/SLAM-Hive/slam_hive_results/mapping_results/2741/1952_vins-mono+MH_04_difficult+Image_comb_test-7.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/4b07cd16-3c65-11ef-b605-0242ac110004/roslaunch-4c2d143f5991-118.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://4c2d143f5991:44679/[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 4b07cd16-3c65-11ef-b605-0242ac110004[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] [1720359124.829458163]: init begins[0m
[0m[ INFO] [1720359124.834309427]: 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] [1720359124.834799506]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720359124.834841644]:  fix extrinsic param [0m
[0m[ INFO] [1720359124.835032725]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720359124.835095924]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720359124.835137822]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720359124.835186513]: 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] [1720359132.101341442]: 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: 316721004.99 
[0m[ INFO] [1720359133.684712047]: IMU excitation not enouth![0m
[0m[ INFO] [1720359133.685848486]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359133.907859600]: IMU excitation not enouth![0m
[0m[ INFO] [1720359133.908337145]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359134.000779783]: IMU excitation not enouth![0m
[0m[ INFO] [1720359134.001677817]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359134.182591862]: IMU excitation not enouth![0m
[0m[ INFO] [1720359134.183002344]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359134.397428926]: IMU excitation not enouth![0m
[0m[ INFO] [1720359134.397798498]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359134.528791659]: IMU excitation not enouth![0m
[0m[ INFO] [1720359134.696757705]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359134.886885724]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359135.029443525]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359135.219610097]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359135.734904087]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720359136.098062762]: gyroscope bias initial calibration 0.000562422 -0.00370249   0.0789486[0m
[0m[ INFO] [1720359136.136239313]: Initialization finish![0m
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position: 7.802633, 9.042233, 2.500750
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position: 7.685703, 9.394054, 2.593631
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position: 7.396527, 9.903710, 2.771735
position: 7.306451, 10.021046, 2.808165
position: 7.213434, 10.135188, 2.839453
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position: 7.016022, 10.348993, 2.882912
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position: 6.807715, 10.543007, 2.903165
position: 6.700148, 10.632803, 2.904483
position: 6.590438, 10.715055, 2.897945
position: 6.475371, 10.786837, 2.882774
position: 6.356582, 10.855089, 2.860570
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position: 5.970420, 11.009169, 2.804122
position: 5.838982, 11.037936, 2.7974optimize pose graph 
00
position: 5.710190, 11.060102, 2.799202
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position: 5.463229, 11.093321, 2.821189
position: 5.343095, 11.106156, 2.830452
position: 5.226150, 11.116412, 2.832812
position: 5.112339, 11.123921, 2.826560
position: 5.000778, 11.129163, 2.813844
position: 4.891176, 11.131149, 2.802258
position: 4.782626, 11.130307, 2.796933
position: 4.677455, 11.126808, 2.798894
position: 4.575767, 11.120327, 2.806510
position: 4.477945, 11.112130, 2.811478
position: 4.382839, 11.100408, 2.809422
position: 4.290359, 11.085783, 2.800187
position: 4.200120, 11.067107, 2.784614
position: 4.111180, 11.046590, 2.763157
position: 4.027430, 11.024694, 2.735843
position: 3.939031, 11.002929, 2.701914
position: 3.858750, 10.977842, 2.650363
position: 3.772515, 10.951837, 2.579676
position: 3.695419, 10.922187, 2.492174
position: 3.609108, 10.888362, 2.394434
position: 3.536798, 10.853188, 2.293392
position: 3.456006, 10.812795, 2.196865
position: 3.384067, 10.765524, 2.106952
position: 3.311870, 1optimize pose graph 
0.707411, 2.021542
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position: 3.160136, 10.571126, 1.844766
position: 3.080157, 10.495268, 1.747502
position: 3.005808, 10.410661, 1.650612
position: 2.927177, 10.317155, 1.558616
position: 2.854397, 10.219396, 1.473795
position: 2.779917, 10.114092, 1.397084
position: 2.708658, 10.005017, 1.331392
position: 2.642136, 9.894834, 1.273991
position: 2.580248, 9.785243, 1.225282
position: 2.522093, 9.672861, 1.175417
position: 2.466692, 9.556286, 1.116639
position: 2.415138, 9.438231, 1.055276
position: 2.367620, 9.317505, 0.986748
position: 2.325107, 9.192127, 0.917842
position: 2.288627, 9.063845, 0.854389
position: 2.258667, 8.931799, 0.799205
position: 2.235259, 8.798227, 0.752956
position: 2.216021, 8.661692, 0.715858
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position: 2.182805, 8.378739, 0.664634
position: 2.167165, 8.230381, 0.649789
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position: 2.091738, 7.257668, 0.672503
position: 2.084258, 7.089998, 0.683615
