/SLAM-Hive/slam_hive_results/mapping_results/2710/1921_vins-mono+MH_03_medium+Image_comb_test-6.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/1c5738e6-3c59-11ef-ac85-0242ac110004/roslaunch-d6b861295696-119.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://d6b861295696:32977/[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 [130][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 1c5738e6-3c59-11ef-ac85-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [143][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [161][0m
[0m[ INFO] [1720353892.549180835]: init begins[0m
[0m[ INFO] [1720353892.553936001]: 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] [1720353892.554370911]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720353892.554391580]:  fix extrinsic param [0m
[0m[ INFO] [1720353892.554541924]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720353892.554580078]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720353892.554620165]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720353892.554681681]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [182][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] [1720353899.787411465]: 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: 316716769.47 
[0m[ INFO] [1720353901.452018822]: IMU excitation not enouth![0m
[0m[ INFO] [1720353901.652064672]: IMU excitation not enouth![0m
[0m[ INFO] [1720353901.653096743]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353901.842917316]: IMU excitation not enouth![0m
[0m[ INFO] [1720353901.951279550]: IMU excitation not enouth![0m
[0m[ INFO] [1720353901.952209302]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353902.151013062]: IMU excitation not enouth![0m
[0m[ INFO] [1720353902.152243036]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353902.355186346]: IMU excitation not enouth![0m
[0m[ INFO] [1720353902.355632860]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353902.453119806]: IMU excitation not enouth![0m
[0m[ INFO] [1720353902.454156228]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353902.667920799]: IMU excitation not enouth![0m
[0m[ INFO] [1720353902.668376012]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353902.862694967]: IMU excitation not enouth![0m
[0m[ INFO] [1720353902.974488024]: IMU excitation not enouth![0m
[0m[ INFO] [1720353903.148596951]: IMU excitation not enouth![0m
[33m[ WARN] [1720353903.318997003]: gyroscope bias initial calibration -0.00188382   0.0181827   0.0775783[0m
[0m[ INFO] [1720353903.427996997]: Initialization finish![0m
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position: 0.331optimize pose graph 
optimize pose graph 
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posioptimize pose graph 
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optimize pose graph 
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pooptimize pose graph 
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pooptimize pose graph 
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poptimize pose graph 
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305376
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position:optimize pose graph 
optimize pose graph 
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position: 0.897254, -3.905555, 0.656465
position: 0.648530, -3.951679, 0.623671
position: 0.397134, -4.000589, 0.579479
position: 0.145194, -4.050426, 0.529537
position: -0.105175, -4.096985, 0.474505
position: -0.350608, -4.141178, 0.416758
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position: -1.293150, -4.322421, 0.200457
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position: -1.751316, -4.445466, 0.137409
position: -1.976498, -4.517425, 0.118827
position: -2.196042, -4.591566, 0.099230
position: -2.405727, -optimize pose graph 
4.667105, 0.069977
position: -2.611137, -4.743978, 0.033771
position: -2.809749, -4.823818, -0.006299
position: -2.999259, -4.905348, -0.049043
position: -3.176868, -4.990789, -0.088432
position: -3.338497, -5.081138, -0.122128
position: -3.482940, -5.175824, -0.150004
position: -3.609462, -5.272700, -0.172073
position: -3.717029, -5.368237, -0.185273
position: -3.808769, -5.459803, -0.192601
position: -3.887882, -5.543185, -0.193887
position: -3.951730, -5.619774, -0.188860
position: -3.998900, -5.692543, -0.182689
position: -4.029074, -5.759196, -0.180606
position: -4.041813, -5.826029, -0.186590
position: -4.026849, -5.885714, -0.189704
position: -3.989707, -5.943890, -0.188617
position: -3.931564, -5.994282, -0.178144
position: -3.859783, -6.039221, -0.161069
position: -3.776585, -6.078028, -0.140608
position: -3.682660, -6.109865, -0.125225
position: -3.576171, -6.137377, -0.119935
