/SLAM-Hive/slam_hive_results/mapping_results/2735/1946_vins-mono+MH_04_difficult+Image_comb_test-1.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/515af17c-3c63-11ef-b2ff-0242ac110004/roslaunch-36cd964c57d4-118.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://36cd964c57d4:40727/[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 515af17c-3c63-11ef-b2ff-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [153][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720358276.502619797]: init begins[0m
[0m[ INFO] [1720358276.507187067]: 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] [1720358276.507638133]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720358276.507666521]:  fix extrinsic param [0m
[0m[ INFO] [1720358276.507819879]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720358276.507853631]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720358276.507892899]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720358276.507941112]: 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] [1720358283.735631177]: 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: 316720156.63 
[0m[ INFO] [1720358285.325113335]: IMU excitation not enouth![0m
[0m[ INFO] [1720358285.326397767]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358285.556241019]: IMU excitation not enouth![0m
[0m[ INFO] [1720358285.621627047]: IMU excitation not enouth![0m
[0m[ INFO] [1720358285.838740560]: IMU excitation not enouth![0m
[0m[ INFO] [1720358285.839322104]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358286.027929567]: IMU excitation not enouth![0m
[0m[ INFO] [1720358286.028505618]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358286.152565006]: IMU excitation not enouth![0m
[0m[ INFO] [1720358286.534393121]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720358286.868400315]: gyroscope bias initial calibration  0.00154697 -0.00801307   0.0890453[0m
[0m[ INFO] [1720358286.872323839]: misalign visual structure with IMU[0m
[33m[ WARN] [1720358287.129286008]: gyroscope bias initial calibration -0.000953992    0.0379603  -0.00886739[0m
[0m[ INFO] [1720358287.167459087]: Initialization finish![0m
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position: 8.170122, 9.282884, 2.606408
position: 8.147929, 9.390282, 2.625428
position: 8.117400, 9.502507, 2.650660
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position: 7.897043, 9.995439, 2.802523
position: 7.821818, 10.122329, 2.851104
position: 7.739899, 10.249618, 2.893582
position: 7.652453, 10.373458, 2.930557
position: 7.560933, 10.492548, 2.962411
position: 7.465296, 10.606578, 2.987987
position: 7.365400, 10.715665, 3.007082
position: 7.262611, 10.820807, 3.020534
position: 7.157754, 10.918965, 3.027743
position: 7.050461, 11.010620, 3.028434
position: 6.940809, 11.094563, 3.020953
position: 6.826247, 11.177539, 3.006523
position: 6.707599, 11.248365, 2.983927
position: 6.582514, 11.311692, 2.960463
position: 6.452834, 11.364102, 2.942447
position: 6.321153, 11.403498, 2.928264
position: 6.189985, 11.433288, 2.920606
position: 6.061290, 11.457215, 2.921563
position: 5.935433, 11.476823, 2.930933
position: 5.813188, 11.494191, 2.943445
position: 5.693973, 11.508969, 2.952522
position: 5.578426, 11.521374, 2.954594
position: 5.465648, 11.529541, 2.947607
position: 5.353681, 11.535287, 2.933810
position: 5.243850, 11.538001, 2.921200
position: 5.136268, 11.538156, 2.915354
position: 5.032521, 11.534779, 2.916529
position: 4.932142, 11.528949, 2.923506
position: 4.835652, 11.520899, 2.927715
position: 4.742788, 11.508281, 2.925416
position: 4.651899, 11.493472, 2.915966
position: 4.562037, 11.475213, 2.900700
position: 4.473497, 11.456121, 2.879312
position: 4.388792, 11.436055, 2.852088
position: 4.302399, 11.414054, 2.818254
position: 4.222857, 11.389266, 2.766564
position: 4.136172, 11.363594, 2.697584
position: 4.059351, 11.335526, 2.609730
position: 3.972963, 11.303981, 2.513392
