/SLAM-Hive/slam_hive_results/mapping_results/2751/1962_vins-mono+MH_04_difficult+Image_comb_test-17.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/91cca6c4-3c68-11ef-8179-0242ac110004/roslaunch-8c81ab27c37a-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://8c81ab27c37a:46675/[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 91cca6c4-3c68-11ef-8179-0242ac110004[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] [1720360532.081350516]: init begins[0m
[0m[ INFO] [1720360532.085785146]: 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] [1720360532.086229554]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720360532.086266935]:  fix extrinsic param [0m
[0m[ INFO] [1720360532.086431844]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720360532.086455083]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720360532.086484597]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720360532.086532371]: 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] [1720360539.342970645]: 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: 316722412.23 
[0m[ INFO] [1720360542.238035393]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720360543.243122143]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720360544.019808926]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720360551.022524834]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720360552.224270407]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360552.423733672]: IMU excitation not enouth![0m
[0m[ INFO] [1720360552.423871270]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360552.621967100]: IMU excitation not enouth![0m
[0m[ INFO] [1720360552.622194398]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360552.820624912]: IMU excitation not enouth![0m
[0m[ INFO] [1720360553.024602433]: IMU excitation not enouth![0m
[0m[ INFO] [1720360553.024811777]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360553.221787409]: IMU excitation not enouth![0m
[0m[ INFO] [1720360553.422792847]: IMU excitation not enouth![0m
[0m[ INFO] [1720360553.423014649]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360553.623492843]: IMU excitation not enouth![0m
[0m[ INFO] [1720360553.623728463]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360553.825419008]: IMU excitation not enouth![0m
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[0m[ INFO] [1720360554.025198219]: IMU excitation not enouth![0m
[0m[ INFO] [1720360554.025378942]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360554.221386910]: IMU excitation not enouth![0m
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[0m[ INFO] [1720360554.421677791]: IMU excitation not enouth![0m
[0m[ INFO] [1720360554.421872482]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360554.634952007]: IMU excitation not enouth![0m
[0m[ INFO] [1720360554.635093186]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360554.824990367]: IMU excitation not enouth![0m
[0m[ INFO] [1720360554.825206323]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360555.020754317]: IMU excitation not enouth![0m
[0m[ INFO] [1720360555.020851339]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360555.223192161]: IMU excitation not enouth![0m
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[0m[ INFO] [1720360555.822559848]: IMU excitation not enouth![0m
[0m[ INFO] [1720360556.024374328]: IMU excitation not enouth![0m
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[0m[ INFO] [1720360628.027614115]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360628.228998292]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360628.427215236]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360628.627837984]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360628.842908005]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360629.028723608]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360629.226369560]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360629.427719207]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360629.627779162]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360629.828247591]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360630.025287184]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360630.225419779]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360630.423715185]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360630.636713222]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360630.834208631]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360631.024579829]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360631.218737414]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360631.425428123]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360631.624369324]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360631.816036206]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360632.012266586]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360632.224563756]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360632.425505044]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360632.610976050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360632.831612996]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360633.025789091]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360633.224634391]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360633.425859087]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360633.609414016]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360633.830264193]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360634.012051374]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360634.214728212]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360634.416812111]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360634.611806116]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360634.825525600]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360635.016880220]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360635.216585778]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360635.428780637]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360635.624335825]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360635.828289742]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360636.226498393]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360636.419200621]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360636.627792870]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360636.816649229]: IMU excitation not enouth![0m
[0m[ INFO] [1720360636.816713340]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360637.035974788]: IMU excitation not enouth![0m
[0m[ INFO] [1720360637.036078440]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360637.228880132]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360637.432808067]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360637.639609056]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360637.838141104]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360638.031732713]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360638.226067036]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360638.419317871]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360638.618505967]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360638.838772117]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360639.028524777]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360639.229933396]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360639.432740416]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360639.638666495]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360639.830516667]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360640.038803190]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360640.226391323]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360640.427426374]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360640.617156063]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360640.827324762]: IMU excitation not enouth![0m
[0m[ INFO] [1720360640.827455471]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360641.019288801]: IMU excitation not enouth![0m
[0m[ INFO] [1720360641.019475947]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360641.228238425]: IMU excitation not enouth![0m
[0m[ INFO] [1720360641.228453622]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720360642.825783252]: Shutdown request received.[0m
[33m[ WARN] [1720360642.825863553]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720360642.826797197]: Shutdown request received.[0m
[33m[ WARN] [1720360642.826821518]: Reason given for shutdown: [user request][0m
killed
