/SLAM-Hive/slam_hive_results/mapping_results/2656/1867_vins-mono+MH_01_easy+Image_comb_test-12.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/1049ed7e-3c3f-11ef-932c-0242ac110004/roslaunch-b002a2b51794-118.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://b002a2b51794:42873/[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 1049ed7e-3c3f-11ef-932c-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [157][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720342705.418096032]: init begins[0m
[0m[ INFO] [1720342705.422913980]: 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] [1720342705.423319059]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720342705.423334570]:  fix extrinsic param [0m
[0m[ INFO] [1720342705.423472282]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720342705.423513505]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720342705.423577450]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720342705.423658600]: 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_01_easy.bag  --clock 
[0m[ INFO] [1720342712.708784899]: 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: 316706133.99 
[0m[ INFO] [1720342716.553220317]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342716.758151267]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342716.941704413]: 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] [1720342717.541776442]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720342717.968170793]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342718.151794960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342718.336621610]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342718.753908552]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342718.940087727]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342719.139757871]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342719.337362259]: 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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720342720.815582563]: gyroscope bias initial calibration 0.00107341  0.0361287  0.0906731[0m
[0m[ INFO] [1720342720.842749436]: Initialization finish![0m
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[0m[ INFO] [1720342728.179491942]:  little feature 1[0m
position: -0.072280, 0.117716, -0.058517
[0m[ INFO] [1720342728.347639223]:  little feature 1[0m
position: -0.085910, 0.005258, -0.060384
[0m[ INFO] [1720342728.565696662]:  little feature 0[0m
position: -0.040940, -0.103814, -0.067807
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position: 0.268044, 0.042052, -0.110923
[0m[ INFO] [1720342729.562414422]:  little feature 0[0m
position: 0.246582, 0.181104, -0.126415
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position: 0.142192, 0.168865, -0.150903
position: 0.097172, 0.067603, -0.160727
[0m[ INFO] [1720342730.354091053]:  little feature 1[0m
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optimize pose graph 
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optimize pose graph 
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position: 4.390260, -4.665057, -1.085512
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position: 4.288500, -4.640332, -1.058554
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position: 4.201645, -4.621621, -1.030619
position: 4.158175, -4.631777, -0.963936
position: 4.109841,optimize pose graph 
optimize pose graph 
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position: 3.953341, -4.632554, -0.757339
position: 3.901485, -4.610125, -0.685547
position: 3.844288, -4.573782, -0.630932
position: 3.771168, -4.526601, -0.593671
position: 3.705593, -4.477849, -0.581084
position: 3.617486, -4.433122, -0.566789
position: 3.533138, -4.388945, -0.537052
position: 3.443044, -4.341912, -0.518015
position: 3.341229, -4.289841, -0.519679
position: 3.234213, -4.236754, -0.516155
position: 3.126718, -4.183268, -0.486511
position: 3.015464, -4.128032, -0.465841
position: 2.911384, -4.069911, -0.461643
position: 2.814827, -4.010404, -0.475609
position: 2.720249, -3.953978, -0.488411
position: 2.652631, -3.894640, -0.465450
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position: 2.566422, -3.786142, -0.391841
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position: 2.513318, -3.738293, -0.393060
position: 2.489375, -3.732992, -0.419935
position: 2.465446, -3.741088, -0.460807
position: 2.440882optimize pose graph 
, -3.753034, -0.516175
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position: 2.363176, -3.777311, -0.580224
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position: 2.220265, -3.742245, -0.552172
position: 2.119695, -3.708888, -0.543857
position: 2.017614, -3.665832, -0.507755
position: 1.908849, -3.617159, -0.456503
position: 1.805417, -3.565603, -0.417383
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position: 1.602463, -3.453274, -0.397329
position: 1.502724, -3.391016, -0.375838
position: 1.399943, -3.329462, -0.334079
position: 1.300179, -3.269224, -0.307683
position: 1.208557, -3.208928, -0.305545
position: 1.126124, -3.149122, -0.317285
position: 1.060501, -3.094276, -0.305304
position: 1.006222, -3.040004, -0.252144
position: 0.946242, -2.990686, -0.192790
position: 0.899953, -2.943245, -0.152904
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position: 0.806414, -2.849999, -0.061783
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position: 0.712977, -2.763571, -0.028063
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position: 0.60219optimize pose graph 
