/SLAM-Hive/slam_hive_results/mapping_results/2740/1951_vins-mono+MH_04_difficult+Image_comb_test-6.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/f6755142-3c64-11ef-a547-0242ac110004/roslaunch-c9a9d9c1464b-117.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://c9a9d9c1464b:40047/[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 [128][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 f6755142-3c64-11ef-a547-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720358983.001197091]: init begins[0m
[0m[ INFO] [1720358983.005729003]: 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] [1720358983.006184737]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720358983.006204439]:  fix extrinsic param [0m
[0m[ INFO] [1720358983.006373125]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720358983.006452190]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720358983.006487834]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720358983.006538873]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [180][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] [1720358990.191526043]: 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: 316720863.08 
[0m[ INFO] [1720358991.779774044]: IMU excitation not enouth![0m
[0m[ INFO] [1720358991.780921571]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358992.003147755]: IMU excitation not enouth![0m
[0m[ INFO] [1720358992.003537317]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358992.080927365]: IMU excitation not enouth![0m
[0m[ INFO] [1720358992.081878809]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358992.279248414]: IMU excitation not enouth![0m
[0m[ INFO] [1720358992.280307303]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358992.499171658]: IMU excitation not enouth![0m
[0m[ INFO] [1720358992.499584764]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358992.629676901]: IMU excitation not enouth![0m
[0m[ INFO] [1720358992.637044480]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358992.803464897]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358993.006692337]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358993.094952133]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358993.308817354]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358993.529580988]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358993.606056604]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358993.791728605]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720358994.124208999]: gyroscope bias initial calibration 0.000990258   0.0100328   0.0856061[0m
[0m[ INFO] [1720358994.152230306]: Initialization finish![0m
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position: 6.707595, 8.188989, 2.344990
position: 6.662543, 8.361049, 2.350103
position: 6.614322, 8.528518, 2.361108
position: 6.566634, 8.690202, 2.380482
position: 6.516599, 8.847173, 2.406222
position: 6.467479, 8.996471, 2.436261
position: 6.422385, 9.136333, 2.467943
position: 6.380407, 9.267322, 2.495529
position: 6.339817, 9.391976, 2.516542
position: 6.299688, 9.509827, 2.528746
position: 6.262365, 9.618781, 2.534101
position: 6.227859, 9.724708, 2.531553
position: 6.194536, 9.829632, 2.521897
position: 6.162140, 9.933044, 2.508134
position: 6.130469, 10.037382, 2.499103
position: 6.098405, 10.142593, 2.497102
position: 6.064123, 10.246989, 2.503166
position: 6.026250, 10.347923, 2.514864
position: 5.980756, 10.446248, 2.533158
position: 5.927644, 10.547556, 2.557937
position: 5.864797, 10.652433, 2.587225
position: 5.791898, 10.759463, 2.621146
position: 5.710555, 10.870182, 2.662128
position: 5.618904, 10.979599, 2.708810
position: 5.520306, 11.087369, 2.755965
position: 5.415008, 11.195114, 2.797537
position: 5.305819, 11.297963, 2.834213
position: 5.194867, 11.395470, 2.866612
position: 5.081388, 11.487020, 2.893169
position: 4.964133, 11.573777, 2.914344
position: 4.843836, 11.656387, 2.930350
position: 4.722665, 11.731654, 2.939388
position: 4.600140, 11.799990, 2.940933
position: 4.476965, 11.859647, 2.934257
position: 4.352706, 11.911997, 2.919319
position: 4.225615, 11.957811, 2.897541
position: 4.095425, 11.996033, 2.872989
position: 3.962513, 12.022185, 2.854294
position: 3.828788, 12.036399, 2.840545
position: 3.696870, 12.041825, 2.833632
position: 3.567780, 12.041708, 2.835222
position: 3.443075, 12.038461, 2.84optimize pose graph 
