/SLAM-Hive/slam_hive_results/mapping_results/2661/1872_vins-mono+MH_01_easy+Image_comb_test-17.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/c8ea97e6-3c41-11ef-9068-0242ac110004/roslaunch-a194f30eadb4-118.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://a194f30eadb4:33227/[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 c8ea97e6-3c41-11ef-9068-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720343874.166196434]: init begins[0m
[0m[ INFO] [1720343874.170823563]: 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] [1720343874.171259100]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720343874.171284901]:  fix extrinsic param [0m
[0m[ INFO] [1720343874.171446023]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720343874.171493331]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720343874.171526360]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720343874.171592318]: 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] [1720343881.433462183]: 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: 316707302.72 
[0m[ INFO] [1720343885.237853128]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720343909.839233438]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343910.826610449]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343912.025243113]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343912.238609587]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343912.636675022]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343913.846235603]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343914.244547323]: IMU excitation not enouth![0m
[0m[ INFO] [1720343914.244691262]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343914.436133240]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343914.638499838]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343914.839245931]: IMU excitation not enouth![0m
[0m[ INFO] [1720343914.839385058]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343915.050895571]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343915.829298950]: IMU excitation not enouth![0m
[0m[ INFO] [1720343915.829451319]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343916.031033804]: IMU excitation not enouth![0m
[0m[ INFO] [1720343916.031230687]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343916.229143991]: IMU excitation not enouth![0m
[0m[ INFO] [1720343916.229365733]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343916.630544870]: IMU excitation not enouth![0m
[0m[ INFO] [1720343916.630646236]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343916.829022816]: IMU excitation not enouth![0m
[0m[ INFO] [1720343916.829177795]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343917.028568530]: IMU excitation not enouth![0m
[0m[ INFO] [1720343917.028761537]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343917.229561517]: IMU excitation not enouth![0m
[0m[ INFO] [1720343917.229757679]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343917.435739363]: IMU excitation not enouth![0m
[0m[ INFO] [1720343917.435931430]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343917.626748290]: IMU excitation not enouth![0m
[0m[ INFO] [1720343917.626843767]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343917.830736916]: IMU excitation not enouth![0m
[0m[ INFO] [1720343917.830910659]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343918.039318219]: IMU excitation not enouth![0m
[0m[ INFO] [1720343918.039545915]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343918.231131190]: IMU excitation not enouth![0m
[0m[ INFO] [1720343918.231193734]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343918.426815655]: IMU excitation not enouth![0m
[0m[ INFO] [1720343918.426882784]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343918.631240799]: IMU excitation not enouth![0m
[0m[ INFO] [1720343918.631450581]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343918.828542538]: IMU excitation not enouth![0m
[0m[ INFO] [1720343918.828787644]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343919.029442650]: IMU excitation not enouth![0m
[0m[ INFO] [1720343919.029605026]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343919.228910982]: IMU excitation not enouth![0m
[0m[ INFO] [1720343919.229062897]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343919.439776561]: IMU excitation not enouth![0m
[0m[ INFO] [1720343919.439983720]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343919.628807198]: IMU excitation not enouth![0m
[0m[ INFO] [1720343919.628984353]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343919.826251234]: IMU excitation not enouth![0m
[0m[ INFO] [1720343919.826308498]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343920.028889308]: IMU excitation not enouth![0m
[0m[ INFO] [1720343920.029032170]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343920.228970624]: IMU excitation not enouth![0m
[0m[ INFO] [1720343920.229134711]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343920.431375221]: IMU excitation not enouth![0m
[0m[ INFO] [1720343920.431596597]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343920.637092615]: IMU excitation not enouth![0m
[0m[ INFO] [1720343920.637241898]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343920.828882116]: IMU excitation not enouth![0m
[0m[ INFO] [1720343920.829025989]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343921.028815053]: IMU excitation not enouth![0m
[0m[ INFO] [1720343921.029078082]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343921.229174447]: IMU excitation not enouth![0m
[0m[ INFO] [1720343921.229374011]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343921.431288230]: IMU excitation not enouth![0m
[0m[ INFO] [1720343921.431336274]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343921.628619584]: IMU excitation not enouth![0m
[0m[ INFO] [1720343921.628845299]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343921.828090732]: IMU excitation not enouth![0m
[0m[ INFO] [1720343921.828307014]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343922.030312060]: IMU excitation not enouth![0m
[0m[ INFO] [1720343922.030561276]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343922.227885498]: IMU excitation not enouth![0m
[0m[ INFO] [1720343922.228107643]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343922.424961171]: IMU excitation not enouth![0m
[0m[ INFO] [1720343922.425022645]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343922.629139941]: IMU excitation not enouth![0m
[0m[ INFO] [1720343922.629323963]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343922.830581406]: IMU excitation not enouth![0m
[0m[ INFO] [1720343922.830847996]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343923.028010400]: IMU excitation not enouth![0m
[0m[ INFO] [1720343923.028238385]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343923.224864887]: IMU excitation not enouth![0m
[0m[ INFO] [1720343923.224922930]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343923.441718778]: IMU excitation not enouth![0m
[0m[ INFO] [1720343923.441905065]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343923.634850169]: IMU excitation not enouth![0m
