/SLAM-Hive/slam_hive_results/mapping_results/2752/1963_vins-mono+MH_04_difficult+Image_comb_test-18.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/e5b8ae18-3c68-11ef-aaeb-0242ac110004/roslaunch-fb9ff1c29304-118.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://fb9ff1c29304:39671/[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 e5b8ae18-3c68-11ef-aaeb-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720360672.863531368]: init begins[0m
[0m[ INFO] [1720360672.868221291]: 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] [1720360672.868675524]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720360672.868701928]:  fix extrinsic param [0m
[0m[ INFO] [1720360672.868867680]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720360672.868908244]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720360672.868945236]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720360672.869003428]: 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] [1720360680.094063574]: 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: 316722552.98 
[0m[ INFO] [1720360686.919004912]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360687.379798352]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720360690.921732217]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360691.406271888]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360691.905690104]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360692.403010642]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360692.874151940]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360693.373734759]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360693.895247976]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360694.382470164]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360694.876661802]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360695.405865011]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360695.912283080]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360696.403009366]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360696.887537113]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360697.384732335]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360697.893788318]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360698.385219366]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360698.893591818]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360699.373749932]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360699.883175541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360700.403982848]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360700.902813916]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360701.416166540]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360701.915555538]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360702.405222899]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720360706.968159414]: gyroscope bias initial calibration 0.00203007  0.0172463  0.0781134[0m
[0m[ INFO] [1720360707.009388768]: Initialization finish![0m
position: 1.194411, 2.190481, 0.248469
position: 1.604652, 3.159908, 0.385657
position: 1.666826, 3.746180, 0.373821
position: 1.632855, 4.386977, 0.490559
position: 1.362268, 4.849928, 0.521936
[0m[ INFO] [1720360709.440222820]:  little feature 0[0m
position: 1.036090, 5.303647, 0.516777
position: 0.734310, 5.720462, 0.552821
position: 0.515245, 6.195292, 0.541520
position: 0.310131, 6.719887, 0.594670
position: 0.134993, 7.341596, 0.632007
position: -0.014041, 7.963017, 0.590599
position: -0.201703, 8.519461, 0.625649
position: -0.346431, 9.154720, 0.705452
position: -0.256272, 9.581377, 0.958552
position: -0.163233, 9.905666, 1.337132
position: -0.021932, 10.225231, 1.632431
position: 0.372987, 10.248835, 1.799654
position: 0.647381, 10.546256, 1.918540
position: 1.036218, 10.815559, 2.053463
position: 1.529390, 11.024493, 2.223461
position: 2.121161, 11.248434, 2.226597
position: 2.655772, 11.315024, 2.438674
position: 3.275840, 11.290842, 2.625419
position: 3.910412, 11.120130, 2.699616
position: 4.505118, 10.830935, 2.640808
position: 5.066635, 10.420022, 2.601800
position: 5.515410, 9.986266, 2.810436
position: 5.948671, 9.621435, 2.902852
position: 6.464483, 9.610441, 3.046785
[0m[ INFO] [1720360721.414820714]:  little feature 0[0m
position: 7.218197, 9.592210, 3.090707
position: 7.979795, 9.429263, 3.215294
position: 8.767093, 9.355761, 3.212585
position: 9.464328, 9.322400, 3.130042
position: 10.075741, 9.181726, 3.172524
position: 10.551573, 8.895404, 3.184022
position: 10.846006, 8.477404, 3.236414
position: 11.036327, 7.923461, 3.225133
position: 10.707084, 7.218735, 3.230653
position: 10.277491, 6.593531, 3.005036
position: 9.602429, 5.714982, 2.697555
position: 8.769323, 4.672446, 2.249318
position: 7.894860, 3.680771, 1.787088
position: 7.044046, 2.777364, 1.340821
[0m[ INFO] [1720360728.406262371]:  little feature 1[0m
