/SLAM-Hive/slam_hive_results/mapping_results/2742/1953_vins-mono+MH_04_difficult+Image_comb_test-8.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/9ef43a36-3c65-11ef-9944-0242ac110004/roslaunch-b005f6ce4e4b-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://b005f6ce4e4b:46877/[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 9ef43a36-3c65-11ef-9944-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [154][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720359265.650459606]: init begins[0m
[0m[ INFO] [1720359265.654944374]: 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] [1720359265.655450244]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720359265.655470180]:  fix extrinsic param [0m
[0m[ INFO] [1720359265.655627223]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720359265.655666787]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720359265.655696769]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720359265.655749943]: 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] [1720359272.909541964]: 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: 316721145.80 
[0m[ INFO] [1720359274.504640570]: IMU excitation not enouth![0m
[0m[ INFO] [1720359274.505567924]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359274.714223122]: IMU excitation not enouth![0m
[0m[ INFO] [1720359274.715141612]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359274.803686062]: IMU excitation not enouth![0m
[0m[ INFO] [1720359274.804457050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359274.997098537]: IMU excitation not enouth![0m
[0m[ INFO] [1720359274.997923370]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359275.205944413]: IMU excitation not enouth![0m
[0m[ INFO] [1720359275.206686533]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359275.334591895]: IMU excitation not enouth![0m
[0m[ INFO] [1720359275.347350903]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359275.498886106]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359275.706959765]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359275.827677222]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359276.008025223]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359276.231248124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359276.328621795]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720359276.549678854]: gyroscope bias initial calibration  -0.00360316 -0.000767047    0.0739104[0m
[0m[ INFO] [1720359276.571163479]: Initialization finish![0m
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position: 0.004822, 0.029615optimize pose graph 
, -0.115919
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position: 0.418848, 0.324727, 0.18optimize pose graph 
4808
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position: 1.958009, 11.704942, 2.493739
position: 1.890041, 11.662327, 2.405964
position: 1.810642, 11.613946, 2.308858
poptimize pose graph 
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position: 2.693324, 1.125104, 0.193374
position: 2.683255, 1.054179, 0.202817
position: 2.669optimize pose graph 
209, 0.991459, 0.219912
position: 2.657152, 0.934728, 0.235568
position: 2.643309, 0.887449, 0.248157
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position: 0.514539, 0.696778, -0.188282
position: 0.520436, 0.706611, -0.175009
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position: 0.522815, 0.709274, -0.148883
position: 0.520688, 0.705484, -0.138452
position: 0.518610, 0.702751, -0.128420
position: 0.516154, 0.699265, -0.117949
position: 0.512583, 0.696116, -0.107701
position: 0.508743, 0.693086, -0.096954
position: 0.504156, 0.690230, -0.086347
position: 0.499389, 0.687520, -0.075308
position: 0.493943, 0.684001, -0.063798
position: 0.488457, 0.682127, -0.052832
position: 0.482366, 0.679456, -0.041201
position: 0.475705, 0.676961, -0.029568
position: 0.468904, 0.674684, -0.017800
position: 0.461699, 0.672616, -0.005905
position: 0.454122, 0.670564, 0.006153
position: 0.446244, 0.668494, 0.018432
position: 0.43808
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720359376.386342052]: Shutdown request received.[0m
[33m[ WARN] [1720359376.386396959]: Reason given for shutdown: [user request][0m
5, 0.666433, 0.030933
position: 0.429853, 0.664290, 0.043588
position: 0.421072, 0.662139, 0.056224
position: 0.411906, 0.660049, 0.069084
position: 0.402284, 0.658046, 0.082054
position: 0.392358, 0.656068, 0.095217
position: 0.382067, 0.654112, 0.108702
[33m[ WARN] [1720359376.387244324]: Shutdown request received.[0m
[33m[ WARN] [1720359376.387273244]: Reason given for shutdown: [user request][0m
killed
