/SLAM-Hive/slam_hive_results/mapping_results/2726/1937_vins-mono+MH_03_medium+Image_comb_test-22.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/ab033562-3c5f-11ef-859d-0242ac110004/roslaunch-8d89dbdbae79-117.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://8d89dbdbae79:36429/[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 [128][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 ab033562-3c5f-11ef-859d-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [152][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720356708.888560145]: init begins[0m
[0m[ INFO] [1720356708.893209105]: 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] [1720356708.893682272]: ROW: 192.000000 COL: 300.000000 [0m
[33m[ WARN] [1720356708.893702514]:  fix extrinsic param [0m
[0m[ INFO] [1720356708.893865509]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720356708.893907779]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720356708.893939638]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720356708.894002049]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [180][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] [1720356716.193474915]: 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: 316719585.87 
[0m[ INFO] [1720356723.091463932]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356728.076809021]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356729.076693698]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356729.576165558]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356730.552190536]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356731.565914583]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356732.077266692]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356733.554500487]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356734.076351426]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356734.565255953]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356735.077994558]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356735.566852552]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356736.091357078]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356736.588567119]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356737.092091993]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356740.068075589]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356740.567802436]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720356741.579441989]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356742.069118835]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356745.560774061]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356746.070699175]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356747.078306432]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356747.555657744]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356748.079842335]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356748.586772228]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356791.552780094]: 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!
[0m[ INFO] [1720356793.578819714]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356807.059373101]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356807.597762903]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356808.093538534]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356808.586387941]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356809.072860071]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356809.571422749]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356810.053685381]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356810.565188809]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356811.075580586]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356811.568587674]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356812.066640850]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356812.569922660]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720356813.552947302]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356814.067647465]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356814.568780501]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356815.564790889]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356816.083937146]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356816.578268197]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356817.080583548]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356818.554708937]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356819.073395144]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356819.578949074]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356820.080298150]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356820.580061885]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356821.102327739]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356821.593035879]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356822.087664237]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356822.578167705]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356823.090768378]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356823.592887974]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356824.086603844]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356824.566458642]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356825.080400404]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356826.601433710]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356828.070813588]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356828.576591076]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356829.095050456]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356829.578356173]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356830.085548028]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356830.583397720]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356831.092374970]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356831.559197713]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356832.090328079]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356832.591854378]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356833.085676522]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356833.586344901]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356834.066477078]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356835.069563965]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356835.570696409]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356836.084553120]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356836.588755035]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356837.085314376]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356837.586763545]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356838.578633562]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356839.065646304]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356839.565155591]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356840.079690366]: 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!
[0m[ INFO] [1720356841.064988020]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356841.567430377]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356842.083000526]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356842.568902036]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356843.073824814]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356843.577915890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356844.092726288]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356844.584732790]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356845.062480400]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356845.567314655]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356846.067004009]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356846.563964778]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356847.094995683]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356847.584357388]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356848.076703726]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356848.593756392]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356849.049055131]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356849.563041340]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356850.062275611]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356851.059639656]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720356853.008243492]: Shutdown request received.[0m
[33m[ WARN] [1720356853.008295176]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720356853.009087052]: Shutdown request received.[0m
[33m[ WARN] [1720356853.009110858]: Reason given for shutdown: [user request][0m
killed