position: 3.899626, 11.269227, 2.41260optimize pose graph 
9
position: 3.815332, 11.227641, 2.317144
position: 3.742501, 11.180393, 2.227410
position: 3.662219, 11.121074, 2.142433
position: 3.589940, 11.057176, 2.056693
position: 3.510252, 10.985478, 1.966078
position: 3.432559, 10.905739, 1.870643
position: 3.359444, 10.820603, 1.774311
position: 3.282556, 10.724882, 1.683722
position: 3.209953, 10.625783, 1.599625
position: 3.135985, 10.517472, 1.524611
position: 3.063247, 10.407435, 1.458770
position: 2.996651, 10.298252, 1.400724
position: 2.934700, 10.188331, 1.350668
position: 2.874786, 10.075970, 1.296666
position: 2.818411, 9.958332, 1.236247
position: 2.763974, 9.840857, 1.170838
position: 2.714613, 9.719709, 1.100154
position: 2.670156, 9.593893, 1.029927
position: 2.631845, 9.464338, 0.965492
position: 2.599207, 9.330901, 0.908381
position: 2.573705, 9.195295, 0.859972
position: 2.552728, 9.056300, 0.821449
position: 2.532785, 8.912986, 0.792178
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position: 2.497878, 8.615484, 0.756207
position: 2.480267, 8.458281, 0.746548
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position: 2.445467, 8.132443, 0.746097
position: 2.428869, 7.964676, 0.751940
position: 2.414095, 7.795051, 0.764121
position: 2.401985, 7.625508, 0.779351
position: 2.392407, 7.455394, 0.790295
position: 2.386384, 7.283174, 0.794888
position: 2.388178, 7.109434, 0.795822
position: 2.398303, 6.929735, 0.793540
position: 2.417686, 6.744050, 0.791479
position: 2.441304, 6.555250, 0.794261
position: 2.464721, 6.364286, 0.801314
position: 2.487419, 6.172897, 0.812709
position: 2.506358, 5.981246, 0.828226
position: 2.525475, 5.790206, 0.846807
position: 2.545369, 5.599166, 0.868246
position: 2.565931, 5.406568, 0.883170
position: 2.591677, 5.214958, 0.890643
position: 2.623417, 5.026456, 0.892819
position: 2.658108, 4.841326, 0.890812
position: 2.691954, 4.657371, 0.884702
position: 2.723253, 4.475927, 0.873950
position: 2.752014, 4.298634, 0.857978
position: 2.779962, 4.124951, 0.836896
position: 2.803836, 3.951715, 0.811598
position: 2.826436, 3.782658, 0.782447
position: 2.849346, 3.613539, 0.751726
position: 2.873212, 3.450078, 0.723725
position: 2.896422, 3.292653, 0.704128
position: 2.917691, 3.141364, 0.692640
position: 2.937214, 2.995482, 0.686330
position: 2.955240, 2.852438, 0.678055
position: 2.967361, 2.716095, 0.663281
position: 2.979606, 2.579035, 0.644568
position: 2.990488, 2.446004, 0.624526
position: 2.997361, 2.317559, 0.610803
position: 3.002191, 2.193380, 0.603467
position: 3.003944, 2.074329, 0.602688
position: 3.002085, 1.960387, 0.603778
position: 2.997709, 1.849360, 0.597875
position: 2.989794, 1.743860, 0.583568
position: 2.984085, 1.638352, 0.565306
position: 2.972935, 1.540046, 0.543130
position: 2.960945, 1.442996, 0.517601
position: 2.944128, 1.350451, 0.489746
position: 2.924685, 1.261838, 0.461327
position: 2.904605, 1.177993, 0.438905
position: 2.882934, 1.099195, 0.426401
position: 2.860946, 1.024267, 0.421239
position: 2.838831, 0.951900, 0.423557
position: 2.816220, 0.885142, 0.432359
position: 2.792690, 0.826303, 0.447236
position: 2.76optimize pose graph 
optimize pose graph 
9857, 0.776406, 0.465725
position: 2.751403, 0.732230, 0.475104
position: 2.730964, 0.696613, 0.481108
position: 2.711166, 0.668089, 0.481132
position: 2.695760, 0.646257, 0.475030
position: 2.672441, 0.634653, 0.477906
position: 2.653438, 0.628551, 0.483946
position: 2.623959, 0.627291, 0.499389
position: 2.592780, 0.631319, 0.514352
position: 2.562233, 0.639800, 0.525934
position: 2.541420, 0.649235, 0.528020
position: 2.520576, 0.661845, 0.527689
position: 2.492609, 0.673618, 0.526231
position: 2.474615, 0.681455, 0.521714
position: 2.445533, 0.689548, 0.513282
position: 2.424461, 0.698395, 0.507514
position: 2.397914, 0.708314, 0.504503
position: 2.362707, 0.721273, 0.505330
position: 2.317704, 0.736643, 0.509261
