/SLAM-Hive/slam_hive_results/mapping_results/2713/1924_vins-mono+MH_03_medium+Image_comb_test-9.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/58f1af06-3c5a-11ef-bdb2-0242ac110004/roslaunch-b59579aaf889-118.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://b59579aaf889:39229/[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 58f1af06-3c5a-11ef-bdb2-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [159][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720354423.849183955]: init begins[0m
[0m[ INFO] [1720354423.854570161]: 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] [1720354423.855076672]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720354423.855098221]:  fix extrinsic param [0m
[0m[ INFO] [1720354423.855249528]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720354423.855284131]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720354423.855312530]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720354423.855361074]: 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] [1720354430.994016367]: 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: 316717300.67 
[0m[ INFO] [1720354432.657362578]: IMU excitation not enouth![0m
[0m[ INFO] [1720354432.658062736]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354432.857935439]: IMU excitation not enouth![0m
[0m[ INFO] [1720354432.858584765]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354433.057863136]: IMU excitation not enouth![0m
[0m[ INFO] [1720354433.058543062]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354433.157475815]: IMU excitation not enouth![0m
[0m[ INFO] [1720354433.158080853]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354433.350428259]: IMU excitation not enouth![0m
[0m[ INFO] [1720354433.350633518]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354433.558356240]: IMU excitation not enouth![0m
[0m[ INFO] [1720354433.559028941]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354433.647493843]: IMU excitation not enouth![0m
[0m[ INFO] [1720354433.860503097]: IMU excitation not enouth![0m
[0m[ INFO] [1720354433.860921339]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354434.052222641]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354434.164440991]: IMU excitation not enouth![0m
[0m[ INFO] [1720354434.165095224]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354434.362286666]: IMU excitation not enouth![0m
[0m[ INFO] [1720354434.563707746]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354434.668661479]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354434.870296026]: 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!
[33m[ WARN] [1720354435.133441322]: gyroscope bias initial calibration -0.00228368   0.0268645   0.0778975[0m
[0m[ INFO] [1720354435.167355423]: Initialization finish![0m
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positoptimize pose graph 
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position: 3.470737, -2.595579, 0.248184
position: 3.483812, -2.544202, 0.275148
position: 3.4950optimize pose graph 
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position: 3.056902, -2.086374, 0.311341
position: 3.026026, -2.069091, 0.338493
position: 2.981469, -2.053450, 0.366539
optimize pose graph 
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position: 0.531263, -0.015775, 0.024991
position: 0.531805, -0.016751, 0.022599
position: 0.532275, -0.018635, 0.020436
position: 0.532328, -0.021208, 0.019060
position: 0.532306, -0.023574, 0.018367
position: 0.531984, -0.026164, 0.018640
position: 0.532301, -0.027186, 0.018921
position: 0.532473, -0.028718, 0.018750
position: 0.531865, -0.029614, 0.019013
position: 0.531420, -0.029585, 0.020615
position: 0.530220, -0.027436, 0.025343
position: 0.526548, -0.008096, 0.047914
position: 0.527177, -0.006383, 0.049710
position: 0.527073, -0.006297, 0.049773
position: 0.527013,
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720354567.787455996]: Shutdown request received.[0m
[33m[ WARN] [1720354567.787517311]: Reason given for shutdown: [user request][0m
 -0.006337, 0.049780
position: 0.527037, -0.006383, 0.049707
position: 0.527030, -0.006408, 0.049698
position: 0.527047, -0.006497, 0.049668
position: 0.527074, -0.006497, 0.049580
position: 0.527063, -0.006407, 0.049564
position: 0.527043, -0.006409, 0.049509
position: 0.527245, -0.006422, 0.049560
[33m[ WARN] [1720354567.788361207]: Shutdown request received.[0m
[33m[ WARN] [1720354567.788388484]: Reason given for shutdown: [user request][0m
killed
