/SLAM-Hive/slam_hive_results/mapping_results/3335/1945_vins-mono+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/57d1cade-9d58-11ef-b94e-0242ac110002/roslaunch-220c365dfad0-118.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://220c365dfad0:44915/[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 57d1cade-9d58-11ef-b94e-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] [1731018826.054530974]: init begins[0m
[0m[ INFO] [1731018826.059267110]: 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] [1731018826.061673085]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731018826.061709374]:  fix extrinsic param [0m
[0m[ INFO] [1731018826.064303561]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731018826.064342525]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731018826.064379341]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731018826.064438078]: 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] [1731018832.755817474]: 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: 327380705.65 
[0m[ INFO] [1731018834.343162745]: IMU excitation not enouth![0m
[0m[ INFO] [1731018834.343844634]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731018834.577353886]: IMU excitation not enouth![0m
[0m[ INFO] [1731018834.643272884]: IMU excitation not enouth![0m
[0m[ INFO] [1731018834.643789483]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731018834.844474641]: IMU excitation not enouth![0m
[0m[ INFO] [1731018834.845321047]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731018835.069919456]: IMU excitation not enouth![0m
[0m[ INFO] [1731018835.070447702]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731018835.184112273]: IMU excitation not enouth![0m
[33m[ WARN] [1731018836.155734980]: gyroscope bias initial calibration 0.000610134   0.0116567   0.0804023[0m
[0m[ INFO] [1731018836.197290859]: Initialization finish![0m
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optimize pose graph 
optimize pose graph 
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position: 8.475523, 1.599859, 2.668498
position: 8.487563, 1.859336, 2.646121
position: 8.496613, 2.120598, 2.619775
position: 8.499496, 2.383150, 2.596349
position: 8.498697, 2.647172, 2.577288
position: optimize pose graph 
8.494115, 2.911068, 2.565783
position: 8.489860, 3.171235, 2.562393
position: 8.488269, 3.425906, 2.560893
position: 8.489100, 3.676902, 2.552733
position: 8.492604, 3.922681, 2.537871
position: 8.498323, 4.161925, 2.517548
position: 8.504635, 4.394028, 2.491839
position: 8.513153, 4.619555, 2.464056
position: 8.521069, 4.838779, 2.438661
position: 8.528063, 5.051803, 2.419107
position: 8.533756, 5.259622, 2.405946
position: 8.538072, 5.461500, 2.397809
position: 8.540298, 5.659011, 2.387559
position: 8.541256, 5.851069, 2.371104
position: 8.540647, 6.039039, 2.354568
position: 8.537687, 6.222303, 2.344626
position: 8.532609, 6.402883, 2.342023
position: 8.524628, 6.579745, 2.346055
position: 8.513296, 6.754027, 2.356464
position: 8.497920, 6.923229, 2.375006
position: 8.482810, 7.086493, 2.401205
position: 8.469304, 7.241982, 2.431541
position: 8.456363, 7.387657, 2.463000
position: 8.444892, 7.524913, 2.490156
position: 8.435721, 7.654626, 2.511215
position: 8.426224, 7.776757, 2.523971
position: 8.417871, 7.890239, 2.529727
