/SLAM-Hive/slam_hive_results/mapping_results/2658/1869_vins-mono+MH_01_easy+Image_comb_test-14.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/27979624-3c40-11ef-b853-0242ac110004/roslaunch-0b03f44e272f-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://0b03f44e272f:35327/[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 27979624-3c40-11ef-b853-0242ac110004[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] [1720343174.047774058]: init begins[0m
[0m[ INFO] [1720343174.052802756]: 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] [1720343174.053281785]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720343174.053305237]:  fix extrinsic param [0m
[0m[ INFO] [1720343174.053462144]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720343174.053498870]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720343174.053533642]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720343174.053590122]: 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] [1720343181.247990909]: 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: 316706602.53 
[0m[ INFO] [1720343185.072642432]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343185.280702042]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343185.456742650]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343185.670131826]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343185.848297147]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343186.063912576]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343186.287590270]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343186.487389900]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343186.680232540]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343186.855789725]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343187.055915684]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343187.257364655]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343187.491495894]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343187.664155377]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343187.857978135]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343188.058406928]: 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] [1720343188.641300232]: 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!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720343189.926361723]: gyroscope bias initial calibration -0.0141113  0.0528672   0.108653[0m
[0m[ INFO] [1720343189.953344046]: Initialization finish![0m
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position: -0.200268, -0.155658, -0.123477
[0m[ INFO] [1720343197.086795088]:  little feature 0[0m
position: -0.129628, -0.254043, -0.131478
position: -0.013063, -0.322405, -0.139759
position: 0.092686, -0.312255, -0.149755
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position: -0.035731, 0.009039, -0.222215
position: -0.066664, -0.126887, -0.240063
[0m[ INFO] [1720343198.891928978]:  little feature 0[0m
position: -0.105214, -0.221302, -0.245505
position: -0.173500, -0.205844, -0.239935
position: -0.253899, -0.150255, -0.223835
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poptimize pose graph 
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position: 2.326792, -3.057709, -0.709733
position: 2.298609, -3.017391, -0.603712
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position: 2.219131, -2.930867, -0.334518
position: 2.208439, -2.931697, -0.256848
position: 2.209023, -2.932960, -0.179707
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position: 2.210317, -2.940601, -0.024268
position: 2.206426, -2.947425, 0.012281
position: 2.201324, -2.948980, 0.020892
position: 2.192816, -2.936343, 0.008409
position: 2.179078, -2.907008, -0.003495
position: 2.154585, -2.872044, 0.005532
position: 2.124016, -2.831835, 0.008180
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position: 1.983336, -2.681314, 0.073513
position: 1.900300, -2.622890, 0.090098
position: 1.812248, -2.553841, 0.083096
position: 1.711979, -2.486848, 0.067488
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position: 1.483032, -2.347898, 0.102513
position: 1.379573, -2.269480, 0.116190
position: 1.27optimize pose graph 
optimize pose graph 
9673, -2.182467, 0.112769
position: 1.179078, -2.090549, 0.124118
position: 1.070285, -2.000233, 0.151947
position: 0.960264, -1.913252, 0.160206
position: 0.843310, -1.829822, 0.157146
position: 0.711325, -1.752383, 0.174284
position: 0.572193, -1.682685, 0.197963
position: 0.421630, -1.616089, 0.201595
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position: -0.273357, -1.178190, 0.356524
position: -0.394853, -1.082002, 0.353963
position: -0.478615, -0.991279, 0.348343
position: -0.530073, -0.909530, 0.333870
position: -0.570293, -0.841935, 0.302177
position: -0.598044, -0.803074, 0.254560
position: -0.620243, -0.787923, 0.197405
position: -0.634577, -0.791091, 0.154914
position: -0.644519, -0.793341, 0.140412
position: -0.671569, -0.799083, 0.118184
position: -0.689151, -0.803299, 0.098397
position: -0.709560, -0.811836, 0.064339
position: -0.734038, -0.821039, 0.033547
position: -0.759090, -0optimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720343369.897545955]: Shutdown request received.[0m
[33m[ WARN] [1720343369.897602011]: Reason given for shutdown: [user request][0m
.820689, 0.007451
position: -0.790382, -0.811547, -0.022127
position: -0.811814, -0.790754, -0.043553
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position: -0.850222, -0.613912, -0.137711
position: -0.857272, -0.619481, -0.149783
[33m[ WARN] [1720343369.898584422]: Shutdown request received.[0m
[33m[ WARN] [1720343369.898607315]: Reason given for shutdown: [user request][0m
killed