optimize pose graph 
3749
position: 3.321583, 12.033084, 2.855119
position: 3.201952, 12.025514, 2.863257
position: 3.086161, 12.015859, 2.864939
position: 2.972659, 12.003660, 2.857996
position: 2.862450, 11.988204, 2.844889
position: 2.759073, 11.967312, 2.834137
position: 2.652670, 11.947559, 2.828789
position: 2.550956, 11.927556, 2.831071
position: 2.454095, 11.905605, 2.838144
position: 2.359419, 11.881904, 2.841880
position: 2.268070, 11.855287, 2.838836
position: 2.180475, 11.826677, 2.829028
position: 2.095147, 11.794858, 2.812972
position: 2.011681, 11.761020, 2.790956
position: 1.933059, 11.726632, 2.763667
position: 1.853297, 11.690458, 2.730043
position: 1.780092, 11.652657, 2.678613
position: 1.700293, 11.610845, 2.609828
position: 1.630663, 11.569097, 2.522691
position: 1.553392, 11.519131, 2.427085
position: 1.488568, 11.471023, 2.326602
position: 1.414630, 11.413684, 2.231625
position: 1.351806, 11.355724, 2.142178
position: 1.288968, 11.287165, 2.057441
position: 1.220393, 11.205210, 1.971920
position: 1.163200,optimize pose graph 
 11.123720, 1.882604
position: 1.100678, 11.031026, 1.787663
position: 1.044721, 10.935710, 1.691635
position: 0.983919, 10.829865, 1.601177
position: 0.931018, 10.720636, 1.517495
position: 0.877546, 10.603050, 1.443072
position: 0.827536, 10.484302, 1.379374
position: 0.782443, 10.366448, 1.323110
position: 0.742726, 10.249984, 1.274704
position: 0.707267, 10.130374, 1.224405
position: 0.674592, 10.006481, 1.166743
position: 0.646305, 9.882233, 1.105149
position: 0.622352, 9.754398, 1.037281
position: 0.603398, 9.622984, 0.969008
position: 0.590828, 9.490232, 0.906758
position: 0.585607, 9.354471, 0.853766
position: 0.586856, 9.218140, 0.809110
position: 0.592799, 9.078687, 0.773795
position: 0.600822, 8.935878, 0.746615
position: 0.612661, 8.791242, 0.724421
position: 0.625472, 8.641678, 0.710927
position: 0.639302, 8.486577, 0.701474
position: 0.654906, 8.327713, 0.698433
position: 0.672464, 8.166712, 0.702265
position: 0.691311, 8.002152, 0.708510
position: 0.712080, 7.834624, 0.719057
position: 0.735508, 7.668271, 0.733307
position: 0.761323, 7.501589, 0.743925
position: 0.790419, 7.333659, 0.748425
position: 0.826692, 7.164139, 0.749016
position: 0.870588, 6.990293, 0.746214
position: 0.923234, 6.810212, 0.742426
position: 0.980689, 6.627650, 0.743298
position: 1.039041, 6.444304, 0.748515
position: 1.096798, 6.260150, 0.757618
position: 1.150855, 6.075485, 0.771339
position: 1.203577, 5.890000, 0.788312
position: 1.256651, 5.704545, 0.807771
position: 1.311729, 5.521934, 0.821844
position: 1.371119, 5.342391, 0.829950
position: 1.433892, 5.166447, 0.832487
position: 1.500268, 4.989865, 0.830311
position: 1.567417, 4.815061, 0.824512
position: 1.632596, 4.641983, 0.814338
position: 1.695544, 4.471446, 0.798671
position: 1.756632, 4.301800, 0.777613
position: 1.815995, 4.135100, 0.752014
position: 1.874608, 3.968341, 0.723284
position: 1.931759, 3.805852, 0.692846
position: 1.989512, 3.646802, 0.664651
position: 2.045222, 3.493305, 0.645013
position: 2.097739, 3.346186, 0.633571
position: 2.145900, 3.207670, 0.627382
position: 2.191736, 3.071536, 0.619362
position: 2.231529, 2.938438, 0.604507
position: 2.269484, 2.810171, 0.585930
position: 2.303360, 2.686441, 0.566289
position: 2.333861, 2.564320, 0.552581
position: 2.360632, 2.446675, 0.545649
position: 2.384446, 2.330662, 0.545353
position: 2.404952, 2.218027, 0.546665
position: 2.422090, 2.109666, 0.541156
position: 2.435381, 2.004270, 0.526965
position: 2.450383, 1.899852, 0.509071
position: 2.459160, 1.801716, 0.486950
position: 2.466445, 1.704643, 0.461483
position: 2.468396, 1.609360, 0.433502
position: 2.468302, 1.516192, 0.404812
position: 2.467240, 1.427218, 0.382001
position: 2.463193, 1.344544, 0.368396
position: 2.457250, 1.267170, 0.362144
position: 2.450428, 1.192319, 0.363127
position: 2.442513, 1.122813, 0.370777
position: 2.432204, 1.059950, 0.384289
position: 2.420108, 1.006944, 0.402256
position: 2.410728, 0.959123, 0.410779
position: 2.398155, 0.921397, 0.416155
position: 2.384551, 0.890972, 0.415935
position: 2.371774, 0.866059, 0.410782optimize pose graph 
optimize pose graph 

position: 2.351111, 0.851544, 0.413304
position: 2.332537, 0.840992, 0.420301
position: 2.303959, 0.835410, 0.435862
position: 2.272990, 0.833247, 0.450479
position: 2.242589, 0.835229, 0.461383
