/SLAM-Hive/slam_hive_results/mapping_results/2500/1857_vins-mono+MH_01_easy+Image_comb_test-2.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/3c61ec7c-3c26-11ef-8676-0242ac110003/roslaunch-eeb61d6d5fc4-117.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://eeb61d6d5fc4:45325/[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 3c61ec7c-3c26-11ef-8676-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [152][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720332042.010608575]: init begins[0m
[0m[ INFO] [1720332042.015595968]: 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] [1720332042.016103999]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720332042.016118889]:  fix extrinsic param [0m
[0m[ INFO] [1720332042.016254190]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720332042.016300915]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720332042.016340389]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720332042.016388554]: 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_01_easy.bag  --clock 
[0m[ INFO] [1720332049.199459770]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316695470.51 
[33m[ WARN] [1720332051.800870932]: gyroscope bias initial calibration 0.0108673 0.0574232 0.0987707[0m
[0m[ INFO] [1720332051.828457243]: Initialization finish![0m
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posoptimize pose graph 
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position: 2.044optimize pose graph 
optimize pose graph 
, -2.641131, 0.160169
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position: 1.794631, -2.650051, 0.260788
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position: 1.631038, -2.428395, 0.487222
position: 1.602636, -2.400787, 0.508540
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pooptimize pose graph 
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position: 1.461462, -2.255819, 0.538910
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position: 1.377848, -2.180922, 0.523786
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position: 0.965271, -1.861251, 0.563669
position: 0.921566, -1.814663, 0.564120
position: 0.875236, -1.764366, 0.565171
position: 0.829953, -1.715269, 0.577286
position: 0.783073, -1.663676, 0.590036
position: 0.733454, -1.613516, 0.605580
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position: 0.385963, -1.308750, 0.625502
position: 0.326224, -1.261600, 0.638848
position: 0.253888, -1.220optimize pose graph 
186, 0.648262
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position: -0.189884, -0.974056, 0.651786
position: -0.253688, -0.927140, 0.673470
position: -0.315154, -0.873587, 0.705717
position: -0.376692, -0.813276, 0.739462
position: -0.444574, -0.746974, 0.765103
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position: -0.570334, -0.626093, 0.794563
position: -0.628065, -0.571532, 0.795547
position: -0.681774, -0.517526, 0.791506
position: -0.727528, -0.464807, 0.787648
position: -0.762245, -0.414342, 0.785395
position: -0.786133, -0.367022, 0.779688
position: -0.810867, -0.324067, 0.768420
position: -0.832604, -0.285822, 0.752992
position: -0.851628, -0.248899, 0.734544
position: -0.869121, -0.216358, 0.714280
position: -0.882922, -0.194163, 0.690751
position: -0.893120, -0.184029, 0.662254
position: -0.904599, -0.181857, 0.630041
position: -0.912919, -0.18441optimize pose graph 
9, 0.601798
position: -0.920884, -0.186906, 0.583258
position: -0.928192, -0.189111, 0.575850
position: -0.944378, -0.192508, 0.567675
position: -0.958081, -0.194719, 0.557733
position: -0.972252, -0.196545, 0.547289
position: -0.983371, -0.196940, 0.536796
position: -0.992769, -0.200258, 0.524544
position: -1.002597, -0.203638, 0.507638
position: -1.010915, -0.207856, 0.490760
position: -1.023865, -0.211448, 0.472925
position: -1.035013, -0.213853, 0.458394
position: -1.047613, -0.213794, 0.445118
position: -1.061267, -0.211966, 0.432360
position: -1.077384, -0.208392, 0.417632
position: -1.092553, -0.201350, 0.402808
position: -1.105494, -0.191744, 0.389679
position: -1.113413, -0.178035, 0.381013
position: -1.116842, -0.160791, 0.376908
position: -1.117629, -0.141811, 0.376348
position: -1.117992, -0.122709, 0.378878
position: -1.118793, -0.104499, 0.383175
position: -1.118267, -0.089610, 0.390589
position: -1.115590, -0.078828, 0.399621
position: -1.114420, -0.071084, 0.409538
position: -1.118866, -0.0645
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720332237.935299035]: Shutdown request received.[0m
[33m[ WARN] [1720332237.935368600]: Reason given for shutdown: [user request][0m
02, 0.417591
position: -1.124242, -0.053141, 0.421066
position: -1.128539, -0.038073, 0.418604
position: -1.130707, -0.017877, 0.411101
position: -1.129324, 0.007598, 0.398914
position: -1.125006, 0.031970, 0.381098
position: -1.115456, 0.049277, 0.354241
position: -1.108433, 0.058202, 0.337504
position: -1.116483, 0.047046, 0.333745
position: -1.122453, 0.027911, 0.325057
position: -1.125265, 0.015608, 0.325429
position: -1.122954, 0.012884, 0.315264
position: -1.121941, 0.008854, 0.313739
position: -1.119562, 0.006373, 0.312610
position: -1.122023, 0.005658, 0.307290
position: -1.124569, 0.004434, 0.302522
position: -1.127269, 0.002984, 0.297755
[33m[ WARN] [1720332237.936241022]: Shutdown request received.[0m
[33m[ WARN] [1720332237.936271581]: Reason given for shutdown: [user request][0m
killed
