/SLAM-Hive/slam_hive_results/mapping_results/2734/1945_vins-mono+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/fa536c06-3c62-11ef-8edf-0242ac110004/roslaunch-c671fb71583d-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://c671fb71583d:45989/[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 fa536c06-3c62-11ef-8edf-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720358130.486094791]: init begins[0m
[0m[ INFO] [1720358130.490884234]: 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] [1720358130.491434311]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720358130.491454919]:  fix extrinsic param [0m
[0m[ INFO] [1720358130.491612821]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720358130.491658354]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720358130.491693707]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720358130.491751421]: 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_04_difficult.bag  --clock 
[0m[ INFO] [1720358137.716850504]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316720010.61 
[0m[ INFO] [1720358139.304458708]: IMU excitation not enouth![0m
[0m[ INFO] [1720358139.541400540]: IMU excitation not enouth![0m
[0m[ INFO] [1720358139.604826616]: IMU excitation not enouth![0m
[0m[ INFO] [1720358139.605170906]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358139.811780949]: IMU excitation not enouth![0m
[0m[ INFO] [1720358139.813045255]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358140.012779319]: IMU excitation not enouth![0m
[0m[ INFO] [1720358140.013260960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358140.143464106]: IMU excitation not enouth![0m
[33m[ WARN] [1720358141.126810016]: gyroscope bias initial calibration 0.000610134   0.0116567   0.0804023[0m
[0m[ INFO] [1720358141.168561513]: Initialization finish![0m
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optimize pose graph 
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position: 8.417341, 7.887252, 2.529404
position: 8.408775, 7.996240, 2.526607
position: 8.401544, 8.103151, 2.516536
position: 8.395508, 8.208245, 2.502593
position: 8.388515, 8.314654, 2.493233
position: 8.381084, 8.422745, 2.491206
position: 8.371677, 8.531731, 2.497500
position: 8.358174, 8.638151, 2.510536
position: 8.336522, 8.744063, 2.529577
position: 8.308013, 8.854049, 2.555401
position: 8.269425, 8.970175, 2.585042
position: 8.220872, 9.090886, 2.619788
position: 8.165042, 9.216521, 2.661828
position: 8.099364, 9.341626, 2.709721
position: 8.026589, 9.467915, 2.758042
position: 7.946910, 9.594290, 2.801050
position: 7.862854, 9.718514, 2.838109
position: 7.776097, 9.839646, 2.870721
position: 7.685880, 9.956886, 2.897024
position: 7.591843, 10.071713, 2.917694
position: 7.493980, 10.180814, 2.932011
position: 7.393620, 10.285263, 2.940414
position: 7.290336, 10.382987, 2.942075
position: 7.185363, 10.471689, 2.934543
position: 7.076803, 10.552023, 2.917698
position: 6.963801, 10.626804, 2.894748
position: 6.844504, 10.optimize pose graph 
optimize pose graph 
n: 4.144894, 10.750533, 2.329645
position: 4.061372, 10.712445, 2.234475
position: 3.985891, 10.667542, 2.145308
position: 3.909515, 10.613220, 2.060592
position: 3.826946, 10.550873, 1.974504
position: 3.750691, 10.483143, 1.884742
position: 3.669530, 10.409975, 1.788406
position: 3.591612, 10.328401, 1.692454
position: 3.510022, 10.237605, 1.601538
position: 3.432232, 10.141692, 1.517851
position: 3.353779, 10.039983, 1.442399
position: 3.278371, 9.934890, 1.377842
position: 3.208060, 9.829478, 1.320978
position: 3.142787, 9.724397, 1.271660
position: 3.080810, 9.615278, 1.219940