position: 2.080329, 6.919549, 0.687621
position: 2.083411, 6.747969, 0.688472
position: 2.093128, 6.570193, 0.685605
position: 2.111754, 6.386297, 0.682895
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position: 2.156811, 6.009930, 0.691309
position: 2.178946, 5.820121, 0.702490
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position: 2.231355, 5.249113, 0.756343
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position: 2.303349, 4.679913, 0.782995
position: 2.336568, 4.494022, 0.780731
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position: 2.404093, 4.127793, 0.763446
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position: 2.685188, 2.209843, 0.536823
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position: 2.717136, 1.827639, 0.495802
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position: 2.702485, 1.171352, 0.436221
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position: 2.642618, 0.809447, 0.330578
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position: 2.581677, 0.583198, 0.313452
position: 2.560909, 0.516098, 0.321906
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position: 2.517480, 0.404626, 0.352881
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posoptimize pose graph 
optimize pose graph 
ition: 2.464287, 0.293918, 0.365106
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position: 2.421921, 0.264519, 0.364291
position: 2.404343, 0.254698, 0.371051
position: 2.374422, 0.254854, 0.386069
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position: 2.134488, 0.342779, 0.387579
position: 2.100983, 0.354823, 0.389370
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position: 1.790518, 0.399697, 0.349191
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position: 1.676169, 0.383527, 0.356009
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position: 1.506486, 0.375975, 0.385735
position: 1.4optimize pose graph 
51285, 0.378191, 0.384704
position: 1.396522, 0.382465, 0.376248
position: 1.339830, 0.385243, 0.362538
position: 1.287508, 0.392105, 0.347237
position: 1.235293, 0.400147, 0.336917
position: 1.180938, 0.407144, 0.334926
position: 1.131170, 0.417154, 0.336058
position: 1.083511, 0.425772, 0.333829
position: 1.037303, 0.430872, 0.327388
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position: 0.872566, 0.450904, 0.322200
position: 0.834594, 0.454672, 0.333517
position: 0.804996, 0.456374, 0.341025
position: 0.766178, 0.462923, 0.340397
position: 0.741048, 0.465847, 0.335381
position: 0.711135, 0.471070, 0.326430
position: 0.691626, 0.473504, 0.314941
position: 0.669205, 0.478288, 0.300895
position: 0.648476, 0.483444, 0.284661
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position: 0.547360, 0.510169, 0.235612
position: 0.519158, 0.518143, 0.232173
position: 0.494197, 0.5optimize pose graph 
24727, 0.227703
position: 0.473016, 0.527588, 0.219396
position: 0.452719, 0.525159, 0.209390
position: 0.433308, 0.518187, 0.198397
position: 0.411903, 0.510990, 0.183030
position: 0.394626, 0.504415, 0.168534
position: 0.374960, 0.501132, 0.150724
position: 0.357890, 0.500422, 0.130720
position: 0.347992, 0.500775, 0.112834
position: 0.342959, 0.503150, 0.099483
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position: 0.339417, 0.517144, 0.059290
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position: 0.336444, 0.530740, 0.035525
position: 0.341245, 0.537383, 0.033476
position: 0.345993, 0.542983, 0.035641
position: 0.358705, 0.540485, 0.052601
position: 0.360934, 0.540001, 0.056482
position: 0.363524, 0.539504, 0.060108
position: 0.368805, 0.538862, 0.063275
position: 0.375256, 0.538217, 0.059294
position: 0.378652, 0.538880, 0.049093
position: 0.376615, 0.541538, 0.027194
position: 0.369638, 0.546560, -0.004124
position: 0.362491, 0.553076, -0.039718
position: 0.359622, 0.562695, -0.065633
position: 0.367487, 0.571676, -0.053362
position: 0.377443, 0.577357, -0.061775
position: 0.373916, 0.581976, -0.055491
position: 0.373614, 0.580543, -0.048221
position: 0.367568, 0.576390, -0.040565
position: 0.370887, 0.576763, -0.029762
position: 0.367660, 0.573383, -0.019295
position: 0.364875, 0.571582, -0.009651
position: 0.362278, 0.569561, 0.000228
position: 0.358343, 0.567650, 0.009973
position: 0.354185, 0.565916, 0.020204
position: 0.349356, 0.564512, 0.030256
position: 0.344427, 0.563377, 0.040618
position: 0.339086, 0.562371, 0.051105
position: 0.333343, 0.561371, 0.061866
position: 0.327156, 0.560489, 0.072957
position: 0.320481, 0.559878, 0.084045
position: 0.313748, 0.559506, 0.095259
position: 0.306688, 0.559416, 0.106601
position: 0.299293, 0.559411, 0.118109
position: 0.291621, 0.559465, 0.129839
position: 0.283695, 0.559600, 0.141788
position: 0.275706, 0.559678, 0.153893
position: 0.267207, 0.559858, 0.165977
position: 0.258402, 0.560148, 0.178285
position: 0.249197, 0.560609, 0.
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720359235.571116162]: Shutdown request received.[0m
[33m[ WARN] [1720359235.571189706]: Reason given for shutdown: [user request][0m
190702
position: 0.239736, 0.561166, 0.203316
position: 0.229950, 0.561830, 0.216251
[33m[ WARN] [1720359235.572176510]: Shutdown request received.[0m
[33m[ WARN] [1720359235.572203734]: Reason given for shutdown: [user request][0m
killed