position: 6.366782, 1.945587, 1.044915
[0m[ INFO] [1720360728.928541052]:  little feature 0[0m
position: 5.959376, 1.217713, 0.914646
position: 5.930587, 0.590517, 0.772764
position: 6.131619, 0.201427, 0.707129
position: 6.182803, -0.144367, 0.703082
position: 6.031327, -0.873624, 0.673571
position: 6.142171, -1.125204, 0.622522
position: 6.136709, -1.335156, 0.632095
position: 6.041656, -1.583382, 0.535849
position: 5.978409, -1.907612, 0.385626
position: 5.882222, -2.254467, 0.333566
position: 5.785976, -2.678010, 0.270029
position: 5.835875, -3.228792, 0.252829
position: 5.962204, -3.866954, 0.136219
position: 5.770422, -4.356324, 0.145103
position: 5.559411, -4.881284, 0.210887
position: 5.426157, -5.510366, 0.297640
position: 5.394562, -6.147987, 0.289870
position: 5.402412, -6.778287, 0.365701
position: 5.465716, -7.397855, 0.398547
position: 5.604817, -7.974913, 0.435849
position: 5.829428, -8.543115, 0.516387
position: 6.104319, -9.068014, 0.551856
position: 6.349501, -9.617138, 0.608713
position: 6.695743, -10.052681, 0.632830
position: 7.056302, -10.390041, 0.775963
position: 7.385647, -10.606717, 0.845535
position: 7.657566, -10.532622, 0.832362
position: 7.738182, -10.258209, 0.969836
position: 7.692414, -9.812520, 1.106448
position: 7.692454, -9.428874, 1.184098
position: 7.715388, -9.012596, 1.145742
position: 7.753892, -8.501467, 1.185961
position: 7.747667, -7.958532, 1.265581
position: 7.950425, -7.472743, 1.303902
position: 8.182041, -6.980935, 1.524866
position: 8.233996, -6.354260, 1.697744
position: 8.092417, -5.852724, 1.961843
position: 7.751474, -5.145473, 2.082652
position: 7.298575, -4.467025, 2.152279
position: 6.946898, -3.922553, 2.166834
position: 6.800044, -3.568327, 2.047018
position: 6.729481, -3.459799, 2.020793
position: 6.892101, -3.619839, 1.984130
position: 7.063826, -3.571804, 1.968535
position: 7.255168, -3.477636, 2.105746
position: 7.421888, -3.288778, 2.133970
position: 7.519071, -3.002642, 1.926553
position: 7.636955, -2.462828, 1.841873
position: 7.753740, -1.639710, 1.966739
position: 7.879397, -0.631285, 2.092071
position: 7.974928, 0.489311, 2.300845
position: 8.042150, 1.785652, 2.486111
position: 8.088710, 3.121845, 2.494634
position: 8.059388, 4.474727, 2.403681
position: 8.001422, 5.745375, 2.356540
position: 7.963394, 6.866916, 2.271728
position: 7.915885, 7.888133, 2.259897
position: 7.800901, 8.777326, 2.340431
position: 7.711798, 9.491339, 2.405783
position: 7.670750, 10.075781, 2.398622
[0m[ INFO] [1720360758.928752859]:  little feature 1[0m
position: 7.645736, 10.680277, 2.517391
[0m[ INFO] [1720360759.417957214]:  little feature 1[0m
position: 7.416509, 11.337114, 2.751252
[0m[ INFO] [1720360759.910565969]:  little feature 1[0m
position: 7.012187, 11.967273, 2.909867
position: 6.534922, 12.437224, 2.906685
position: 6.071384, 12.716008, 2.832307
position: 5.479074, 12.830213, 2.838599
position: 5.019676, 12.895765, 2.825481
position: 4.704237, 12.767541, 2.791280
position: 4.393495, 12.789325, 2.616214
position: 3.818830, 12.507432, 2.127811
position: 2.495027, 11.678018, 1.652156
position: 2.143618, 11.093731, 1.264647
position: 1.907390, 10.464652, 0.966578
position: 1.798661, 9.772767, 0.689415
position: 1.764659, 9.013404, 0.607256
position: 1.756249, 8.184062, 0.665936
[0m[ INFO] [1720360766.930430564]:  little feature 0[0m
position: 1.840284, 7.278036, 0.659740
position: 2.001239, 6.333234, 0.734003
position: 2.244089, 5.460467, 0.778787
position: 2.441169, 4.630275, 0.657786
position: 2.604180, 3.903759, 0.568703
position: 2.767851, 3.195213, 0.488635
position: 2.852356, 2.533281, 0.446568
position: 2.862433, 1.973347, 0.309692
position: 2.805979, 1.522394, 0.269908
position: 2.743644, 1.237957, 0.306651
position: 2.626117, 1.121662, 0.329644
position: 2.524464, 1.115760, 0.331377
position: 2.350216, 1.151003, 0.325011
position: 2.083628, 1.163326, 0.283234
position: 1.805500, 1.125385, 0.319207
position: 1.536098, 1.130398, 0.271174
position: 1.295938, 1.152709, 0.248211
position: 1.083594, 1.155350, 0.264379
position: 0.937233, 1.167260, 0.225962
position: 0.806284, 1.189854, 0.160888
position: 0.697250, 1.185241, 0.120688
position: 0.619668, 1.160678, 0.037688
position: 0.593054, 1.173356, -0.038165
position: 0.616292, 1.189505, -0.045339
position: 0.628949, 1.192187, -0.071846
position: 0.642594, 1.225968, -0.155042
positi
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720360783.582803497]: Shutdown request received.[0m
[33m[ WARN] [1720360783.582853913]: Reason given for shutdown: [user request][0m
on: 0.651458, 1.233059, -0.107829
position: 0.641568, 1.220823, -0.061997
position: 0.621646, 1.212266, -0.012311
position: 0.593728, 1.205887, 0.044517
position: 0.559658, 1.198560, 0.107888
[33m[ WARN] [1720360783.583783057]: Shutdown request received.[0m
[33m[ WARN] [1720360783.583817980]: Reason given for shutdown: [user request][0m
killed