position: -3.458746, -6.161282, -0.121737
position: -3.331186, -6.179036, -0.126994
position: -3.193969, -6.191854, -0.12868optimize pose graph 
3
position: -3.048740, -6.200661, -0.127471
position: -2.899007, -6.210993, -0.116881
position: -2.747494, -6.221249, -0.098998
position: -2.598504, -6.228108, -0.070862
position: -2.455912, -6.234046, -0.031228
position: -2.320520, -6.238151, 0.017859
position: -2.192003, -6.242999, 0.073008
position: -2.070444, -6.248208, 0.132329
position: -1.954025, -6.250397, 0.195277
position: -1.844307, -6.253483, 0.263099
position: -1.736996, -6.258083, 0.326793
position: -1.631923, -6.266210, 0.383101
position: -1.527376, -6.279217, 0.432348
position: -1.423985, -6.297742, 0.475741
position: -1.323543, -6.321715, 0.513962
position: -1.226160, -6.351707, 0.545361
position: -1.136101, -6.390243, 0.574288
position: -1.053309, -6.437191, 0.602368
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position: -0.896592, -6.550592, 0.640971
position: -0.820882, -6.616261, 0.650887
position: -0.745182, -6.688201, 0.654267
position: -0.668578, -6.766944, 0.654568
position: -0.589416, -6.847547, 0.648391
position: -0.507131, -6.927366, 0optimize pose graph 
.636203
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position: -0.151707, -7.215728, 0.538314
position: -0.059705, -7.275168, 0.504238
position: 0.033905, -7.324924, 0.466221
position: 0.129791, -7.364283, 0.426564
position: 0.226399, -7.389302, 0.391306
position: 0.322468, -7.397221, 0.362097
position: 0.418246, -7.392262, 0.338805
position: 0.513908, -7.379728, 0.317586
position: 0.610107, -7.361537, 0.292850
position: 0.708668, -7.340379, 0.265146
position: 0.813092, -7.319250, 0.239406
position: 0.917465, -7.293718, 0.206666
position: 1.019601, -7.261103, 0.166981
position: 1.118368, -7.218787, 0.126442
position: 1.213447, -7.164535, 0.089442
position: 1.305505, -7.094071, 0.061991
position: 1.391123, -7.009693, 0.041613
position: 1.470213, -6.914583, 0.026258
position: 1.542508, -6.813934, 0.012861
position: 1.609232, -6.707852, -0.004918
position: 1.672455, -6.599544, -0.025572
position: 1.733055, -6.489269, -0.045864
positionoptimize pose graph 
optimize pose graph 
: 1.789172, -6.376246, -0.060791
position: 1.841032, -6.259405, -0.070000
position: 1.891611, -6.139302, -0.070106
position: 1.945495, -6.014601, -0.064113
position: 2.004509, -5.886469, -0.054105
position: 2.066081, -5.758572, -0.037232
position: 2.130455, -5.631288, -0.012876
position: 2.195785, -5.505064, 0.016713
position: 2.260503, -5.376728, 0.037158
position: 2.326126, -5.245718, 0.040205
position: 2.390975, -5.111879, 0.025932
position: 2.454740, -4.975489, 0.005137
position: 2.517645, -4.837512, -0.012000
position: 2.576674, -4.695918, -0.023965
position: 2.631780, -4.549982, -0.029777
position: 2.681384, -4.403102, -0.027699
position: 2.727369, -4.257059, -0.024209
position: 2.769796, -4.113954, -0.025833
position: 2.809324, -3.976066, -0.033067
position: 2.843374, -3.842309, -0.044413
position: 2.873178, -3.714858, -0.052642
position: 2.900656, -3.594146, -0.053885
position: 2.928085, -3.481281, -0.047074
position: 2.955760, -3.376697, -0.034130
position: 2.982889, -3.278989, -0.015557
position: 3.optimize pose graph 
009603, -3.189186, 0.010065
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position: 3.059972, -3.034649, 0.084447
position: 3.083680, -2.968388, 0.133555
position: 3.106360, -2.905532, 0.179316
position: 3.127052, -2.846271, 0.218059
position: 3.145321, -2.791402, 0.249951
position: 3.160989, -2.742943, 0.277036
position: 3.174191, -2.700843, 0.300764
position: 3.185388, -2.662030, 0.320495
position: 3.192488, -2.624195, 0.335809
position: 3.194323, -2.586092, 0.345499
position: 3.189812, -2.549669, 0.349374
position: 3.178061, -2.513695, 0.344637
position: 3.163596, -2.479995, 0.334064
position: 3.144472, -2.449904, 0.317922
position: 3.125515, -2.421956, 0.297750
position: 3.105516, -2.400253, 0.280420
position: 3.088724, -2.384752, 0.273092
position: 3.072649, -2.372023, 0.273788
position: 3.053434, -2.360082, 0.280659
position: 3.035884, -2.348632, 0.285579
position: 3.015605, -2.340081, 0.286266
position: 2.994451, -2.332280, 0.280895
position: 2.971629, -2.326227, 0.269279
position: 2.946872, -2.321392, 0.257optimize pose graph 
489
position: 2.920388, -2.317159, 0.251255
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position: 2.866935, -2.305624, 0.259987
position: 2.833556, -2.298205, 0.273396
position: 2.798245, -2.287454, 0.293324
position: 2.760225, -2.273543, 0.318501
position: 2.719008, -2.257407, 0.347734
position: 2.680482, -2.238821, 0.375561
position: 2.641563, -2.220594, 0.399343
position: 2.603522, -2.200540, 0.418596
