/SLAM-Hive/slam_hive_results/mapping_results/2761/1972_vins-mono+MH_04_difficult+Image_comb_test-27.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/da2ed218-3c6b-11ef-b8df-0242ac110004/roslaunch-d357df70205c-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://d357df70205c:43593/[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 da2ed218-3c6b-11ef-b8df-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] [1720361942.010693297]: init begins[0m
[0m[ INFO] [1720361942.015807205]: 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] [1720361942.016241039]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720361942.016261175]:  fix extrinsic param [0m
[0m[ INFO] [1720361942.016412700]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720361942.016450754]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720361942.016496569]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720361942.016545089]: 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] [1720361949.269073085]: 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: 316723822.15 
[0m[ INFO] [1720361962.558723050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361963.563591023]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361964.584736757]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361965.562705233]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361966.553734282]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361967.565308542]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361968.564877971]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361969.564320830]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361970.579408181]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361971.550871275]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361972.548154909]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720361974.582906734]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361975.568945421]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361976.582479109]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361977.573047724]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361978.589997107]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361979.577367257]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361980.578951750]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361981.570726332]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361982.582553398]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361983.580709713]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361984.593577292]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361985.578412386]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361986.579528579]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361987.575757781]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361988.592696258]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361989.583225889]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361990.580258512]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361991.580950320]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361992.575225704]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361993.549037791]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361994.578303251]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361995.581008694]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361996.578488481]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361997.583930773]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361998.584117891]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361999.586608246]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362000.565128513]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362001.585659452]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362002.583421117]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362003.578207197]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362004.562461627]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362005.563111274]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362006.574929136]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362007.570540627]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362009.588383083]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362010.566530024]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362011.567997737]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362012.573284653]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362013.565840243]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362014.570203918]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362015.555039916]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362016.578868794]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362018.568347571]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362019.562684589]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362020.560438090]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362021.575538223]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362022.571107779]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362023.595966433]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362024.580545659]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362025.570173203]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362026.550610512]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362027.593800943]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362028.576860924]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362029.584177647]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362030.576645139]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362031.579482864]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362033.566211287]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362034.585571059]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362035.573831580]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362036.590325183]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362037.551430357]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362038.573229101]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362039.578130942]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362040.562073882]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362041.565744202]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362042.563151503]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362043.564211241]: 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] [1720362045.565674268]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362046.577413545]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362047.603010599]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362048.553193527]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362049.560427140]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362050.561337035]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720362052.712273617]: Shutdown request received.[0m
[33m[ WARN] [1720362052.712344631]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720362052.713133550]: Shutdown request received.[0m
[33m[ WARN] [1720362052.713162217]: Reason given for shutdown: [user request][0m
killed