position: 2.218327, 0.841189, 0.464385
position: 2.193145, 0.849485, 0.464544
position: 2.163747, 0.855970, 0.463291
position: 2.141292, 0.861454, 0.458549
position: 2.111219, 0.864310, 0.450037
position: 2.086319, 0.868935, 0.444277
position: 2.058118, 0.873300, 0.441072
position: 2.021931, 0.878687, 0.440992
position: 1.974000, 0.885179, 0.445086
position: 1.922839, 0.889787, 0.444420
position: 1.870807, 0.892809, 0.437721
position: 1.815642, 0.890336, 0.424420
position: 1.759673, 0.880463, 0.412592
position: 1.707527, 0.865242, 0.403990
position: 1.652830, 0.846821, 0.404737
position: 1.594288, 0.829425, 0.411869
position: 1.537929, 0.815219, 0.424776
position: 1.480651, 0.801199, 0.434871
position: 1.425698, 0.791617, 0.440895
position: 1.370176, 0.783489, 0.440022
position: 1.314936, 0.777101, 0.431526
position:optimize pose graph 
 1.260947, 0.771906, 0.417437
position: 1.204994, 0.766891, 0.401343
position: 1.151716, 0.765636, 0.391662
position: 1.099249, 0.765128, 0.389016
position: 1.047992, 0.763635, 0.391350
position: 0.998713, 0.763647, 0.389495
position: 0.953199, 0.763007, 0.382387
position: 0.911123, 0.762285, 0.373743
position: 0.874550, 0.758381, 0.371022
position: 0.832369, 0.755033, 0.372322
position: 0.793457, 0.751057, 0.381637
position: 0.755212, 0.747846, 0.392626
position: 0.717198, 0.745541, 0.398572
position: 0.681080, 0.744761, 0.398899
position: 0.660312, 0.745166, 0.394127
position: 0.629485, 0.745686, 0.385592
position: 0.617921, 0.747269, 0.372107
position: 0.596931, 0.748085, 0.358237
position: 0.576036, 0.748805, 0.342355
position: 0.559264, 0.751147, 0.323737
position: 0.534495, 0.753187, 0.307821
position: 0.505931, 0.754707, 0.297367
position: 0.476546, 0.758232, 0.290525
position: 0.446623, 0.759795, 0.287116
position: 0.420872, 0.760250, 0.283888
position: 0.400600, 0.758997, 0.275837
position: 0.381722,optimize pose graph 
 0.752495, 0.266028
position: 0.363899, 0.743333, 0.258325
position: 0.344236, 0.733598, 0.243108
position: 0.330467, 0.727195, 0.230157
position: 0.313565, 0.720830, 0.212236
position: 0.298199, 0.716314, 0.192592
position: 0.289725, 0.715556, 0.174535
position: 0.283821, 0.715557, 0.160363
position: 0.280132, 0.719071, 0.146161
position: 0.278137, 0.722788, 0.132467
position: 0.276050, 0.729689, 0.118005
position: 0.269578, 0.737333, 0.103494
position: 0.266832, 0.744142, 0.094870
position: 0.270687, 0.751427, 0.093788
position: 0.276219, 0.757870, 0.099322
position: 0.284404, 0.756582, 0.111515
position: 0.286596, 0.757013, 0.113476
position: 0.288858, 0.757096, 0.117244
position: 0.293997, 0.757387, 0.119952
position: 0.300305, 0.757889, 0.116310
position: 0.303522, 0.758887, 0.106588
position: 0.300999, 0.761023, 0.085182
position: 0.293660, 0.764818, 0.054167
position: 0.285301, 0.769455, 0.018419
position: 0.280762, 0.777892, -0.006982
position: 0.287221, 0.787923, 0.005339
position: 0.295999, 0.795078optimize pose graph 
, -0.003179
position: 0.291616, 0.799055, 0.003167
position: 0.291971, 0.797083, 0.010900
position: 0.288808, 0.791911, 0.019647
position: 0.289934, 0.791562, 0.030074
position: 0.288066, 0.788218, 0.040074
position: 0.286090, 0.785454, 0.049752
position: 0.283891, 0.782057, 0.059845
position: 0.280639, 0.778956, 0.069712
position: 0.277144, 0.775982, 0.080070
position: 0.272943, 0.773183, 0.090262
position: 0.268607, 0.770608, 0.100766
position: 0.263863, 0.768058, 0.111403
position: 0.258745, 0.765410, 0.122320
position: 0.253177, 0.762783, 0.133569
position: 0.247072, 0.760326, 0.144819
position: 0.240862, 0.758079, 0.156201
position: 0.234282, 0.756034, 0.167713
position: 0.227356, 0.754000, 0.179389
position: 0.220154, 0.751951, 0.191288
position: 0.212701, 0.749904, 0.203407
position: 0.205203, 0.747771, 0.215681
position: 0.197189, 0.745624, 0.227935
position: 0.188830, 0.743531, 0.240412
position: 0.180026, 0.741531, 0.252995
position: 0.170946, 0.739554, 0.265773
position: 0.161533, 0.737593, 0.27887
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720359093.654185224]: Shutdown request received.[0m
[33m[ WARN] [1720359093.654251352]: Reason given for shutdown: [user request][0m
3
[33m[ WARN] [1720359093.655114196]: Shutdown request received.[0m
[33m[ WARN] [1720359093.655138747]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/f6755142-3c64-11ef-a547-0242ac110004/rosout-1*.log[0m
[rosout-1] restarting process