position: 3.020615, 9.500770, 1.161526
position: 2.962202, 9.385335, 1.096198
position: 2.907475, 9.265140, 1.027839
position: 2.856902, 9.140578, 0.959114
position: 2.812948, 9.013142, 0.896795
position: 2.775693, 8.881662, 0.842827
position: 2.745037, 8.747090, 0.797281
position: 2.718216, 8.608447, 0.760507
position: 2.693751, 8.465688, 0.732431
position: 2.672430, 8.320962, 0.710079
position: 2.649082, 8.169530, 0.695581
position: 2.625479, 8.012658, 0.684785
position: 2.602491, 7.850934, 0.679411
position: 2.581243, 7.686696, 0.681372
position: 2.561128, 7.519443, 0.687019
position: 2.542459, 7.350689, 0.699211
position: 2.526545, 7.182414, 0.715249
position: 2.512360, 7.013493, 0.727405
position: 2.501834, 6.842163, 0.733189
position: 2.497327, 6.667656, 0.734613
position: 2.499923, 6.485571, 0.731893
position: 2.511125, 6.296127, 0.729603
position: 2.524491, 6.102367, 0.730950
position: 2.538898, 5.907861, 0.737366
position: 2.552849, 5.713098, 0.748446
position: 2.563218, 5.518267, 0.763229
position: 2.572006, 5.322606, 0.781058
position: 2.583088, 5.127610, 0.800709
position: 2.596273, 4.932974, 0.813696
position: 2.613012, 4.738689, 0.820518
position: 2.636531, 4.547251, 0.822125
position: 2.661405, 4.356552, 0.819463
position: 2.686351, 4.168442, 0.813025
position: 2.709866, 3.982548, 0.802021
position: 2.730647, 3.799687, 0.786061
position: 2.749625, 3.619674, 0.764616
position: 2.767086, 3.442214, 0.738841
position: 2.783676, 3.267573, 0.709635
position: 2.799719, 3.096007, 0.678351
position: 2.817264, 2.929041, 0.649866
position: 2.834955, 2.766739, 0.630323
position: 2.851618, 2.609911, 0.619301
position: 2.866779, 2.461429, 0.613175
position: 2.879689, 2.317098, 0.605150
position: 2.886915, 2.177009, 0.590291
position: 2.894878, 2.039854, 0.571385
position: 2.900718, 1.907425, 0.551559
position: 2.903438, 1.779572, 0.537917
position: 2.904233, 1.656613, 0.530947
position: 2.902508, 1.538187, 0.530496
position: 2.897504, 1.424347, 0.531724
position: 2.889379, 1.314421, 0.526163
position: 2.877932, 1.208864, 0.512007
position: 2.868135, 1.105611, 0.494032
position: 2.854060, 1.007659, 0.471905
position: 2.838656, 0.912075, 0.447000
position: 2.818674, 0.821092, 0.419793
position: 2.796859, 0.732994, 0.391654
position: 2.774765, 0.647988, 0.369315
position: 2.751194, 0.568407, 0.356172
position: 2.727399, 0.492851, 0.350328
position: 2.702937, 0.421321, 0.351924
position: 2.678412, 0.355682, 0.359969
position: 2.653317, 0.2978optimize pose graph 
08, 0.373700
position: 2.629432, 0.248803, 0.391592
position: 2.609440, 0.205070, 0.399861
position: 2.589006, 0.170945, 0.405112
position: 2.569256, 0.144092, 0.404410
position: 2.552498, 0.123292, 0.398218
position: 2.529598, 0.113946, 0.400559
position: 2.510060, 0.108390, 0.406996
position: 2.481375, 0.110046, 0.422148
position: 2.451230, 0.115513, 0.436855
position: 2.421747, 0.124593, 0.448207
position: 2.399122, 0.135403, 0.451141
position: 2.376560, 0.149292, 0.451107
position: 2.350656, 0.162272, 0.449594
position: 2.330601, 0.172447, 0.444942
position: 2.302575, 0.181932, 0.436315
position: 2.280600, 0.192393, 0.429514
position: 2.252784, 0.204449, 0.426243
position: 2.217669, 0.219700, 0.427107
position: 2.173222, 0.237489, 0.431003
position: 2.125006, 0.254211, 0.430133
position: 2.074446, 0.269515, 0.423826
position: 2.020765, 0.280057, 0.410356
position: 1.964271, 0.284254, 0.398295
position: 1.910295, 0.281980, 0.389863
position: 1.852153, 0.277840, 0.390762
position: 1.791241, 0.274814, 0.3982optimize pose graph 
optimize pose graph 
28
position: 1.733380, 0.274327, 0.411076
