/SLAM-Hive/slam_hive_results/mapping_results/2736/1947_vins-mono+MH_04_difficult+Image_comb_test-2.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/a5f5119a-3c63-11ef-a285-0242ac110004/roslaunch-acb9d0e0d032-118.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://acb9d0e0d032:38193/[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 a5f5119a-3c63-11ef-a285-0242ac110004[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] [1720358418.389190925]: init begins[0m
[0m[ INFO] [1720358418.394383978]: 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] [1720358418.394853620]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720358418.394868515]:  fix extrinsic param [0m
[0m[ INFO] [1720358418.394993025]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720358418.395021413]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720358418.395047876]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720358418.395095977]: 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] [1720358425.656091379]: 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: 316720298.55 
[0m[ INFO] [1720358427.247268541]: IMU excitation not enouth![0m
[0m[ INFO] [1720358427.248138964]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358427.455434754]: IMU excitation not enouth![0m
[0m[ INFO] [1720358427.455921366]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358427.548169501]: IMU excitation not enouth![0m
[0m[ INFO] [1720358427.548895187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358427.746619331]: IMU excitation not enouth![0m
[0m[ INFO] [1720358427.747496871]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358427.948187524]: IMU excitation not enouth![0m
[0m[ INFO] [1720358427.948776234]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358428.066185094]: IMU excitation not enouth![0m
[0m[ INFO] [1720358428.273539448]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358428.447906482]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720358428.616979998]: gyroscope bias initial calibration -0.00388308   0.0453768   0.0686761[0m
[0m[ INFO] [1720358428.668818982]: Initialization finish![0m
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7720, 0.121893
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position: 8.515582, 8.726918, 2.672897
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position: 8.500952, 8.941134, 2.691425
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position: 8.118792, 9.919385, 2.975198
position: 8.039823, 10.046292, 3.011283
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position: 7.869831, 10.288321, 3.065265
position: 7.777918, 10.399839, 3.083147
position: 7.682770, 10.506772, 3.095570
position: 7.584758, 10.609381, 3.104031
position: 7.484199, 10.706116, 3.106582
position: 7.379915, 10.792214, 3.099996
position: 7.270466, 10.874697, 3.085498
position: 7.156251, 10.950358, 3.063535
position: 7.035703, 11.021341, 3.040157
position: 6.909828, 11.081395, 3.022106
position: 6.781362, 11.128748, 3.008225
position: 6.653277, 11.165332, 3.000691
position: 6.527839, 11.195692, 3.001398
position: 6.406665, 11.220027, 3.009147
position: 6.289751, 11.241163, 3.019834
position: 6.175145, 11.259346, 3.027776
position: 6.063104, 11.277528, 3.028968
position: 5.953986, 11.291663, 3.021681
position: 5.846050, 11.304491, 3.007907
position: 5.739819, 11.315471, 2.995158
position: 5.635039, 11.323275, 2.989208
position: 5.534796, 11.329762, 2.991037
position: 5.438300, 11.331693, 2.998506
position: 5.344787, 11.328964, 3.003266
position: 5.254366, 11.321417, 3.001331
position: 5.166886, 11.310688, 2.992418
position: 5.080641, 11.297737, 2.977096
position: 4.994718, 11.284206, 2.955568
position: 4.914130, 11.268037, 2.928124
position: 4.831509, 11.253074, 2.893818
position: 4.755101, 11.233492, 2.841965
position: 4.668290, 11.215824, 2.772647
position: 4.595560, 11.191697, 2.684900
position: 4.508583, 11.168066, 2.588371
