/SLAM-Hive/slam_hive_results/mapping_results/2716/1927_vins-mono+MH_03_medium+Image_comb_test-12.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/94424f60-3c5b-11ef-9885-0242ac110004/roslaunch-f8f4908377ca-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://f8f4908377ca:43047/[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 94424f60-3c5b-11ef-9885-0242ac110004[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] [1720354952.814076155]: init begins[0m
[0m[ INFO] [1720354952.819032971]: 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] [1720354952.819478993]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720354952.819503916]:  fix extrinsic param [0m
[0m[ INFO] [1720354952.819671832]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720354952.819716196]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720354952.819752107]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720354952.819805591]: 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] [1720354959.970528367]: 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: 316717829.65 
[0m[ INFO] [1720354962.930151359]: IMU excitation not enouth![0m
[0m[ INFO] [1720354962.930526333]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354963.129950428]: IMU excitation not enouth![0m
[0m[ INFO] [1720354963.130223686]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354963.363402809]: IMU excitation not enouth![0m
[33m[ WARN] [1720354963.694174033]: gyroscope bias initial calibration -0.00310978   0.0176322   0.0733933[0m
[0m[ INFO] [1720354963.801642132]: Initialization finish![0m
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position: -5.2223optimize pose graph 
97, -4.823779, 0.274442
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[0m[ INFO] [1720355029.784710012]:  little feature 1[0m
position: 2.688101, -5.862851, 0.255843
[0m[ INFO] [1720355029.971963118]:  little feature 1[0m
position: 3.089286, -5.563724, 0.135680
[0m[ INFO] [1720355030.189963975]:  little feature 1[0m
position: 3.389779, -5.257554, 0.000850
[0m[ INFO] [1720355030.388350756]:  little feature 0[0m
optimize pose graph 
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position: 2.988787, -3.431090, -0.105637
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position: 2.440642, -3.637396, -0.212909optimize pose graph 
optimize pose graph 
optimize pose graph 

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position: 2.149508, -2.805091, -0.09380optimize pose graph 
6
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position: -2.362292,optimize pose graph 
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position: 2.128860, -6.691436, -0.752899
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position: 2.946738, -5.650542, -0.250648
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position: 0.123252optimize pose graph 
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poptimize pose graph 
optimize pose graph 
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position: 2.optimize pose graph 
optimize pose graph 
634005, -2.278520, 0.148028
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position: 0.655781, -0.480324, 0.101optimize pose graph 
optimize pose graph 
512
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position: 0.629110, -0.515855, 0.018251
position: 0.608500, -0.514572, -0.026999
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position: 0.548086, -0.318422, -0.206254
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position: 0.547074, -0.319313, -0.205551
position: 0.546946, -0.319731, -0.205452
position: 0.546738, -0.320002, -0.205408
position: 0.546504, -0.320222, -0.205384
position: 0.546503, -0.320400, -0.205373
position: 0.546547, -0.320442, -0.205368
position: 0.546499, -0.320614, -0.205302
position: 0.546438, -0.320735, -0.205270
position: 0.546449, -0.320890, -0.2052
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720355096.758393497]: Shutdown request received.[0m
[33m[ WARN] [1720355096.758457996]: Reason given for shutdown: [user request][0m
02
position: 0.546412, -0.320880, -0.205231
[33m[ WARN] [1720355096.759373875]: Shutdown request received.[0m
[33m[ WARN] [1720355096.759407058]: Reason given for shutdown: [user request][0m
killed