position: 8.409301, 7.999217, 2.526930
position: 8.402064, 8.106118, 2.516858
position: 8.396023, 8.211201, 2.502912
position: 8.389023, 8.317601, 2.493551
position: 8.381587, 8.425672, 2.491525
position: 8.372178, 8.534663, 2.497822
position: 8.358664, 8.641073, 2.510851
position: 8.337008, 8.746988, 2.529894
position: 8.308491, 8.856980, 2.555717
position: 8.269895, 8.973114, 2.585358
position: 8.221335, 9.093828, 2.620105
position: 8.165498, 9.219467, 2.662144
position: 8.099812, 9.344565, 2.710038
position: 8.027024, 9.470862, 2.758358
position: 7.947338, 9.597238, 2.801367
position: 7.863271, 9.721479, 2.838420
position: 7.776512, 9.842628, 2.871042
position: 7.686283, 9.959873, 2.897345
position: 7.592239, 10.074707, 2.918016
position: 7.494370, 10.183799, 2.932332
position: 7.394003, 10.288238, 2.940734
position: 7.290712, 10.385953, 2.942394
position: 7.185736, 10.474639, 2.934861
position: 7.077172, 10.554963, 2.918015
position: 6.964173, 10.629724, 2.895064
position: 6.844878, 10.optimize pose graph 
698211, 2.870327
position: 6.720535, 10.754545, 2.851140
position: 6.592153, 10.797496, 2.837309
position: 6.462872, 10.830389, 2.830701
position: 6.336038, 10.858054, 2.832625
position: 6.212131, 10.882943, 2.842291
position: 6.091157, 10.905286, 2.854449
position: 5.972010, 10.923970, 2.862954
position: 5.854193, 10.940668, 2.865244
position: 5.738406, 10.954521, 2.859207
position: 5.625201, 10.964846, 2.846512
position: 5.513658, 10.972188, 2.834995
position: 5.404212, 10.976442, 2.830478
position: 5.298565, 10.978787, 2.832836
position: 5.196557, 10.977627, 2.840712
position: 5.097593, 10.973738, 2.845332
position: 5.001984, 10.965592, 2.842370
position: 4.909242, 10.954056, 2.832113
position: 4.818318, 10.939171, 2.815404
position: 4.728046, 10.922892, 2.793414
position: 4.642986, 10.905061, 2.766690
position: 4.555124, 10.886524, 2.733324
position: 4.474667, 10.865488, 2.681722
position: 4.385848, 10.841581, 2.613526
position: 4.308440, 10.815717, 2.525954
position: 4.221380, 10.785886, 2.430308
positiooptimize pose graph 
n: 4.145267, 10.753314, 2.329957
position: 4.061742, 10.715219, 2.234785
position: 3.986265, 10.670314, 2.145617
position: 3.909870, 10.615940, 2.060907
position: 3.827326, 10.553622, 1.974815
position: 3.751073, 10.485892, 1.885051
position: 3.669914, 10.412721, 1.788714
position: 3.591998, 10.331138, 1.692761
position: 3.510406, 10.240334, 1.601844
position: 3.432623, 10.144416, 1.518156
position: 3.354177, 10.042703, 1.442705
position: 3.278780, 9.937654, 1.378141
position: 3.208466, 9.832300, 1.321247
position: 3.143216, 9.727178, 1.271946
position: 3.081233, 9.618102, 1.220224
position: 3.021061, 9.503541, 1.161823
position: 2.962653, 9.388081, 1.096492
position: 2.907929, 9.267873, 1.028131
position: 2.857367, 9.143312, 0.959410
position: 2.813420, 9.015880, 0.897093
position: 2.776199, 8.884394, 0.843139
position: 2.745541, 8.749820, 0.797589
position: 2.718727, 8.611176, 0.760815
position: 2.694267, 8.468416, 0.732739
position: 2.672956, 8.323696, 0.710392
position: 2.649612, 8.172255, 0.695889
position: 2.626016, 8.015380, 0.685092
position: 2.603036, 7.853658, 0.679719
position: 2.581796, 7.689419, 0.681680
position: 2.561689, 7.522164, 0.687327
position: 2.543028, 7.353407, 0.699517