posioptimize pose graph 
tion: 4.441019, 11.139819, 2.487129
position: 4.355894, 11.106490, 2.392247
position: 4.286770, 11.065423, 2.302318
position: 4.195486, 11.015533, 2.217500
position: 4.123230, 10.956658, 2.131993
position: 4.032827, 10.889234, 2.042653
position: 3.947751, 10.818521, 1.947599
position: 3.871557, 10.740849, 1.850965
position: 3.784601, 10.655407, 1.760147
position: 3.708913, 10.561430, 1.676272
position: 3.624211, 10.462992, 1.600105
position: 3.543805, 10.358089, 1.535714
position: 3.468314, 10.254147, 1.478080
position: 3.399846, 10.150403, 1.427843
position: 3.335474, 10.042421, 1.376075
position: 3.275260, 9.929985, 1.318191
position: 3.215657, 9.814907, 1.255723
position: 3.160115, 9.696954, 1.186861
position: 3.107533, 9.575308, 1.116652
position: 3.062168, 9.450866, 1.052889
position: 3.023079, 9.321760, 0.997720
position: 2.990354, 9.190346, 0.950548
position: 2.962431, 9.055465, 0.913399
position: 2.936261, 8.916607, 0.885290
position: 2.913414, 8.775199, 0.864444
position: 2.888912, 8.626815, 0.851066
position: 2.863783, 8.473329, 0.840948
position: 2.838703, 8.315461, 0.838163
position: 2.813225, 8.154268, 0.841975
position: 2.787773, 7.990831, 0.849737
position: 2.764083, 7.825011, 0.863180
position: 2.742759, 7.658540, 0.878762
position: 2.723562, 7.490440, 0.889384
position: 2.708433, 7.320012, 0.893572
position: 2.700913, 7.147981, 0.893984
position: 2.701849, 6.970034, 0.891106
position: 2.710160, 6.784533, 0.887738
position: 2.722781, 6.595296, 0.888577
position: 2.736964, 6.404829, 0.894986
position: 2.749644, 6.213517, 0.905450
position: 2.758678, 6.022863, 0.920075
position: 2.766508, 5.831077, 0.937162
position: 2.775813, 5.639870, 0.956623
position: 2.787432, 5.448009, 0.970413
position: 2.803262, 5.256414, 0.977836
position: 2.827274, 5.067308, 0.979706
position: 2.854109, 4.881116, 0.977556
position: 2.882173, 4.699840, 0.971762
position: 2.908164, 4.520068, 0.960750
position: 2.929510, 4.340717, 0.944204
position: 2.946619, 4.165069, 0.922156
position: 2.960354, 3.993230, 0.895815
position: 2.973973, 3.825221, 0.866445
position: 2.988104, 3.654914, 0.836038
position: 3.003681, 3.488637, 0.808661
position: 3.019351, 3.327618, 0.789627
position: 3.034466, 3.171947, 0.778602
position: 3.048581, 3.022640, 0.772073
position: 3.059865, 2.876772, 0.763238
position: 3.065318, 2.740438, 0.748355
position: 3.070595, 2.601550, 0.729156
position: 3.073920, 2.468145, 0.709385
position: 3.073240, 2.340158, 0.696356
position: 3.071664, 2.215661, 0.689662
position: 3.066892, 2.096675, 0.689594
position: 3.058747, 1.983368, 0.691562
position: 3.046964, 1.874880, 0.685704
position: 3.035504, 1.768570, 0.672707
position: 3.021683, 1.667477, 0.654266
position: 3.007421, 1.568163, 0.633020
position: 2.989797, 1.473895, 0.608171
position: 2.967664, 1.383083, 0.580674
position: 2.943397, 1.296188, 0.552689
position: 2.918979, 1.212252, 0.530956
position: 2.893303, 1.133292, 0.518825
position: 2.867067, 1.056777, 0.514272
position: 2.840428, 0.984551, 0.516607
position: 2.815013, 0.918246, 0.525694
position: 2.789458,optimize pose graph 
optimize pose graph 
 0.859897, 0.540883
position: 2.763376, 0.811679, 0.559597
position: 2.742647, 0.767273, 0.568779
position: 2.720086, 0.734171, 0.574755
position: 2.697956, 0.708452, 0.575126
position: 2.680190, 0.685403, 0.569159
position: 2.655652, 0.677151, 0.572145
position: 2.636022, 0.667665, 0.577835
position: 2.605798, 0.669064, 0.593556
position: 2.574204, 0.674522, 0.608150
position: 2.543427, 0.684443, 0.619270
position: 2.522828, 0.694201, 0.620555
position: 2.502764, 0.709301, 0.619929
position: 2.475312, 0.723595, 0.618007
position: 2.459054, 0.735590, 0.613151
position: 2.429453, 0.745615, 0.605043
position: 2.410224, 0.758015, 0.599155
position: 2.384221, 0.771271, 0.596826
position: 2.350226, 0.785486, 0.597098
position: 2.305627, 0.803501, 0.600651
