/SLAM-Hive/slam_hive_results/mapping_results/3285/1945_vins-mono+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/5c2375cc-9d41-11ef-9798-0242ac110002/roslaunch-6096d84bccd3-118.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://6096d84bccd3:35347/[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 5c2375cc-9d41-11ef-9798-0242ac110002[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [145][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1731008954.656531918]: init begins[0m
[0m[ INFO] [1731008954.665686552]: 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] [1731008954.666222530]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731008954.666239105]:  fix extrinsic param [0m
[0m[ INFO] [1731008954.666373222]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731008954.666406990]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731008954.666444890]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731008954.667293326]: 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] [1731008961.536944221]: 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: 327370834.43 
[0m[ INFO] [1731008963.121276959]: IMU excitation not enouth![0m
[0m[ INFO] [1731008963.121712364]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731008963.354072643]: IMU excitation not enouth![0m
[0m[ INFO] [1731008963.354648911]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731008963.421035137]: IMU excitation not enouth![0m
[0m[ INFO] [1731008963.421353281]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731008963.620861788]: IMU excitation not enouth![0m
[0m[ INFO] [1731008963.621103478]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731008963.834466386]: IMU excitation not enouth![0m
[0m[ INFO] [1731008963.834870965]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731008963.962862843]: IMU excitation not enouth![0m
[33m[ WARN] [1731008964.933317687]: gyroscope bias initial calibration 0.000610134   0.0116567   0.0804023[0m
[0m[ INFO] [1731008965.020673675]: Initialization finish![0m
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-0.030032
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position: 0.492475, 0.241883, 0.269820optimize pose graph 

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position: 8.498444, 2.383375, 2.596251
position: 8.497605, 2.647391, 2.577190
position:optimize pose graph 
 8.492981, 2.911274, 2.565687
position: 8.488683, 3.171423, 2.562298
position: 8.487050, 3.426080, 2.560799
position: 8.487833, 3.677065, 2.552650
position: 8.491299, 3.922824, 2.537786
position: 8.496981, 4.162064, 2.517464
position: 8.503256, 4.394167, 2.491756
position: 8.511748, 4.619705, 2.463983
position: 8.519629, 4.838928, 2.438583
position: 8.526593, 5.051957, 2.419028
position: 8.532254, 5.259776, 2.405866
position: 8.536540, 5.461651, 2.397729
position: 8.538737, 5.659153, 2.387479
position: 8.539668, 5.851213, 2.371024
position: 8.539032, 6.039184, 2.354487
position: 8.536044, 6.222448, 2.344544
position: 8.530938, 6.403028, 2.341941
position: 8.522929, 6.579894, 2.345973
position: 8.511568, 6.754181, 2.356381
position: 8.496163, 6.923357, 2.374934
position: 8.481026, 7.086635, 2.401127
position: 8.467496, 7.242130, 2.431462
position: 8.454532, 7.387809, 2.462920
position: 8.443040, 7.525070, 2.490077
position: 8.433846, 7.654785, 2.511137
