/SLAM-Hive/slam_hive_results/mapping_results/2718/1929_vins-mono+MH_03_medium+Image_comb_test-14.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/678d8b46-3c5c-11ef-9b91-0242ac110004/roslaunch-1b803ebf8d37-118.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://1b803ebf8d37:38315/[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 678d8b46-3c5c-11ef-9b91-0242ac110004[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] [1720355307.255744892]: init begins[0m
[0m[ INFO] [1720355307.260275848]: 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] [1720355307.260862448]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720355307.260884497]:  fix extrinsic param [0m
[0m[ INFO] [1720355307.261044259]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720355307.261086432]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720355307.261120898]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720355307.261187101]: 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] [1720355314.475752907]: 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: 316718184.15 
[0m[ INFO] [1720355317.449377808]: IMU excitation not enouth![0m
[0m[ INFO] [1720355317.650958700]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355317.854544534]: IMU excitation not enouth![0m
[33m[ WARN] [1720355317.947959260]: gyroscope bias initial calibration -0.00282617    0.025612   0.0773105[0m
[0m[ INFO] [1720355318.006286372]: Initialization finish![0m
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[0m[ INFO] [1720355384.462126286]:  little feature 0[0m
optimize pose graph 
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optimize pose graph 
optimize pose graph 
optimize pose graph 
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position: 2.666717, -5.574592, -0.327480
position: 2.766648, -5.323398, -0.289optimize pose graph 
optimize pose graph 
285
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position: 3.021479, -2.351256, 0.033643
position: 2.935955, -2.316830, 0.085032
optimize pose graph 
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position: 0.508674, -0.260309, -0.248408
position: 0.514929, -0.257452, -0.249703
position: 0.516479, -0.256016, -0.248126
position: 0.515768, -0.258677, -0.248407
position: 0.513726, -0.258481, -0.246046
position: 0.512034, -0.257879, -0.243715
position: 0.507964, -0.258391, -0.241170
position: 0.506962, -0.258838, -0.240995
position: 0.506881, -0.259033, -0.240984
position: 0.507267, -0.258878, -0.240982
position: 0.507271, -0.2592
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720355451.403546967]: Shutdown request received.[0m
[33m[ WARN] [1720355451.403618800]: Reason given for shutdown: [user request][0m
94, -0.240665
position: 0.507288, -0.259485, -0.240505
position: 0.507247, -0.259741, -0.240365
position: 0.507271, -0.259543, -0.240484
[33m[ WARN] [1720355451.404635947]: Shutdown request received.[0m
[33m[ WARN] [1720355451.404674890]: Reason given for shutdown: [user request][0m
killed
