/SLAM-Hive/slam_hive_results/mapping_results/3420/1915_vins-mono+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/692dbc9e-9d7f-11ef-9fcd-0242ac110002/roslaunch-fdd899bb2a68-117.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://fdd899bb2a68:41433/[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 [128][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 692dbc9e-9d7f-11ef-9fcd-0242ac110002[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [144][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1731035605.688036501]: init begins[0m
[0m[ INFO] [1731035605.693982989]: 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] [1731035605.694451959]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731035605.694489864]:  fix extrinsic param [0m
[0m[ INFO] [1731035605.703715234]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731035605.703777306]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731035605.703809033]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731035605.703862992]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [180][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_03_medium.bag  --clock 
[0m[ INFO] [1731035612.289790650]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 327398481.98 
[0m[ INFO] [1731035613.962125221]: IMU excitation not enouth![0m
[0m[ INFO] [1731035614.163116861]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731035614.370759104]: IMU excitation not enouth![0m
[0m[ INFO] [1731035614.371809033]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731035614.463293381]: IMU excitation not enouth![0m
[0m[ INFO] [1731035614.463812529]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731035614.672207495]: IMU excitation not enouth![0m
[0m[ INFO] [1731035614.673368455]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731035614.897885602]: IMU excitation not enouth![0m
[0m[ INFO] [1731035614.966539516]: IMU excitation not enouth![0m
[0m[ INFO] [1731035614.967182938]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731035615.190579385]: IMU excitation not enouth![0m
[0m[ INFO] [1731035615.191056938]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731035615.369278896]: IMU excitation not enouth![0m
[0m[ INFO] [1731035615.369585218]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731035615.482777210]: IMU excitation not enouth![0m
[0m[ INFO] [1731035615.697524409]: IMU excitation not enouth![0m
[33m[ WARN] [1731035615.899345500]: gyroscope bias initial calibration -0.00257781   0.0201556   0.0775422[0m
[0m[ INFO] [1731035616.014037907]: Initialization finish![0m
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position: 0.335060optimize pose graph 
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pooptimize pose graph 
optimize pose graph 
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645
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position: optimize pose graph 
optimize pose graph 
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position: optimize pose graph 
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position: -2.328329, -2.689286, -0.3optimize pose graph 
optimize pose graph 
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position:optimize pose graph 
optimize pose graph 
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position: -3.271855, -6.062448, -0.157306optimize pose graph 

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position: -0.579170, -6.838526, 0optimize pose graph 
.608112
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position: 0.444083, -7.306350, 0.284232
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positoptimize pose graph 
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position: 2.279531, -5.197674, 0.006961
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positioptimize pose graph 
optimize pose graph 
optimize pose graph 
, 0.224235
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position: 1.8optimize pose graph 
15904, -1.704655, 0.463897
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position: 1.178719, -1.256710, 0.448612
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position: 1.074542, -1.171499, 0.473834
position: 1.020918, -1.130158, 0.476889
position: 0.971431, -1.083308, 0.475522
position: 0.921737, -1.037622, 0.467601
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position: 0.799226, -0.878624, 0.434264
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position: 0.641879, -0.594431, 0.394582
position: 0.617660, -0.540595, 0.3757optimize pose graph 
72
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position: 0.443222, -0.199191, 0.357101
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position: 0.344406, -0.182654, 0.115611
position: 0.335157, -optimize pose graph 
0.170150, 0.099804
position: 0.328051, -0.154813, 0.091606
position: 0.322539, -0.139092, 0.087041
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position: 0.318754, -0.106346, 0.083008
position: 0.322510, -0.087430, 0.089772
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position: 0.335661, -0.033124, 0.032133
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position: 0.340757, -0.031247, 0.032878
position: 0.339239, -0.029543, 0.035770
position: 0.336297, -0.029722, 0.036940
position: 0.335227, -0.029390, 0.037626
position: 0.334913, -0.029148, 0.037903
position: 0.334811, -0.029335, 0.037914
position: 0.334848, -0.029106, 0.037848
position: 0.334711, -0.029194, 0.037945
position: 0.334817, -0.029185, 0.037888
position: 0.334964, -0.029189, 0.037825
position: 0.334988, -0.029302, 0.037716
posit
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731035749.107633522]: Shutdown request received.[0m
[33m[ WARN] [1731035749.107689662]: Reason given for shutdown: [user request][0m
ion: 0.335065, -0.029156, 0.037741
position: 0.335003, -0.029187, 0.037810
position: 0.334985, -0.029182, 0.037831
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position: 0.335433, -0.029246, 0.037754
position: 0.335472, -0.029236, 0.037717
position: 0.335458, -0.029185, 0.037722
position: 0.335439, -0.029225, 0.037745
position: 0.335576, -0.029140, 0.037731
[33m[ WARN] [1731035749.108578775]: Shutdown request received.[0m
[33m[ WARN] [1731035749.108612884]: Reason given for shutdown: [user request][0m
killed