position: 8.424327, 7.776919, 2.523894
position: 8.415954, 7.890404, 2.529652
position: 8.407363, 7.999389, 2.526857
position: 8.400108, 8.106297, 2.516787
position: 8.394050, 8.211388, 2.502843
position: 8.387034, 8.317793, 2.493484
position: 8.379580, 8.425879, 2.491456
position: 8.370157, 8.534902, 2.497770
position: 8.356623, 8.641293, 2.510791
position: 8.334948, 8.747201, 2.529833
position: 8.306413, 8.857183, 2.555657
position: 8.267797, 8.973304, 2.585299
position: 8.219215, 9.094007, 2.620046
position: 8.163356, 9.219633, 2.662086
position: 8.097649, 9.344727, 2.709981
position: 8.024840, 9.471008, 2.758302
position: 7.945134, 9.597369, 2.801313
position: 7.861048, 9.721579, 2.838374
position: 7.774266, 9.842706, 2.870988
position: 7.684018, 9.959928, 2.897292
position: 7.589952, 10.074738, 2.917964
position: 7.492061, 10.183821, 2.932282
position: 7.391675, 10.288249, 2.940686
position: 7.288367, 10.385951, 2.942347
position: 7.183372, 10.474628, 2.934814
position: 7.074792, 10.554939, 2.917969
position: 6.961773, 10.629692, 2.895018
position: 6.842460, 10.698165, 2.870281
position: 6.718102, 10.754485, 2.851093
position: 6.589709, 10.797418, 2.837261
position: 6.460425, 10.830287, 2.830652
position: 6.333590, 10.857927, 2.832576
position: 6.209679, 10.882794, 2.842242
position: 6.088700, 10.905116, 2.854400
position: 5.969547, 10.923778, 2.862905
position: 5.851721, 10.940457, 2.865195
position: 5.735924, 10.954290, 2.859159
position: 5.622716, 10.964594, 2.846465
position: 5.511170, 10.971915, 2.834949
position: 5.401723, 10.976150, 2.830432
position: 5.296067, 10.978478, 2.832791
position: 5.194059, 10.977300, 2.840668
position: 5.095097, 10.973394, 2.845287
position: 4.999487, 10.965232, 2.842325
position: 4.906739, 10.953680, 2.832069
position: 4.815813, 10.938778, 2.815359
position: 4.725545, 10.922482, 2.793369
position: 4.640484, 10.904634, 2.766646
position: 4.552624, 10.886080, 2.733279
position: 4.472152, 10.865029, 2.681683
position: 4.383356, 10.841104, 2.613482
position: 4.305953, 10.815223, 2.525911
position: 4.218903, 10.785375, 2.430265
positioptimize pose graph 
on: 4.142796, 10.752786, 2.329915
position: 4.059285, 10.714678, 2.234742
position: 3.983815, 10.669758, 2.145576
position: 3.907430, 10.615370, 2.060867
position: 3.824900, 10.553042, 1.974773
position: 3.748659, 10.485298, 1.885011
position: 3.667516, 10.412120, 1.788673
position: 3.589614, 10.330523, 1.692722
position: 3.508044, 10.239713, 1.601805
position: 3.430274, 10.143780, 1.518119
position: 3.351844, 10.042056, 1.442665
position: 3.276462, 9.936996, 1.378099
position: 3.206168, 9.831637, 1.321206
position: 3.140936, 9.726506, 1.271905
position: 3.078971, 9.617422, 1.220183
position: 3.018811, 9.502844, 1.161777
position: 2.960424, 9.387377, 1.096448
position: 2.905721, 9.267162, 1.028087
position: 2.855178, 9.142588, 0.959361
position: 2.811254, 9.015143, 0.897042
position: 2.774029, 8.883655, 0.843075
position: 2.743399, 8.749075, 0.797527
position: 2.716609, 8.610425, 0.760753
position: 2.692175, 8.467659, 0.732677
position: 2.670886, 8.322928, 0.710327
position: 2.647570, 8.171489, 0.695827
positoptimize pose graph 
ion: 2.624002, 8.014610, 0.685030
position: 2.601049, 7.852880, 0.679656
position: 2.579836, 7.688635, 0.681616
position: 2.559756, 7.521374, 0.687262
