not enouth![0m
[0m[ INFO] [1720353185.275864557]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353185.382482999]: IMU excitation not enouth![0m
[0m[ INFO] [1720353185.566633673]: IMU excitation not enouth![0m
[33m[ WARN] [1720353185.696753522]: gyroscope bias initial calibration -0.00237397   0.0161818   0.0761722[0m
[0m[ INFO] [1720353185.760640610]: Initialization finish![0m
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position: 0.33606optimize pose graph 
4, -0.194854, 0.231362
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18
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position: 3.247342, -3.167412, -0.06optimize pose graph 
8585
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poptimize pose graph 
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position: 0.504411, -0.043441, 0.020388
position: 0.502809, -0.040002, 0.025730
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position: 0.498959, -0.040175, 0.030468
position: 0.498885, -0.040019, 0.030618
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position: 0.499007, -0.040078, 0.030421
position: 0.498975, -0.040192, 0.030475
position: 0.499110, -0.040190, 0.030382
position: 0.499318, -0.040185, 0.030247
position: 0.499371, -0.040348, 0.
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720353319.104777497]: Shutdown request received.[0m
[33m[ WARN] [1720353319.104841522]: Reason given for shutdown: [user request][0m
030105
position: 0.499584, -0.040151, 0.030045
position: 0.499677, -0.040113, 0.030016
position: 0.499707, -0.040074, 0.029989
position: 0.499822, -0.040005, 0.029961
position: 0.499925, -0.040039, 0.029837
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position: 0.500133, -0.039966, 0.029745
position: 0.500166, -0.039982, 0.029713
position: 0.500171, -0.040032, 0.029685
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position: 0.500258, -0.040019, 0.029684
position: 0.500264, -0.039997, 0.029664
position: 0.500247, -0.039947, 0.029665
position: 0.500278, -0.039931, 0.029650
position: 0.500295, -0.039880, 0.029655
[33m[ WARN] [1720353319.105697981]: Shutdown request received.[0m
[33m[ WARN] [1720353319.105741144]: Reason given for shutdown: [user request][0m
killed
