/SLAM-Hive/slam_hive_results/mapping_results/2755/1966_vins-mono+MH_04_difficult+Image_comb_test-21.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/e1a2a512-3c69-11ef-8d9c-0242ac110004/roslaunch-8ddc15f86048-118.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://8ddc15f86048:34985/[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 e1a2a512-3c69-11ef-8d9c-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] [1720361095.503215321]: init begins[0m
[0m[ INFO] [1720361095.507797474]: 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] [1720361095.508265707]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720361095.508292512]:  fix extrinsic param [0m
[0m[ INFO] [1720361095.508455196]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720361095.508513827]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720361095.508549975]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720361095.508597361]: 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] [1720361102.774143521]: 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: 316722975.66 
[0m[ INFO] [1720361109.556369868]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361110.054092204]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361110.565293364]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361111.065757158]: 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!
[0m[ INFO] [1720361113.090680912]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361113.572273116]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361114.064940288]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361114.563100815]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361115.060960280]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361115.551926728]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361116.062734779]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361116.572430700]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361117.054071591]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361117.572049790]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361118.081859258]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361118.571501840]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361119.060186291]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361119.562056410]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361120.061952332]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361120.566121422]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361121.060064897]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361121.571784416]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361122.061620210]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361122.567654935]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361123.060998323]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361123.562395713]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361124.095201648]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361124.595631643]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361125.053963858]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361125.564178147]: 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!
[0m[ INFO] [1720361127.565700897]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361128.056438537]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361128.561748799]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720361129.549581338]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361130.070403533]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361130.562103510]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361131.073068836]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361131.581368899]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361132.091112074]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361132.566337956]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361133.063204372]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361133.571749032]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361134.086082487]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361134.564735212]: 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!
[0m[ INFO] [1720361135.572414876]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361136.073142651]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361136.567900970]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361137.086035067]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361137.552308413]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361138.056989690]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361138.558014281]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361139.050960498]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361139.573589841]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361140.067915758]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361141.085262362]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361141.569030873]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361142.093468804]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361142.585992385]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361143.081000998]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361143.597256191]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361144.087600799]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361144.577974698]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361145.068095517]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361145.578326141]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361146.084334778]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361146.580462854]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361147.077942037]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361147.563268473]: 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!
[0m[ INFO] [1720361148.581095385]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361149.082761485]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361149.582857981]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361150.083936735]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361150.578629602]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361151.087840585]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361151.560655505]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361152.075809558]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361152.575222373]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361153.073620127]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361153.574034654]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720361154.584965023]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361155.087300730]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361155.586336892]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361156.075280574]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361156.565182961]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361157.074112062]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361157.583497460]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361158.075886850]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361158.579231413]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361159.078886821]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361159.563511297]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361160.063895556]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361160.561745896]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361161.060224267]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361161.570994119]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361162.068999599]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361162.558075864]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361163.086029471]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361163.581353289]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361164.069656920]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361164.561751847]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361165.064437049]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361165.550446182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361166.068978312]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361166.563018897]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361167.051528563]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361167.562827773]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361168.060431655]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361168.570765659]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361169.070626105]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361169.569265690]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361170.050442103]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361170.569138647]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361171.060255825]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361171.566919782]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361172.052714697]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361172.573777389]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361173.062263517]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361173.565245388]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361174.063171253]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361174.574943236]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361175.073807701]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361175.564285049]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361176.084290532]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361176.580457594]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361177.080714480]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361177.576120443]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361178.095673184]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361178.583300410]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361179.089180701]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361179.581105428]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361180.077059438]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361180.571657564]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361181.093778482]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361181.566547573]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361182.086862169]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361182.583471160]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361183.055545088]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361183.594083180]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361184.080053748]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361184.596099477]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361185.052630654]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720361186.084025434]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361186.573994792]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361187.093996830]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361187.585068567]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361188.081175050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361188.582197309]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361189.080775274]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361190.094091147]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361190.570085009]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361191.072603746]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361191.580851476]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361192.068695063]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361192.549328269]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361193.075156973]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361193.558644271]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361194.055880530]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361194.568046222]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361195.055863421]: 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!
[33m[ WARN] [1720361197.595344943]: gyroscope bias initial calibration -0.0034813  0.0205735  0.0763528[0m
[0m[ INFO] [1720361197.638028527]: Initialization finish![0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720361206.241327021]: Shutdown request received.[0m
[33m[ WARN] [1720361206.241387563]: Reason given for shutdown: [user request][0m
position: -1.794657, -0.813591, -0.213350
position: -2.010953, -0.760144, -0.191654
position: -2.149255, -0.713745, -0.224467
position: -2.257783, -0.662025, -0.283319
position: -2.359054, -0.644533, -0.322996
position: -2.438555, -0.658442, -0.412743
position: -2.466803, -0.638448, -0.488880
position: -2.436283, -0.621825, -0.497143
position: -2.416402, -0.616101, -0.525073
position: -2.394549, -0.588358, -0.606937
position: -2.361775, -0.584343, -0.556405
position: -2.365733, -0.600929, -0.516697
position: -2.381075, -0.616860, -0.462854
position: -2.396564, -0.631689, -0.408730
position: -2.413340, -0.648024, -0.349654
[33m[ WARN] [1720361206.242315487]: Shutdown request received.[0m
[33m[ WARN] [1720361206.242346308]: Reason given for shutdown: [user request][0m
killed
