/SLAM-Hive/slam_hive_results/mapping_results/2657/1868_vins-mono+MH_01_easy+Image_comb_test-13.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/9ed72fe8-3c3f-11ef-b83e-0242ac110004/roslaunch-f0c030fa521e-119.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://f0c030fa521e:33195/[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 [130][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 9ed72fe8-3c3f-11ef-b83e-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [143][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [161][0m
[0m[ INFO] [1720342944.595309899]: init begins[0m
[0m[ INFO] [1720342944.599960242]: 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] [1720342944.600428445]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720342944.600448566]:  fix extrinsic param [0m
[0m[ INFO] [1720342944.600642618]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720342944.600687023]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720342944.600732184]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720342944.600787828]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [182][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] [1720342951.857612298]: 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: 316706373.14 
[0m[ INFO] [1720342955.690137765]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342955.885144815]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342956.061321042]: 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] [1720342956.679253801]: 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!
[0m[ INFO] [1720342957.267702696]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342957.475346218]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342957.677035314]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342957.886835288]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342958.086129236]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342958.282840343]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720342958.477992957]: 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!
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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720342960.155778478]: gyroscope bias initial calibration -0.0015556  0.0389074  0.0809961[0m
[0m[ INFO] [1720342960.184189676]: Initialization finish![0m
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[0m[ INFO] [1720342967.477357320]:  little feature 0[0m
position: -0.107417, -0.005367, -0.226658
[0m[ INFO] [1720342967.700810385]:  little feature 1[0m
position: -0.061489, -0.115033, -0.234284
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position: 0.137256, -0.218214, -0.253622
position: 0.210358, -0.131988, -0.273262
[0m[ INFO] [1720342968.496525931]:  little feature 1[0m
position: 0.237289, 0.020605, -0.285062
[0m[ INFO] [1720342968.704663816]:  little feature 1[0m
position: 0.212842, 0.155888, -0.299332
position: 0.157569, 0.198350, -0.311611
position: 0.100512, 0.140316, -0.326407
[0m[ INFO] [1720342969.297988320]:  little feature 1[0m
position: 0.040512, 0.028373, -0.340628
[0m[ INFO] [1720342969.516557775]:  little feature 1[0m
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optimize pose graph 
optimize pose graph 
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position: 6.191687,optimize pose graph 
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position: 4.690739optimize pose graph 
optimize pose graph 
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position: 1.2345optimize pose graph 
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position: 0.903optimize pose graph 
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position: 2.0optimize pose graph 
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position: 1.optimize pose graph 
optimize pose graph 
optimize pose graph 
234609, -2.222069, -0.024054
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position: -0.371706, -0.329077, -0.083011
position: -0.398415, -0.331899, -0.113782
position: -0.422optimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720343140.405300928]: Shutdown request received.[0m
[33m[ WARN] [1720343140.405358717]: Reason given for shutdown: [user request][0m
428, -0.323901, -0.139239
position: -0.450359, -0.306623, -0.169854
position: -0.462588, -0.280242, -0.189123
position: -0.461177, -0.246419, -0.193426
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position: -0.453942, -0.101456, -0.281709
position: -0.456571, -0.103815, -0.291815
[33m[ WARN] [1720343140.406182247]: Shutdown request received.[0m
[33m[ WARN] [1720343140.406213567]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/9ed72fe8-3c3f-11ef-b83e-0242ac110004/rosout-1*.log[0m
[rosout-1] restarting process
