/SLAM-Hive/slam_hive_results/mapping_results/2708/1919_vins-mono+MH_03_medium+Image_comb_test-4.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/4524186c-3c58-11ef-9c0c-0242ac110004/roslaunch-f27c7dee7488-118.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://f27c7dee7488:38397/[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 4524186c-3c58-11ef-9c0c-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] [1720353531.507015063]: init begins[0m
[0m[ INFO] [1720353531.511826944]: 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] [1720353531.512315931]: ROW: 192.000000 COL: 300.000000 [0m
[33m[ WARN] [1720353531.512340836]:  fix extrinsic param [0m
[0m[ INFO] [1720353531.512526770]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720353531.512561716]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720353531.512595278]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720353531.512646203]: 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] [1720353538.772326952]: 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: 316716408.45 
[0m[ INFO] [1720353540.423859578]: IMU excitation not enouth![0m
[0m[ INFO] [1720353540.424033785]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353540.623691530]: IMU excitation not enouth![0m
[0m[ INFO] [1720353540.623815647]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353540.832322844]: IMU excitation not enouth![0m
[0m[ INFO] [1720353540.832896291]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353540.932073748]: IMU excitation not enouth![0m
[0m[ INFO] [1720353540.932635834]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353541.125112281]: IMU excitation not enouth![0m
[0m[ INFO] [1720353541.326075223]: IMU excitation not enouth![0m
[0m[ INFO] [1720353541.431214446]: IMU excitation not enouth![0m
[0m[ INFO] [1720353541.431696531]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353541.632095669]: IMU excitation not enouth![0m
[0m[ INFO] [1720353541.632578383]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353541.833577081]: IMU excitation not enouth![0m
[0m[ INFO] [1720353541.834126353]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353541.934391585]: IMU excitation not enouth![0m
[0m[ INFO] [1720353541.935006506]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353542.132072200]: IMU excitation not enouth![0m
[0m[ INFO] [1720353542.210607557]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353542.336118431]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353542.442039575]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353542.634444340]: 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] [1720353542.930667252]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353543.140356970]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353543.344539649]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353543.433343944]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353543.634114524]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353543.833014544]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353544.139044219]: 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] [1720353544.430860852]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353544.844681875]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353544.937167087]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353545.137384804]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353545.339724225]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353545.437122695]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353545.628671314]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353545.835524540]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353545.938955700]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353546.138024680]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353546.339964303]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353546.437394360]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353546.646036769]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353546.846907571]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353546.938032048]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353547.131541120]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353547.333429305]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353547.437714339]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353547.642641023]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353547.834408221]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353547.947597446]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353548.136468758]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353548.346352796]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353548.435704003]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353548.637790415]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353548.854130240]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353548.958206377]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353549.130951795]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353549.346203507]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353549.442541091]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353549.647600278]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353549.843668007]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353549.943590473]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353550.151991302]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720353550.375781022]: gyroscope bias initial calibration -0.00209643  0.00751055   0.0834936[0m
[0m[ INFO] [1720353550.396322676]: Initialization finish![0m
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positi
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720353675.597872435]: Shutdown request received.[0m
[33m[ WARN] [1720353675.597949181]: Reason given for shutdown: [user request][0m
on: 0.502658, 0.637557, -0.151570
position: 0.504354, 0.634203, -0.152919
position: 0.505579, 0.631677, -0.154883
position: 0.507289, 0.628781, -0.156564
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position: 0.487898, 0.639363, -0.110573
position: 0.485960, 0.650889, -0.099810
position: 0.486879, 0.651896, -0.099617
[33m[ WARN] [1720353675.598849478]: Shutdown request received.[0m
[33m[ WARN] [1720353675.598884758]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/4524186c-3c58-11ef-9c0c-0242ac110004/rosout-1*.log[0m
[rosout-1] restarting process
