/SLAM-Hive/slam_hive_results/mapping_results/2717/1928_vins-mono+MH_03_medium+Image_comb_test-13.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/fe257448-3c5b-11ef-a377-0242ac110004/roslaunch-190aeafc1a46-119.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://190aeafc1a46:43377/[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 fe257448-3c5b-11ef-a377-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [143][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[1mprocess[vins_estimator-3]: started with pid [161][0m
[0m[ INFO] [1720355130.372286533]: init begins[0m
[0m[ INFO] [1720355130.377079619]: 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] [1720355130.377501730]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720355130.377518863]:  fix extrinsic param [0m
[0m[ INFO] [1720355130.377650340]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720355130.377681683]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720355130.377720805]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720355130.377775865]: 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] [1720355137.640266987]: 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: 316718007.32 
[0m[ INFO] [1720355140.596738960]: IMU excitation not enouth![0m
[0m[ INFO] [1720355140.596994893]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355140.800383976]: IMU excitation not enouth![0m
[0m[ INFO] [1720355140.800642728]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355141.025951356]: IMU excitation not enouth![0m
[33m[ WARN] [1720355142.099127250]: gyroscope bias initial calibration -0.00255679   0.0159493   0.0750314[0m
[0m[ INFO] [1720355142.182448204]: Initialization finish![0m
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[0m[ INFO] [1720355207.657527944]:  little feature 1[0m
position: 3.084122, -5.428465, 0.176842
[0m[ INFO] [1720355207.853882498]:  little feature 1[0m
optimize pose graph 
optimize pose graph 
optimize pose graph 
optimize pose graph 
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posoptimize pose graph 
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position: 2.664155, -optimize pose graph 
optimize pose graph 
4.697474, -0.164221
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position: 2.873384, -4.127711, -0.166257
position: 2.962420, -3.865209, -0.188222
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position: 3.185094, -3.062877, -0.061507
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position: 2.752339, -2.207902, 0.245298
position: 2.675282, -2.163714, 0.274863
position: 2.597859, -2.115756, 0.2825optimize pose graph 
optimize pose graph 
64
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position: 2.333295, -1.947986, 0.288169
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position: 0.437945, -0.092416, -0.078284
position: 0.443572, -0.089082, -0.074770
position: 0.439327, -0.088812, -0.071477
position: 0.436873, -0.090441, -0.069937
position: 0.436162, -0.090396, -0.069351
position: 0.436263, -0.090534, -0.069293
position: 0.436276, -0.090602, -0.069278
position: 0.436197, -0.090597, -0.069253
position: 0.436330, -0.090625, -0.069328
position: 0.436557, -0.090465, -0.069399
position: 0.436627, -0.090546, -0.069378
position: 0.436545, -0.090646, -0.069324
position: 0.436505, -0.090
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720355274.584113431]: Shutdown request received.[0m
[33m[ WARN] [1720355274.584172144]: Reason given for shutdown: [user request][0m
843, -0.069252
position: 0.436406, -0.090838, -0.069304
[33m[ WARN] [1720355274.585218209]: Shutdown request received.[0m
[33m[ WARN] [1720355274.585250057]: Reason given for shutdown: [user request][0m
killed