position: 2.527125, 7.185132, 0.715555
position: 2.512951, 7.016212, 0.727711
position: 2.502404, 6.844835, 0.733460
position: 2.497916, 6.670347, 0.734896
position: 2.500521, 6.488266, 0.732176
position: 2.511735, 6.298828, 0.729888
position: 2.525115, 6.105070, 0.731238
position: 2.539534, 5.910562, 0.737655
position: 2.553496, 5.715792, 0.748736
position: 2.563877, 5.520955, 0.763519
position: 2.572676, 5.325282, 0.781349
position: 2.583767, 5.130270, 0.801000
position: 2.596961, 4.935612, 0.813988
position: 2.613709, 4.741306, 0.820811
position: 2.637238, 4.549850, 0.822419
position: 2.662122, 4.359139, 0.819758
position: 2.687078, 4.171041, 0.813319
position: 2.710602, 3.985151, 0.802316
position: 2.731391, 3.802304, 0.786356
position: 2.750377, 3.622291, 0.764911
position: 2.767847, 3.444837, 0.739135
position: 2.7844optimize pose graph 
39, 3.270236, 0.709930
position: 2.800491, 3.098682, 0.678647
position: 2.818043, 2.931745, 0.650167
position: 2.835736, 2.769470, 0.630625
position: 2.852403, 2.612653, 0.619604
position: 2.867573, 2.464170, 0.613478
position: 2.880490, 2.319844, 0.605454
position: 2.887722, 2.179764, 0.590596
position: 2.895696, 2.042591, 0.571688
position: 2.901546, 1.910147, 0.551860
position: 2.904273, 1.782296, 0.538218
position: 2.905068, 1.659331, 0.531233
position: 2.903351, 1.540906, 0.530786
position: 2.898355, 1.427071, 0.532018
position: 2.890238, 1.317144, 0.526458
position: 2.878796, 1.211588, 0.512302
position: 2.869006, 1.108328, 0.494328
position: 2.854935, 1.010379, 0.472202
position: 2.839536, 0.914782, 0.447296
position: 2.819558, 0.823803, 0.420091
position: 2.797748, 0.735706, 0.391952
position: 2.775630, 0.650711, 0.369620
position: 2.752076, 0.571126, 0.356475
position: 2.728285, 0.495554, 0.350632
position: 2.703826, 0.424021, 0.352228
position: 2.679302, 0.358378, 0.360272
position: 2.654211, 0.3005optimize pose graph 
00, 0.374004
position: 2.630327, 0.251493, 0.391897
position: 2.610338, 0.207758, 0.400166
position: 2.589905, 0.173632, 0.405417
position: 2.570155, 0.146779, 0.404717
position: 2.553393, 0.125983, 0.398521
position: 2.530499, 0.116633, 0.400865
position: 2.510961, 0.111071, 0.407302
position: 2.482277, 0.112727, 0.422454
position: 2.452132, 0.118193, 0.437162
position: 2.422649, 0.127272, 0.448514
position: 2.400027, 0.138083, 0.451447
position: 2.377468, 0.151974, 0.451412
position: 2.351565, 0.164953, 0.449900
position: 2.331510, 0.175126, 0.445247
position: 2.303484, 0.184609, 0.436620
position: 2.281511, 0.195071, 0.429818
position: 2.253696, 0.207126, 0.426546
position: 2.218578, 0.222376, 0.427414
position: 2.174132, 0.240162, 0.431307
position: 2.125916, 0.256881, 0.430436
position: 2.075346, 0.272183, 0.424131
position: 2.021664, 0.282717, 0.410664
position: 1.965174, 0.286915, 0.398600
position: 1.911200, 0.284638, 0.390168
position: 1.853055, 0.280499, 0.391065
position: 1.792146, 0.277468, 0.3985optimize pose graph 
33
position: 1.734288, 0.276979, 0.411381
position: 1.675200, 0.276750, 0.422111
position: 1.619804, 0.280383, 0.428146
position: 1.564016, 0.285307, 0.427141
position: 1.508968, 0.291908, 0.418654
position: 1.455247, 0.299646, 0.404646
position: 1.398877, 0.307313, 0.388671
position: 1.346965, 0.319036, 0.378879
position: 1.295742, 0.331110, 0.376156