position: 2.564827, -2.179501, 0.430499
position: 2.526567, -2.156129, 0.439368
position: 2.487375, -2.132477, 0.440245
position: 2.447856, -2.107444, 0.436677
position: 2.405821, -2.081632, 0.431110
position: 2.362164, -2.053966, 0.429630
position: 2.318033, -2.026004, 0.435660
position: 2.269900, -1.996107, 0.443915
position: 2.218452, -1.965651, 0.445678
position: 2.168040, -1.935965, 0.441947
position: 2.114489, -1.905339, 0.434344
position: 2.059609, -1.874044, 0.431133
position: 2.004735, -1.842340, 0.435973
position: 1.948929, -1.809914, 0.450593
position: 1.890318, -1.778066, 0.473017
position: 1.832566, optimize pose graph 
-1.744906, 0.493494
position: 1.775460, -1.710527, 0.507269
position: 1.717720, -1.674373, 0.514155
position: 1.659184, -1.635550, 0.515692
position: 1.598472, -1.594739, 0.511496
position: 1.534564, -1.552708, 0.500209
position: 1.470544, -1.510451, 0.487321
position: 1.410907, -1.464881, 0.476340
position: 1.352969, -1.422305, 0.468269
position: 1.294314, -1.385684, 0.464444
position: 1.238875, -1.343218, 0.468911
position: 1.185251, -1.301058, 0.479320
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position: 1.082368, -1.216294, 0.504111
position: 1.028166, -1.175336, 0.507215
position: 0.978586, -1.128530, 0.505600
position: 0.927084, -1.082774, 0.497640
position: 0.881321, -1.032370, 0.487102
position: 0.839894, -0.979824, 0.474506
position: 0.802955, -0.925302, 0.464323
position: 0.770845, -0.870214, 0.463676
position: 0.741034, -0.814273, 0.463917
position: 0.710421, -0.757562, 0.457494
position: 0.675733, -0.700697, 0.442753
position: 0.646659, -0.645205, 0.425689
position: 0.621365, -0.592137, 0.406337
posioptimize pose graph 
tion: 0.599137, -0.542964, 0.384497
position: 0.578513, -0.495681, 0.364631
position: 0.560255, -0.450363, 0.355114
position: 0.544285, -0.407389, 0.355751
position: 0.530094, -0.370854, 0.368700
position: 0.514654, -0.336600, 0.384858
position: 0.499997, -0.308621, 0.398950
position: 0.486615, -0.286594, 0.409954
position: 0.475416, -0.270297, 0.417537
position: 0.466440, -0.260595, 0.420468
position: 0.458956, -0.255555, 0.416742
position: 0.451672, -0.253201, 0.411938
position: 0.445155, -0.254924, 0.404075
position: 0.440394, -0.259416, 0.389201
position: 0.434915, -0.266848, 0.370218
position: 0.428682, -0.275369, 0.349479
position: 0.420671, -0.284028, 0.328144
position: 0.410558, -0.289366, 0.303956
position: 0.398971, -0.291296, 0.279139
position: 0.389242, -0.288638, 0.256659
position: 0.380309, -0.282356, 0.235853
position: 0.371594, -0.274103, 0.214366
position: 0.362672, -0.265403, 0.191950
position: 0.351891, -0.256276, 0.168687
position: 0.340973, -0.246144, 0.146946
position: 0.331172, -0.23398optimize pose graph 
7, 0.131220
position: 0.323233, -0.219134, 0.122879
position: 0.318027, -0.203711, 0.118663
position: 0.314707, -0.188503, 0.114541
position: 0.314168, -0.171495, 0.114740
position: 0.317659, -0.152047, 0.121478
position: 0.323417, -0.131730, 0.126415
position: 0.328916, -0.112657, 0.122478
position: 0.333972, -0.094682, 0.109386
position: 0.337814, -0.078821, 0.088886
position: 0.337179, -0.075138, 0.074372
position: 0.335404, -0.083990, 0.072476
position: 0.331466, -0.091163, 0.065017
position: 0.331902, -0.096610, 0.067679
position: 0.337925, -0.094434, 0.063177
position: 0.338396, -0.092853, 0.065650
position: 0.335739, -0.091154, 0.068558
position: 0.334628, -0.091272, 0.068778
position: 0.334144, -0.091262, 0.069157
position: 0.333921, -0.091294, 0.069424
position: 0.333884, -0.091491, 0.069465
position: 0.333942, -0.091159, 0.069373
position: 0.333852, -0.091210, 0.069448
position: 0.334043, -0.091093, 0.069424
position: 0.334275, -0.090952, 0.069387
position: 0.334345, -0.090873, 0.069279
position: 0.
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720354036.721387003]: Shutdown request received.[0m
[33m[ WARN] [1720354036.721438477]: Reason given for shutdown: [user request][0m
334472, -0.090588, 0.069292
position: 0.334458, -0.090549, 0.069358
position: 0.334485, -0.090480, 0.069378
position: 0.334634, -0.090361, 0.069393
position: 0.334738, -0.090355, 0.069349
position: 0.334850, -0.090239, 0.069342
position: 0.334936, -0.090215, 0.069424
position: 0.334977, -0.090224, 0.069422
position: 0.334969, -0.090248, 0.069411
position: 0.334951, -0.090275, 0.069415
position: 0.335010, -0.090214, 0.069469
position: 0.334991, -0.090260, 0.069522
position: 0.335036, -0.090215, 0.069491
position: 0.335034, -0.090180, 0.069480
position: 0.335005, -0.090210, 0.069494
position: 0.335117, -0.090139, 0.069496
[33m[ WARN] [1720354036.722367141]: Shutdown request received.[0m
[33m[ WARN] [1720354036.722398508]: Reason given for shutdown: [user request][0m
killed