[0m[ INFO] [1720343923.634990925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343923.842498005]: IMU excitation not enouth![0m
[0m[ INFO] [1720343923.842635888]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343924.028100529]: IMU excitation not enouth![0m
[0m[ INFO] [1720343924.028312296]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343924.224772647]: IMU excitation not enouth![0m
[0m[ INFO] [1720343924.224842021]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343924.428049436]: IMU excitation not enouth![0m
[0m[ INFO] [1720343924.428226842]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343924.629433700]: IMU excitation not enouth![0m
[0m[ INFO] [1720343924.629644393]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343924.827504004]: IMU excitation not enouth![0m
[0m[ INFO] [1720343924.827752090]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343925.027862409]: IMU excitation not enouth![0m
[0m[ INFO] [1720343925.028028566]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343925.230071864]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343925.427816111]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343925.625061498]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343925.827754437]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343926.027590700]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343926.629184058]: IMU excitation not enouth![0m
[0m[ INFO] [1720343926.629322129]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343926.827972047]: IMU excitation not enouth![0m
[0m[ INFO] [1720343926.828162044]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720343927.027996712]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343927.229295630]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343927.442633623]: IMU excitation not enouth![0m
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[0m[ INFO] [1720343927.633793534]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720344052.832155224]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344053.023878206]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344053.219552556]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344053.423461459]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344053.633712554]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344053.832414972]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344054.032670651]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344054.237034736]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344054.433373953]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344054.625372978]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344054.821397802]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344055.034232115]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344055.234123220]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344055.421322708]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344055.627004359]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344055.846271028]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344056.033242865]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344056.233958853]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344056.444310777]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344056.643502657]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344056.833178003]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344057.033446398]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344057.233262657]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344057.421250092]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344057.632180555]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344057.844088280]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344058.022985143]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344058.245152720]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344058.424870444]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344058.644815228]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344058.847357716]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344059.023781551]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344059.232913533]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344059.433802149]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344059.633022682]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344059.822295561]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344060.019755124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344060.222155139]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344060.433330551]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344060.627631616]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344060.843854537]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344061.025974785]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344061.220529118]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344061.435008682]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344061.631508700]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344061.831780747]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344062.033205035]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344062.245519191]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344062.434315492]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344062.620669198]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344062.842194843]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344063.031297160]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344063.251898601]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344063.434799069]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344063.643632597]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344063.832626050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344064.032743791]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344064.224778255]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344064.432925536]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344064.635490888]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344064.834808808]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344065.033885925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344065.233368340]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344065.437216113]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344065.620365535]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344065.820750528]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344066.044770565]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344066.231126423]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344066.433201820]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344066.632629462]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720344070.076307472]: Shutdown request received.[0m
[33m[ WARN] [1720344070.076374469]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720344070.077311504]: Shutdown request received.[0m
[33m[ WARN] [1720344070.077341799]: Reason given for shutdown: [user request][0m
killed