position: 2.269127, 0.750886, 0.508323
position: 2.217770, 0.763505, 0.502037
position: 2.164337, 0.771220, 0.489105
position: 2.107513, 0.771362, 0.477041
position: 2.054537, 0.766211, 0.469041
position: 1.997499, 0.758155, 0.469879
position: 1.938353, 0.751815, 0.476957
position: 1.881585, 0.74optimize pose graph 
8242, 0.489974
position: 1.823773, 0.745056, 0.500137
position: 1.769107, 0.745504, 0.506353
position: 1.713949, 0.747590, 0.505402
position: 1.659432, 0.751681, 0.496838
position: 1.606292, 0.756665, 0.482734
position: 1.549632, 0.760977, 0.465689
position: 1.498804, 0.769130, 0.455876
position: 1.447480, 0.778306, 0.453431
position: 1.395217, 0.785994, 0.454952
position: 1.347537, 0.795454, 0.452440
position: 1.302001, 0.803643, 0.444616
position: 1.260118, 0.810876, 0.434953
position: 1.220426, 0.813705, 0.431444
position: 1.178622, 0.817567, 0.432015
position: 1.139129, 0.820631, 0.441187
position: 1.100225, 0.824848, 0.452510
position: 1.061730, 0.829790, 0.458834
position: 1.025316, 0.835365, 0.459234
position: 1.001864, 0.838320, 0.456392
position: 0.972943, 0.843783, 0.446992
position: 0.957677, 0.846867, 0.435530
position: 0.936661, 0.851999, 0.420606
position: 0.916732, 0.857180, 0.404023
position: 0.899374, 0.861159, 0.387047
position: 0.874594, 0.867311, 0.370773
position: 0.849036, 0.873846, 0.36optimize pose graph 
0849
position: 0.819748, 0.882323, 0.353920
position: 0.789360, 0.889100, 0.351152
position: 0.762139, 0.895539, 0.346687
position: 0.740758, 0.898431, 0.338849
position: 0.720823, 0.895737, 0.328712
position: 0.699895, 0.890170, 0.318518
position: 0.678082, 0.884455, 0.302508
position: 0.659507, 0.880053, 0.288778
position: 0.641321, 0.876469, 0.271202
position: 0.624662, 0.875208, 0.251281
position: 0.613720, 0.877488, 0.234684
position: 0.604433, 0.881110, 0.222687
position: 0.601935, 0.886196, 0.211616
position: 0.599374, 0.891817, 0.199702
position: 0.600016, 0.897714, 0.189082
position: 0.595051, 0.904004, 0.173469
position: 0.594301, 0.910912, 0.164871
position: 0.600176, 0.917457, 0.166106
position: 0.608149, 0.921442, 0.174625
position: 0.612901, 0.922786, 0.179163
position: 0.614376, 0.923198, 0.181624
position: 0.616966, 0.922941, 0.185322
position: 0.622290, 0.922277, 0.188151
position: 0.628298, 0.921859, 0.184680
position: 0.631606, 0.922373, 0.175108
position: 0.629611, 0.924736, 0.153895
position: 0.622944, 0.929589, 0.122393
position: 0.615910, 0.935984, 0.086058
position: 0.613438, 0.945735, 0.059961
position: 0.621852, 0.955002, 0.072099
position: 0.631983, 0.961631, 0.064514
position: 0.628991, 0.967131, 0.070048
position: 0.627013, 0.967567, 0.072569
position: 0.619582, 0.973422, 0.065603
position: 0.611691, 0.979301, 0.064165
position: 0.608355, 0.981339, 0.066030
position: 0.604674, 0.983062, 0.070314
position: 0.601676, 0.984063, 0.075280
position: 0.597314, 0.985733, 0.079459
position: 0.592803, 0.986278, 0.084774
position: 0.585692, 0.986795, 0.089774
position: 0.578707, 0.987030, 0.095344
position: 0.573396, 0.988403, 0.101199
position: 0.566994, 0.989856, 0.107967
position: 0.559184, 0.991743, 0.116161
position: 0.551381, 0.993698, 0.123901
position: 0.544260, 0.995879, 0.131358
position: 0.536879, 0.998240, 0.138959
position: 0.529222, 1.000618, 0.146847
position: 0.521354, 1.003157, 0.155018
position: 0.512927, 1.005840, 0.163866
position: 0.504286, 1.008421, 0.172784
position: 0.495
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720358387.194886681]: Shutdown request received.[0m
[33m[ WARN] [1720358387.194983269]: Reason given for shutdown: [user request][0m
061, 1.011266, 0.181702
position: 0.485611, 1.014166, 0.191045
position: 0.476122, 1.017510, 0.200505
position: 0.466247, 1.021225, 0.210220
position: 0.456274, 1.025377, 0.220294
[33m[ WARN] [1720358387.195840371]: Shutdown request received.[0m
[33m[ WARN] [1720358387.195873729]: Reason given for shutdown: [user request][0m
killed
