/SLAM-Hive/slam_hive_results/mapping_results/2733/1944_vins-mono+MH_03_medium+Image_comb_test-29.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/87564048-3c62-11ef-b106-0242ac110004/roslaunch-35bfb6cf3ffc-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://35bfb6cf3ffc:45453/[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 87564048-3c62-11ef-b106-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [143][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [161][0m
[0m[ INFO] [1720357937.518444416]: init begins[0m
[0m[ INFO] [1720357937.523175443]: 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] [1720357937.523611319]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720357937.523632434]:  fix extrinsic param [0m
[0m[ INFO] [1720357937.523788730]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720357937.523824533]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720357937.523858633]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720357937.523911967]: 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] [1720357944.806517538]: 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: 316720814.48 
[0m[ INFO] [1720357958.195846889]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357959.183649849]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357960.194617402]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357961.185127861]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357962.182295897]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357963.171623685]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357964.175795240]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357965.185985677]: IMU excitation not enouth![0m
[0m[ INFO] [1720357966.161135519]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357967.159358062]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720357968.186524574]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720357970.197920032]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720358034.157599066]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720358079.187500803]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720358081.626692400]: Shutdown request received.[0m
[33m[ WARN] [1720358081.626751087]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720358081.627678477]: Shutdown request received.[0m
[33m[ WARN] [1720358081.627712289]: Reason given for shutdown: [user request][0m
killed
