/SLAM-Hive/slam_hive_results/mapping_results/2727/1938_vins-mono+MH_03_medium+Image_comb_test-23.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/13742cd2-3c60-11ef-afff-0242ac110004/roslaunch-0eca6a322329-118.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://0eca6a322329:42949/[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 13742cd2-3c60-11ef-afff-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [158][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720356884.113776396]: init begins[0m
[0m[ INFO] [1720356884.118364790]: 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] [1720356884.118812221]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720356884.118834326]:  fix extrinsic param [0m
[0m[ INFO] [1720356884.118991578]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720356884.119037779]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720356884.119078193]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720356884.119132057]: 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] [1720356891.385219102]: 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: 316719761.06 
[0m[ INFO] [1720356898.248866224]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356906.239171215]: IMU excitation not enouth![0m
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[0m[ INFO] [1720356909.749139955]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720357001.749608363]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357002.258319517]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357002.762888402]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357003.260541031]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357003.745083126]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357004.273121077]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357004.758702827]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357005.246967671]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357005.759364307]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357006.263220985]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357006.758849183]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357007.260051303]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357007.765092917]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357008.258248876]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357008.773957863]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357009.260171209]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357009.738003703]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357010.258366208]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357010.773819631]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357011.249569490]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357011.738618200]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357012.259803047]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357012.773745805]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357013.241153352]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357013.770299643]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357014.259519057]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357014.750374619]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357015.255194539]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357015.773679503]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357016.262161903]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357016.759787476]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357017.283727869]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357017.761163990]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357018.262107226]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357018.762720009]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357019.274673052]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357019.750975864]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357020.252695415]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357020.759358169]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357021.262632574]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357021.765341982]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357022.265263199]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357022.745998106]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357023.257538332]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357023.764656974]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357024.238998560]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357024.738443434]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357025.244279350]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357025.752199032]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357026.264030450]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720357028.234161721]: Shutdown request received.[0m
[33m[ WARN] [1720357028.234220952]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720357028.235045799]: Shutdown request received.[0m
[33m[ WARN] [1720357028.235079750]: Reason given for shutdown: [user request][0m
killed