position: 1.243525, 0.340915, 0.378294
position: 1.195453, 0.353034, 0.376040
position: 1.150335, 0.363417, 0.368650
position: 1.109822, 0.370087, 0.362302
position: 1.066822, 0.378623, 0.355744
position: 1.026591, 0.384818, 0.357555
position: 0.987209, 0.390254, 0.366818
position: 0.948752, 0.396009, 0.377887
position: 0.911032, 0.402581, 0.383808
position: 0.875350, 0.409986, 0.383997
position: 0.856048, 0.414229, 0.379782
position: 0.826063, 0.421649, 0.370431
position: 0.814199, 0.425121, 0.357758
position: 0.791680, 0.430713, 0.344163
position: 0.770840, 0.436540, 0.328340
position: 0.756624, 0.441709, 0.310246
position: 0.733806, 0.449602, 0.293657
positiooptimize pose graph 
n: 0.709353, 0.457479, 0.283230
position: 0.680294, 0.468388, 0.275962
position: 0.652211, 0.477369, 0.272667
position: 0.625818, 0.484085, 0.269400
position: 0.604467, 0.487897, 0.261576
position: 0.584060, 0.486006, 0.251792
position: 0.563418, 0.480140, 0.243691
position: 0.541638, 0.475090, 0.228213
position: 0.523974, 0.471045, 0.215859
position: 0.504925, 0.469213, 0.197652
position: 0.490609, 0.468453, 0.178807
position: 0.477683, 0.469954, 0.160432
position: 0.474317, 0.471594, 0.146743
position: 0.472169, 0.476006, 0.134240
position: 0.469068, 0.481759, 0.121669
position: 0.466665, 0.488419, 0.108998
position: 0.462773, 0.494894, 0.093988
position: 0.463020, 0.501047, 0.086421
position: 0.468506, 0.506833, 0.087076
position: 0.475826, 0.510578, 0.095435
position: 0.480150, 0.511256, 0.102307
position: 0.481804, 0.511718, 0.104209
position: 0.484620, 0.511213, 0.107966
position: 0.490387, 0.510124, 0.110496
position: 0.496623, 0.509304, 0.106741
position: 0.499947, 0.509638, 0.096915
position: 0.49840optimize pose graph 
8, 0.512455, 0.075566
position: 0.491821, 0.517776, 0.044290
position: 0.485285, 0.524587, 0.008089
position: 0.483365, 0.534399, -0.017953
position: 0.492318, 0.543466, -0.005945
position: 0.502859, 0.549688, -0.014190
position: 0.501009, 0.555232, -0.008142
position: 0.501100, 0.555163, -0.003150
position: 0.498751, 0.551560, 0.004741
position: 0.500312, 0.553790, 0.012571
position: 0.499803, 0.548936, 0.024946
position: 0.497748, 0.547418, 0.034218
position: 0.496472, 0.546063, 0.043276
position: 0.493891, 0.544838, 0.052332
position: 0.491192, 0.543783, 0.061892
position: 0.487940, 0.543078, 0.071241
position: 0.484687, 0.542624, 0.080894
position: 0.481125, 0.542315, 0.090653
position: 0.477258, 0.542011, 0.100686
position: 0.473041, 0.541857, 0.111069
position: 0.468449, 0.542019, 0.121424
position: 0.463914, 0.542423, 0.131860
position: 0.459159, 0.543124, 0.142420
position: 0.454156, 0.543919, 0.153169
position: 0.448961, 0.544763, 0.164128
position: 0.443624, 0.545696, 0.175312
position: 0.438309, 0.
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731018936.189940559]: Shutdown request received.[0m
[33m[ WARN] [1731018936.189997823]: Reason given for shutdown: [user request][0m
546621, 0.186624
position: 0.432590, 0.547652, 0.197912
position: 0.426661, 0.548788, 0.209409
position: 0.420440, 0.550134, 0.221001
position: 0.414064, 0.551613, 0.232787
position: 0.407477, 0.553212, 0.244889
[33m[ WARN] [1731018936.190874923]: Shutdown request received.[0m
[33m[ WARN] [1731018936.190916606]: Reason given for shutdown: [user request][0m
killed