position: 1.674290, 0.274102, 0.421806
position: 1.618892, 0.277738, 0.427840
position: 1.563102, 0.282666, 0.426835
position: 1.508054, 0.289270, 0.418349
position: 1.454333, 0.297012, 0.404341
position: 1.397968, 0.304680, 0.388366
position: 1.346053, 0.316407, 0.378574
position: 1.294829, 0.328485, 0.375850
position: 1.242623, 0.338291, 0.377988
position: 1.194546, 0.350414, 0.375734
position: 1.149428, 0.360800, 0.368344
position: 1.108919, 0.367473, 0.361995
position: 1.065919, 0.376011, 0.355437
position: 1.025686, 0.382210, 0.357248
position: 0.986303, 0.387648, 0.366511
position: 0.947846, 0.393406, 0.377580
position: 0.910125, 0.399980, 0.383501
position: 0.874444, 0.407387, 0.383690
position: 0.855152, 0.411633, 0.379475
position: 0.825165, 0.419054, 0.370123
position: 0.813302, 0.422528, 0.357451
position: 0.790789, 0.428120, 0.343855
position: 0.769949, 0.433948, 0.328032
position: 0.755735, 0.439118, 0.309939
position: 0.732914, 0.447012, 0.293349
positiooptimize pose graph 
n: 0.708455, 0.454892, 0.282922
position: 0.679395, 0.465803, 0.275654
position: 0.651321, 0.474782, 0.272360
position: 0.624918, 0.481501, 0.269092
position: 0.603568, 0.485314, 0.261268
position: 0.583166, 0.483425, 0.251484
position: 0.562528, 0.477556, 0.243384
position: 0.540749, 0.472509, 0.227907
position: 0.523094, 0.468463, 0.215555
position: 0.504045, 0.466633, 0.197347
position: 0.489724, 0.465874, 0.178501
position: 0.476798, 0.467376, 0.160127
position: 0.473431, 0.469016, 0.146438
position: 0.471283, 0.473428, 0.133935
position: 0.468215, 0.479199, 0.121392
position: 0.465789, 0.485842, 0.108693
position: 0.461890, 0.492315, 0.093683
position: 0.462137, 0.498467, 0.086116
position: 0.467623, 0.504253, 0.086770
position: 0.474923, 0.507968, 0.095263
position: 0.479265, 0.508677, 0.102008
position: 0.480925, 0.509138, 0.103908
position: 0.483741, 0.508632, 0.107665
position: 0.489508, 0.507543, 0.110195
position: 0.495744, 0.506722, 0.106439
position: 0.499068, 0.507056, 0.096613
position: 0.49753optimize pose graph 
0, 0.509874, 0.075264
position: 0.490943, 0.515195, 0.043988
position: 0.484406, 0.522006, 0.007788
position: 0.482487, 0.531819, -0.018254
position: 0.491440, 0.540885, -0.006247
position: 0.501982, 0.547107, -0.014492
position: 0.500131, 0.552651, -0.008442
position: 0.500222, 0.552582, -0.003451
position: 0.497872, 0.548980, 0.004441
position: 0.499434, 0.551210, 0.012271
position: 0.498924, 0.546358, 0.024645
position: 0.496868, 0.544840, 0.033919
position: 0.495593, 0.543486, 0.042977
position: 0.493010, 0.542262, 0.052033
position: 0.490311, 0.541208, 0.061593
position: 0.487059, 0.540503, 0.070943
position: 0.483805, 0.540051, 0.080596
position: 0.480242, 0.539743, 0.090356
position: 0.476374, 0.539440, 0.100390
position: 0.472158, 0.539287, 0.110773
position: 0.467565, 0.539451, 0.121129
position: 0.463029, 0.539856, 0.131565
position: 0.458274, 0.540559, 0.142126
position: 0.453270, 0.541355, 0.152875
position: 0.448076, 0.542202, 0.163835
position: 0.442737, 0.543136, 0.175020
position: 0.437423, 0.
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720358241.165242616]: Shutdown request received.[0m
[33m[ WARN] [1720358241.165311938]: Reason given for shutdown: [user request][0m
544063, 0.186332
position: 0.431704, 0.545096, 0.197621
position: 0.425775, 0.546235, 0.209120
position: 0.419552, 0.547583, 0.220712
position: 0.413176, 0.549064, 0.232499
position: 0.406588, 0.550666, 0.244602
[33m[ WARN] [1720358241.166222447]: Shutdown request received.[0m
[33m[ WARN] [1720358241.166251499]: Reason given for shutdown: [user request][0m
killed