position: 2.541124, 7.352614, 0.699452
position: 2.525247, 7.184332, 0.715490
position: 2.511099, 7.015404, 0.727645
position: 2.500611, 6.844068, 0.733429
position: 2.496142, 6.669556, 0.734853
position: 2.498778, 6.487469, 0.732133
position: 2.510021, 6.298023, 0.729843
position: 2.523429, 6.104260, 0.731189
position: 2.537879, 5.909753, 0.737605
position: 2.551872, 5.714987, 0.748685
position: 2.562284, 5.520152, 0.763467
position: 2.571143, 5.324518, 0.781268
position: 2.582269, 5.129522, 0.800914
position: 2.595500, 4.934886, 0.813901
position: 2.612284, 4.740599, 0.820725
position: 2.635844, 4.549161, 0.822335
position: 2.660757, 4.358458, 0.819675
position: 2.685742, 4.170350, 0.813238
position: 2.709296, 3.984457, 0.802234
position: 2.730115, 3.801601, 0.786274
position: 2.749131, 3.621590, 0.764829
position: 2.766629, 3.444135, 0.739054
position: 2.783optimize pose graph 
255, 3.269508, 0.709848
position: 2.799335, 3.097954, 0.678564
position: 2.816919, 2.931003, 0.650084
position: 2.834641, 2.768713, 0.630540
position: 2.851336, 2.611890, 0.619516
position: 2.866530, 2.463409, 0.613389
position: 2.879471, 2.319080, 0.605364
position: 2.886726, 2.178994, 0.590506
position: 2.894720, 2.041836, 0.571598
position: 2.900590, 1.909401, 0.551770
position: 2.903337, 1.781550, 0.538128
position: 2.904160, 1.658588, 0.531158
position: 2.902461, 1.540161, 0.530707
position: 2.897481, 1.426320, 0.531935
position: 2.889381, 1.316391, 0.526373
position: 2.877956, 1.210831, 0.512218
position: 2.868182, 1.107574, 0.494242
position: 2.854127, 1.009620, 0.472116
position: 2.838744, 0.914030, 0.447210
position: 2.818781, 0.823044, 0.420003
position: 2.796986, 0.734941, 0.391864
position: 2.774910, 0.649932, 0.369525
position: 2.751356, 0.570346, 0.356381
position: 2.727577, 0.494779, 0.350538
position: 2.703129, 0.423247, 0.352134
position: 2.678619, 0.357600, 0.360178
position: 2.653536, 0.299optimize pose graph 
719, 0.373909
position: 2.629661, 0.250708, 0.391802
position: 2.609675, 0.206972, 0.400068
position: 2.589249, 0.172841, 0.405320
position: 2.569504, 0.145983, 0.404620
position: 2.552752, 0.125177, 0.398427
position: 2.529854, 0.115826, 0.400769
position: 2.510317, 0.110265, 0.407205
position: 2.481632, 0.111915, 0.422357
position: 2.451453, 0.117380, 0.437047
position: 2.421997, 0.126450, 0.448416
position: 2.399374, 0.137255, 0.451349
position: 2.376810, 0.151139, 0.451314
position: 2.350903, 0.164114, 0.449802
position: 2.330847, 0.174285, 0.445150
position: 2.302818, 0.183763, 0.436523
position: 2.280842, 0.194221, 0.429721
position: 2.253024, 0.206271, 0.426449
position: 2.217905, 0.221516, 0.427316
position: 2.173454, 0.239294, 0.431210
position: 2.125234, 0.256006, 0.430340
position: 2.074669, 0.271299, 0.424033
position: 2.020985, 0.281828, 0.410564
position: 1.964491, 0.286013, 0.398501
position: 1.910516, 0.283728, 0.390070
position: 1.852374, 0.279576, 0.390966
position: 1.791463, 0.276535, 0.398optimize pose graph 
433
position: 1.733603, 0.276037, 0.411282
position: 1.674513, 0.275798, 0.422011
position: 1.619114, 0.279423, 0.428046
position: 1.563323, 0.284338, 0.427041
position: 1.508272, 0.290930, 0.418555
position: 1.454549, 0.298660, 0.404547
position: 1.398181, 0.306316, 0.388571
position: 1.346264, 0.318031, 0.378779
position: 1.295037, 0.330098, 0.376056
