/SLAM-Hive/slam_hive_results/mapping_results/2714/1925_vins-mono+MH_03_medium+Image_comb_test-10.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/c1bfd594-3c5a-11ef-9e78-0242ac110004/roslaunch-de1ed32f2b89-118.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://de1ed32f2b89:33235/[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 c1bfd594-3c5a-11ef-9e78-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720354599.548634939]: init begins[0m
[0m[ INFO] [1720354599.553852714]: 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] [1720354599.554388703]: ROW: 192.000000 COL: 300.000000 [0m
[33m[ WARN] [1720354599.554410462]:  fix extrinsic param [0m
[0m[ INFO] [1720354599.554580644]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720354599.554621235]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720354599.554652977]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720354599.554709628]: 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] [1720354606.824890207]: 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: 316717476.50 
[0m[ INFO] [1720354608.486889016]: IMU excitation not enouth![0m
[0m[ INFO] [1720354608.487387570]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354608.690227640]: IMU excitation not enouth![0m
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[0m[ INFO] [1720354608.884939894]: IMU excitation not enouth![0m
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[0m[ INFO] [1720354608.985879864]: IMU excitation not enouth![0m
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[0m[ INFO] [1720354609.185813286]: IMU excitation not enouth![0m
[0m[ INFO] [1720354609.186251045]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354609.378769098]: IMU excitation not enouth![0m
[0m[ INFO] [1720354609.486546818]: IMU excitation not enouth![0m
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[0m[ INFO] [1720354609.687822200]: IMU excitation not enouth![0m
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[0m[ INFO] [1720354609.887855672]: IMU excitation not enouth![0m
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[0m[ INFO] [1720354609.989980837]: IMU excitation not enouth![0m
[0m[ INFO] [1720354609.990609455]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354610.189294223]: IMU excitation not enouth![0m
[0m[ INFO] [1720354610.189656281]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354610.510969607]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354610.890316981]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354610.981785955]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354611.188520639]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354611.504570351]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354611.689791411]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354613.216470222]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354613.384578848]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354613.485220977]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354613.698237840]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354613.891500073]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354613.995560758]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354614.191026855]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354614.405300882]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354614.514698386]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354614.702330093]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354614.900600494]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354614.996152940]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354615.193560814]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354615.386642449]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354615.492689787]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720354615.908749380]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354616.016853956]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354616.193405427]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354616.406154555]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354616.492935942]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354616.692528598]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354616.896665877]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354616.990211890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354617.189981877]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354617.384089927]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354617.489610093]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354617.689196021]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354617.889700082]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354617.989482149]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354618.191197471]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354618.400369343]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354618.501043076]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354618.696282851]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354618.889785966]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354618.989725166]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354619.189278300]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354619.381317121]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354619.490068916]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354619.695640409]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354619.890409850]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354620.000633786]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354620.195257661]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354620.392623101]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354620.489764340]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354621.190052339]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354621.383067178]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354621.491355270]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354622.380848609]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354622.880565347]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354623.183425160]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354624.189459649]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354624.700422485]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354625.001467547]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354625.191988061]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354625.389669582]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354625.493854629]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354625.700380824]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354625.986089657]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354626.189578739]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354626.397437033]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354626.501892410]: IMU excitation not enouth![0m
