/SLAM-Hive/slam_hive_results/mapping_results/2743/1954_vins-mono+MH_04_difficult+Image_comb_test-9.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/f31a25b2-3c65-11ef-b7e2-0242ac110004/roslaunch-93706ea01611-117.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://93706ea01611:35413/[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 f31a25b2-3c65-11ef-b7e2-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [153][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720359406.865542136]: init begins[0m
[0m[ INFO] [1720359406.870232012]: 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] [1720359406.870756721]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720359406.870779249]:  fix extrinsic param [0m
[0m[ INFO] [1720359406.870938674]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720359406.870979350]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720359406.871010472]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720359406.871070077]: 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] [1720359414.099730377]: 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: 316721287.01 
[0m[ INFO] [1720359415.704361305]: IMU excitation not enouth![0m
[0m[ INFO] [1720359415.705179248]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359415.914322507]: IMU excitation not enouth![0m
[0m[ INFO] [1720359415.915031008]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359416.005625211]: IMU excitation not enouth![0m
[0m[ INFO] [1720359416.006342641]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359416.205912285]: IMU excitation not enouth![0m
[0m[ INFO] [1720359416.206546817]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359416.399990166]: IMU excitation not enouth![0m
[0m[ INFO] [1720359416.546210422]: IMU excitation not enouth![0m
[0m[ INFO] [1720359416.546362784]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359416.705698793]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359416.907835540]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359417.018854545]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359417.210075049]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359417.411723330]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359417.506759430]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720359417.977631835]: gyroscope bias initial calibration -0.00344998    0.009476   0.0765773[0m
[0m[ INFO] [1720359417.996943986]: Initialization finish![0m
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positioptimize pose graph 
on: 1.457748, 1.304101, 0.353521
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position: 0.272696, 1.215596, -0.002089
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position: 0.254831, 1.232302, -0.093409
position: 0.261639, 1.242735, -0.079889
position: 0.269766, 1.249563, -0.087055
position: 0.267826, 1.254308, -0.082111
position: 0.268786, 1.251182, -0.072730
position: 0.261924, 1.244326, -0.063382
position: 0.267961, 1.247097, -0.053877
position: 0.267415, 1.244031, -0.043511
position: 0.266422, 1.241234, -0.033292
position: 0.265438, 1.238134, -0.022733
position: 0.263465, 1.235291, -0.012403
position: 0.261318, 1.232566, -0.001580
position: 0.258541, 1.229988, 0.009076
position: 0.255697, 1.227628, 0.020045
position: 0.252505, 1.225288, 0.031149
position: 0.248994, 1.222858, 0.042535
position: 0.245090, 1.220443, 0.054254
position: 0.240720, 1.218183, 0.065981
position: 0.236321, 1.216125, 0.077852
position: 0.231627, 1.214256, 0.089857
position: 0.226665, 1.212393, 0.102035
position: 0.221500, 1.210512, 0.114440
position: 0.216149, 1.208641, 0.127073
position: 0.210815, 1.206700, 0.139868
position: 0.205033, 1
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720359517.441120690]: Shutdown request received.[0m
[33m[ WARN] [1720359517.441180745]: Reason given for shutdown: [user request][0m
.204741, 0.152649
position: 0.199005, 1.202816, 0.165668
position: 0.192630, 1.200966, 0.178807
position: 0.186067, 1.199137, 0.192150
position: 0.179265, 1.197315, 0.205826
[33m[ WARN] [1720359517.442174291]: Shutdown request received.[0m
[33m[ WARN] [1720359517.442200145]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/f31a25b2-3c65-11ef-b7e2-0242ac110004/rosout-1*.log[0m
[rosout-1] restarting process