position: 1.242827, 0.339893, 0.378193
position: 1.194748, 0.352004, 0.375940
position: 1.149627, 0.362380, 0.368550
position: 1.109115, 0.369044, 0.362200
position: 1.066113, 0.377573, 0.355642
position: 1.025878, 0.383763, 0.357454
position: 0.986494, 0.389192, 0.366716
position: 0.948033, 0.394941, 0.377786
position: 0.910310, 0.401508, 0.383707
position: 0.874627, 0.408907, 0.383896
position: 0.855334, 0.413148, 0.379679
position: 0.825345, 0.420562, 0.370328
position: 0.813482, 0.424033, 0.357656
position: 0.790968, 0.429620, 0.344060
position: 0.770127, 0.435444, 0.328237
position: 0.755913, 0.440611, 0.310143
position: 0.733091, 0.448500, 0.293554
positioptimize pose graph 
optimize pose graph 
on: 0.708633, 0.456374, 0.283126
position: 0.679570, 0.467279, 0.275859
position: 0.651491, 0.476253, 0.272564
position: 0.625093, 0.482965, 0.269296
position: 0.603741, 0.486774, 0.261473
position: 0.583335, 0.484880, 0.251690
position: 0.562702, 0.479009, 0.243589
position: 0.540923, 0.473955, 0.228112
position: 0.523275, 0.469905, 0.215731
position: 0.504220, 0.468071, 0.197546
position: 0.489901, 0.467309, 0.178703
position: 0.476974, 0.468809, 0.160330
position: 0.473610, 0.470448, 0.146641
position: 0.471462, 0.474860, 0.134138
position: 0.468423, 0.480657, 0.121632
position: 0.465979, 0.487276, 0.108899
position: 0.462071, 0.493744, 0.093888
position: 0.462314, 0.499896, 0.086321
position: 0.467799, 0.505683, 0.086976
position: 0.475065, 0.509579, 0.094734
position: 0.479436, 0.510109, 0.102172
position: 0.481074, 0.510577, 0.104079
position: 0.483890, 0.510073, 0.107835
position: 0.489657, 0.508985, 0.110366
position: 0.495894, 0.508166, 0.106610
position: 0.499217, 0.508500, 0.096784
position: 0.4976optimize pose graph 
78, 0.511317, 0.075436
position: 0.491090, 0.516636, 0.044160
position: 0.484552, 0.523447, 0.007960
position: 0.482630, 0.533259, -0.018081
position: 0.491581, 0.542327, -0.006073
position: 0.502121, 0.548551, -0.014317
position: 0.500268, 0.554095, -0.008267
position: 0.500359, 0.554026, -0.003274
position: 0.498007, 0.550423, 0.004615
position: 0.499568, 0.552655, 0.012445
position: 0.499060, 0.547799, 0.024827
position: 0.497003, 0.546283, 0.034100
position: 0.495728, 0.544928, 0.043160
position: 0.493145, 0.543703, 0.052217
position: 0.490445, 0.542649, 0.061779
position: 0.487191, 0.541944, 0.071131
position: 0.483937, 0.541490, 0.080786
position: 0.480372, 0.541182, 0.090549
position: 0.476503, 0.540877, 0.100584
position: 0.472285, 0.540724, 0.110970
position: 0.467690, 0.540887, 0.121328
position: 0.463152, 0.541291, 0.131767
position: 0.458395, 0.541992, 0.142331
position: 0.453392, 0.542784, 0.153070
position: 0.448184, 0.543640, 0.164047
position: 0.442834, 0.544588, 0.175220
position: 0.437550, 0
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731009064.903100940]: Shutdown request received.[0m
[33m[ WARN] [1731009064.903170439]: Reason given for shutdown: [user request][0m
.545470, 0.186554
position: 0.431817, 0.546520, 0.197851
position: 0.425891, 0.547650, 0.209352
position: 0.419665, 0.548996, 0.220947
position: 0.413285, 0.550475, 0.232738
position: 0.406693, 0.552076, 0.244844
[33m[ WARN] [1731009064.904102679]: Shutdown request received.[0m
[33m[ WARN] [1731009064.904138288]: Reason given for shutdown: [user request][0m
killed