[0m[ INFO] [1720354626.532289619]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354626.694022393]: IMU excitation not enouth![0m
[0m[ INFO] [1720354626.694269086]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354626.913636237]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354627.018232813]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354627.211963798]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354627.387064935]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354627.508064657]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354627.890349058]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354628.000838126]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354629.690602921]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354630.022476717]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354630.216975450]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354630.385161750]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354630.521737059]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354630.692989743]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354630.889997525]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354631.008756345]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354631.217293721]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720354631.415917629]: gyroscope bias initial calibration 0.00181101  0.0149155  0.0682474[0m
[0m[ INFO] [1720354631.442532751]: Initialization finish![0m
position: 0.907502, -0.635040, 0.009327
position: 0.898395, -0.670468, 0.004825
position: 0.930931, -0.704687, -0.002019
position: 1.013625, -0.755971, -0.003176
position: 1.024766, -0.771807, 0.005454
position: 1.070479, -0.802983, 0.020533
position: 1.106183, -0.819600, 0.041793
position: 1.150891, -0.834239, 0.059044
position: 1.194298, -0.848187, 0.071030
position: 1.241349, -0.866930, 0.073852
position: 1.285400, -0.889966, 0.069851
position: 1.327363, -0.918766, 0.059010
position: 1.369008, -0.954372, 0.041730
position: 1.410891, -0.995445, 0.022885
position: 1.451524, -1.040126, 0.005351
position: 1.491189, -1.089812, -0.011709
position: 1.529426, -1.143589, -0.026305
position: 1.558454, -1.201076, -0.040989
position: 1.579671, -1.261805, -0.057120
position: 1.595297, -1.325843, -0.076473
position: 1.606713, -1.393523, -0.101270
position: 1.613023, -1.462711, -0.132477
position: 1.615224, -1.532906, -0.167031
position: 1.616340, -1.602658, -0.207736
position: 1.619698, -1.674572, -0.250426
position: 1.623304, -1.747964, -0.287728
position: 1.625194, -1.822835, -0.316992
position: 1.626130, -1.901109, -0.337378
position: 1.624123, -1.983923, -0.348948
position: 1.616865, -2.072330, -0.353001
position: 1.602712, -2.167241, -0.348634
position: 1.586880, -2.269332, -0.340297
position: 1.566903, -2.375346, -0.336095
position: 1.536669, -2.484332, -0.336797
position: 1.503516, -2.591327, -0.335027
position: 1.469379, -2.700305, -0.327098
position: 1.430810, -2.805422, -0.313998
position: 1.386665, -2.908356, -0.299281
position: 1.339827, -3.011016, -0.290275
position: 1.288169, -3.110358, -0.286756
position: 1.230235, -3.205619, -0.288621
position: 1.169605, -3.306488, -0.297665
position: 1.105030, -3.412704, -0.307162
position: 1.038533, -3.519526, -0.311260
position: 0.971631, -3.627319, -0.309387
position: 0.904307, -3.736314, -0.312144
position: 0.834668, -3.844069, -0.321563
position: 0.759031, -3.946340, -0.333092
position: 0.683857, -4.053669, -0.352325
position: 0.603073, -4.162337, -0.370240
position: 0.526622, -4.272022, -0.390456
position: 0.452485, -4.381705, -0.404890
position: 0.378495, -4.493690, -0.416299
position: 0.305543, -4.607027, -0.429858
position: 0.231304, -4.722834, -0.444240
position: 0.155301, -4.836825, -0.459468
position: 0.076467, -4.946902, -0.478890
position: -0.003023, -5.055645, -0.503307
position: -0.085216, -5.162079, -0.531034
position: -0.168220, -5.267083, -0.560087
position: -0.248597, -5.370763, -0.589803
position: -0.324495, -5.474316, -0.612956
position: -0.396646, -5.579855, -0.627677
position: -0.463114, -5.687085, -0.629998
position: -0.527348, -5.798229, -0.619483
position: -0.594720, -5.912625, -0.599461
position: -0.666489, -6.025401, -0.572636
position: -0.747602, -6.137329, -0.537771
position: -0.836713, -6.246895, -0.498788
position: -0.935831, -6.362030, -0.463738
position: -1.039504, -6.474788, -0.431844
position: -1.147001, -6.586714, -0.403430
position: -1.255925, -6.691800, -0.379724
position: -1.365292, -6.790197, -0.362049
position: -1.472562, -6.874701, -0.352071
position: -1.576518, -6.945905, -0.350988
position: -1.680872, -7.005286, -0.355502
position: -1.786463, -7.051173, -0.364121
position: -1.896515, -7.084517, -0.376731
position: -2.011933, -7.110252, -0.379392
position: -2.130545, -7.129151, -0.372994
position: -2.252443, -7.136703, -0.371011
position: -2.375633, -7.129065, -0.376807
position: -2.501090, -7.109693, -0.386993
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position: 0.563035, 0.261582, -0.371268
position: 0.543928, 0.260123, -0.396397
position: 0.533187, 0.26523
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720354743.635659263]: Shutdown request received.[0m
[33m[ WARN] [1720354743.635708496]: Reason given for shutdown: [user request][0m
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position: 0.626413, 0.425885, -0.665252
position: 0.624471, 0.427910, -0.666380
[33m[ WARN] [1720354743.636574997]: Shutdown request received.[0m
[33m[ WARN] [1720354743.636606621]: Reason given for shutdown: [user request][0m
killed