2, -2.633874, -0.046031
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position: 0.473076, -2.489204, -0.073532
position: 0.411488, -2.423518, -0.053017
position: 0.358794, -2.365649, -0.000578
position: 0.329664, -2.330027, 0.081108
position: 0.298075, -2.307089, 0.137046
position: 0.318262, -2.290528, 0.181734
position: 0.314066, -2.284347, 0.189628
position: 0.355568, -2.290733, 0.174366
position: 0.393719, -2.323738, 0.132731
position: 0.418745, -2.373112, 0.077048
position: 0.437820, -2.424669, 0.036715
position: 0.459822, -2.471575, 0.021282
position: 0.488424, -2.519725, -0.007255
position: 0.509289, -2.567597, -0.056162
position: 0.514155, -2.610774, -0.118453
position: 0.517100, -2.641164, -0.189901
position: 0.515789, -2.670095, -0.241473
position: 0.505451, -2.701617, -0.290645
position: 0.480881, -2.723410, -0.362761
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position: 0.422545, -2.760489, -0.600795
position: 0.416356, -2.783719, -0.650078
position: 0.415103, -2.80optimize pose graph 
optimize pose graph 
1249, -0.714741
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position: 0.450088, -2.829571, -0.761433
position: 0.475393, -2.846305, -0.770719
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position: 0.506530, -2.880790, -0.881017
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position: 0.589474, -2.956153, -0.966557
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position: 1.007734, -3.269166, -1.585200
position: 1.031779, -3.315172, -1.721607
position: 1.052637, -3.362909, -1.826851
position: 1.075595, -3.410897, -1.907423
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position: 1.116085, -3.494933, -1.961244
position: 1.131832, -3.522118, -1.940434
position: 1.152297, -3.533862, -1.900258
position: 1.173344, -3.523088, -1.844958
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position: 1.202458, -3.435652, -1.822634
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position: 1.503560, -3.303473, -1.562406
position: 1.569981, -3.279623, -1.483250
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position: 1.735529, -3.246465, -1.289447
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position: 1.780384, -3.285338, -1.215458
position: 1.786115, -3.313389, -1.154444
position: 1.795135, -3.334593, -1.100219
position: 1.804079, -3.346378, -1.069181
position: 1.797728, -3.340652, -1.052634
position: 1.779347, -3.325546, -1.022143
position: 1.751075, -3.297803, -0.949487
position: 1.724760, -3.270780, -0.846162
position: 1.690265, -3.232018, -0.718994
position: 1.659229, -3.184478, -0.601422
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position: 1.609865, -3.051515, -0.316780
position: 1.592448, -3.035960, -0.240787
position: 1.585690, -3.optimize pose graph 
optimize pose graph 
037038, -0.165054
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position: 1.592894, -3.051184, -0.008134
position: 1.589505, -3.055287, 0.060249
position: 1.581826, -3.057942, 0.098747
position: 1.576296, -3.056126, 0.107850
position: 1.572211, -3.040070, 0.093539
position: 1.566456, -3.007207, 0.082357
position: 1.553036, -2.966893, 0.094859
position: 1.535791, -2.921111, 0.099265
position: 1.516793, -2.867275, 0.106529
position: 1.488004, -2.809462, 0.131581
position: 1.444063, -2.738277, 0.167340
position: 1.380296, -2.660281, 0.183545
position: 1.307323, -2.570664, 0.178176
position: 1.222626, -2.480683, 0.164295
position: 1.124965, -2.387452, 0.171847
position: 1.034453, -2.289315, 0.200662
position: 0.957524, -2.186326, 0.217037
position: 0.883694, -2.076674, 0.216982
position: 0.807573, -1.960506, 0.228496
position: 0.720729, -1.839440, 0.256826
position: 0.631441, -1.722327, 0.265336
position: 0.533260, -1.605819, 0.261241
position: 0.421982, -1.493059, 0.277697
position: 0.299560, -1.382416, 0.302617
posioptimize pose graph 
optimize pose graph 
tion: 0.167035, -1.271342, 0.307091
position: 0.030195, -1.159763, 0.299362
position: -0.101250, -1.041629, 0.314254
position: -0.216298, -0.908172, 0.367459
position: -0.309057, -0.771478, 0.427985
position: -0.398599, -0.642797, 0.458757
position: -0.484856, -0.521883, 0.455999
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position: -0.583838, -0.247722, 0.400271
position: -0.600424, -0.200293, 0.353955
position: -0.610556, -0.186836, 0.293334
position: -0.627272, -0.183139, 0.249244
position: -0.647266, -0.184153, 0.234071
position: -0.677012, -0.183815, 0.213464
position: -0.697354, -0.184725, 0.193719
position: -0.718078, -0.187381, 0.160560
position: -0.742666, -0.189281, 0.129383
position: -0.764713, -0.181896, 0.103759
position: -0.791067, -0.165504, 0.075042
position: -0.803670, -0.139189, 0.055471
position: -0.801298, -0.104609, 0.050555
position: -0.794928, -0.069834, 0.058193
position: -0.791332, -0.046768, 0.070570
position: -0.788780, -0.036759, 0.090815
positoptimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720342901.356329296]: Shutdown request received.[0m
[33m[ WARN] [1720342901.356396095]: Reason given for shutdown: [user request][0m
ion: -0.792811, -0.011040, 0.095736
position: -0.791810, 0.031756, 0.073779
position: -0.768560, 0.066251, 0.024501
position: -0.768220, 0.057889, 0.002399
position: -0.786168, 0.032058, -0.008479
position: -0.787820, 0.030941, -0.025320
position: -0.792133, 0.033898, -0.037993
position: -0.798263, 0.031955, -0.050232
[33m[ WARN] [1720342901.357270591]: Shutdown request received.[0m
[33m[ WARN] [1720342901.357297629]: Reason given for shutdown: [user request][0m
killed