position: 2.257561, 0.820706, 0.599224
position: 2.206276, 0.835542, 0.590611
position: 2.153315, 0.846382, 0.576292
position: 2.096842, 0.849616, 0.562112
position: 2.043717, 0.848038, 0.553841
position: 1.987369, 0.842794, 0.553882
position: 1.928946, 0.839672,optimize pose graph 
 0.560881
position: 1.871401, 0.837798, 0.572973
position: 1.815753, 0.839419, 0.584566
position: 1.760794, 0.843046, 0.590063
position: 1.706305, 0.848571, 0.588713
position: 1.649130, 0.854946, 0.580782
position: 1.597309, 0.863570, 0.566791
position: 1.545633, 0.873523, 0.550675
position: 1.495034, 0.884831, 0.540255
position: 1.442464, 0.896827, 0.537442
position: 1.394557, 0.908935, 0.538207
position: 1.348091, 0.920094, 0.535309
position: 1.302101, 0.929366, 0.529677
position: 1.259272, 0.939889, 0.518586
position: 1.218126, 0.947980, 0.511551
position: 1.178345, 0.954319, 0.512522
position: 1.138836, 0.960274, 0.521145
position: 1.099709, 0.966000, 0.531526
position: 1.069765, 0.968125, 0.540042
position: 1.032320, 0.976262, 0.538384
position: 1.009293, 0.980262, 0.534317
position: 0.979698, 0.987787, 0.525299
position: 0.962315, 0.991013, 0.513907
position: 0.940474, 0.997222, 0.500012
position: 0.919872, 1.003920, 0.483474
position: 0.900796, 1.009054, 0.466382
position: 0.879255, 1.017329, 0.449227
optimize pose graph 
position: 0.848344, 1.026341, 0.438485
position: 0.821750, 1.036617, 0.431373
position: 0.793347, 1.046217, 0.426036
position: 0.767498, 1.054480, 0.419550
position: 0.744673, 1.058524, 0.410748
position: 0.723279, 1.056946, 0.399699
position: 0.703456, 1.051865, 0.388042
position: 0.681667, 1.046491, 0.372569
position: 0.665120, 1.039596, 0.357500
position: 0.645667, 1.037874, 0.339807
position: 0.629595, 1.037356, 0.319635
position: 0.623784, 1.036849, 0.301147
position: 0.621258, 1.039216, 0.288240
position: 0.619237, 1.042809, 0.274732
position: 0.615568, 1.049785, 0.261316
position: 0.606409, 1.057803, 0.243811
position: 0.602080, 1.064217, 0.228084
position: 0.602113, 1.071197, 0.219474
position: 0.607494, 1.077245, 0.219314
position: 0.622475, 1.077032, 0.237007
position: 0.629038, 1.075930, 0.247527
position: 0.630430, 1.076679, 0.249715
position: 0.632613, 1.076225, 0.253528
position: 0.637290, 1.075369, 0.256461
position: 0.643509, 1.074312, 0.252587
position: 0.647018, 1.074559, 0.242454
position: 0.644970, 1.077131, 0.220725
position: 0.638485, 1.082265, 0.189177
position: 0.631805, 1.089226, 0.153012
position: 0.630001, 1.099403, 0.126865
position: 0.639486, 1.108409, 0.138735
position: 0.650405, 1.113947, 0.130813
position: 0.648468, 1.119000, 0.136821
position: 0.648910, 1.118422, 0.142390
position: 0.646549, 1.119312, 0.147117
position: 0.647556, 1.116570, 0.157908
position: 0.646542, 1.113269, 0.169251
position: 0.643537, 1.111343, 0.179534
position: 0.642142, 1.110050, 0.188727
position: 0.639080, 1.108951, 0.197986
position: 0.635818, 1.108056, 0.207727
position: 0.631924, 1.107535, 0.217265
position: 0.627958, 1.107305, 0.227079
position: 0.623538, 1.107346, 0.236953
position: 0.618770, 1.107452, 0.247063
position: 0.613571, 1.107765, 0.257487
position: 0.607909, 1.108451, 0.267876
position: 0.602210, 1.109444, 0.278341
position: 0.596199, 1.110803, 0.288901
position: 0.589859, 1.112325, 0.299606
position: 0.583262, 1.113966, 0.310513
position: 0.576427, 1.115765, 0.321620
position: 0.569533, 
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720358529.227757399]: Shutdown request received.[0m
[33m[ WARN] [1720358529.227830829]: Reason given for shutdown: [user request][0m
1.117576, 0.332864
position: 0.562151, 1.119579, 0.344071
position: 0.554458, 1.121790, 0.355463
position: 0.546378, 1.124263, 0.366932
position: 0.538050, 1.126911, 0.378570
position: 0.529415, 1.129742, 0.390508
[33m[ WARN] [1720358529.228688953]: Shutdown request received.[0m
[33m[ WARN] [1720358529.228715509]: Reason given for shutdown: [user request][0m
killed
