/SLAM-Hive/slam_hive_results/mapping_results/2664/1875_vins-mono+MH_01_easy+Image_comb_test-20.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/6b689d6e-3c43-11ef-99a6-0242ac110004/roslaunch-cf5b34273322-117.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://cf5b34273322:44429/[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 6b689d6e-3c43-11ef-99a6-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720344576.341774823]: init begins[0m
[0m[ INFO] [1720344576.346747297]: 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] [1720344576.347250260]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720344576.347274224]:  fix extrinsic param [0m
[0m[ INFO] [1720344576.347439591]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720344576.347480349]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720344576.347514037]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720344576.347566168]: 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] [1720344583.549303762]: 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: 316708004.83 
[0m[ INFO] [1720344591.292440495]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344591.777367168]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344592.275193640]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344592.794449781]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344593.276572412]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344593.764142057]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344594.291200591]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344594.783071890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344595.293369653]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344595.780895233]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344596.293925578]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344596.769095539]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344597.249859834]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344597.783640119]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344598.267384029]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344598.785837593]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344599.282524726]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344599.779526909]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344600.283758024]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344600.776745304]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344601.279536030]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344601.779486552]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344602.293412982]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344602.784581505]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344603.273044682]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344603.789516885]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344604.289476836]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344604.781553271]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344605.257307606]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344605.765273379]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344606.259221439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344606.758093709]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344607.256096594]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344607.741381165]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344608.262355526]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344608.753917759]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344609.239992133]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344609.743379187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344610.243210177]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344610.758662406]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344611.265831888]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344611.759934254]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344612.258853221]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344612.755710553]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344613.256191549]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344613.755839712]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344614.262723763]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344614.739823926]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344615.256042384]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344615.755269414]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344616.256785090]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344616.740575169]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344617.258416120]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344617.757214791]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344618.259082900]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344618.749515310]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344619.249673618]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344619.758944890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344620.244213876]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344620.758150227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344621.245377387]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344621.758340162]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344622.257110732]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344622.769735454]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344623.272450046]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344623.758398972]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344624.252018405]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344624.756986968]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344625.254321027]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344625.754437758]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344626.254894121]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344626.741767871]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344627.255318512]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344627.754390597]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344628.261590606]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344628.767221988]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344629.256458308]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344629.757303502]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344630.278832559]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344630.781606892]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344631.249122646]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344631.759836726]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344632.271374552]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344632.773478856]: 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!
[0m[ INFO] [1720344634.288266962]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344635.284226955]: 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] [1720344636.767966849]: 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!
[33m[ WARN] [1720344638.317866561]: gyroscope bias initial calibration -0.00377889    0.018709    0.074791[0m
[0m[ INFO] [1720344638.351410491]: Initialization finish![0m
position: 1.310804, -1.410912, -0.104953
position: 1.608570, -1.551806, -0.172095
position: 1.958110, -1.719131, -0.165632
position: 2.380481, -1.970489, -0.141005
position: 2.712813, -2.135630, -0.116157
position: 3.072796, -2.280000, -0.085512
position: 3.483143, -2.499567, 0.039693
position: 3.887200, -2.715949, 0.163064
position: 4.189040, -2.827005, 0.109769
position: 4.465662, -2.875197, 0.133420
position: 4.823359, -2.919915, 0.204822
position: 4.921081, -2.859588, 0.128782
position: 5.189453, -2.916635, 0.170620
position: 5.464214, -3.058755, 0.048507
position: 5.710642, -3.181678, 0.043517
position: 5.904492, -3.288294, 0.069337
position: 6.055869, -3.378126, 0.067852
position: 6.195700, -3.466795, 0.010224
position: 6.362094, -3.561132, 0.028550
position: 6.524365, -3.648495, -0.055547
position: 6.615629, -3.717030, -0.071623
position: 6.735828, -3.809648, -0.048517
position: 6.951576, -3.921059, -0.009514
position: 7.231828, -4.094264, -0.108193
position: 7.444199, -4.319681, -0.254251
position: 7.765998, -4.524740, -0.294367
position: 8.189581, -4.737069, -0.213408
position: 8.529021, -5.017304, -0.153344
position: 8.745043, -5.266746, -0.045153
position: 8.877315, -5.515247, -0.021496
position: 8.899638, -5.777893, -0.052493
position: 8.927841, -5.987146, -0.164192
position: 8.971886, -6.189501, -0.124932
position: 8.993815, -6.344544, 0.049404
position: 9.117589, -6.568680, 0.126597
position: 8.992662, -6.686306, 0.070389
position: 8.840531, -6.776199, 0.124708
position: 8.730723, -6.878449, 0.190289
position: 8.476822, -6.844591, 0.119137
position: 8.146674, -6.757761, 0.001027
position: 7.857136, -6.826532, -0.000611
position: 7.617043, -6.938597, 0.020113
position: 7.513246, -7.110598, 0.022201
position: 7.304329, -6.950421, 0.120426
position: 7.151667, -6.874712, 0.097544
position: 6.996090, -6.691878, 0.058982
position: 6.805694, -6.468831, -0.051072
position: 6.542959, -6.288677, 0.010440
position: 6.291527, -6.085153, -0.024908
position: 6.065797, -5.817962, -0.076729
position: 5.722875, -5.540358, -0.140292
position: 5.342272, -5.276994, -0.212076
position: 5.030818, -5.079926, -0.357008
position: 4.775223, -4.863203, -0.440884
position: 4.660238, -4.743242, -0.605495
position: 4.632327, -4.833133, -0.736813
position: 4.654696, -4.971032, -0.953573
position: 4.794862, -5.039826, -1.060692
position: 4.948889, -5.008146, -1.008847
position: 5.132442, -4.935051, -1.033435
position: 5.247005, -4.887994, -1.118549
position: 5.240346, -4.938432, -1.249444
position: 5.317443, -5.219531, -1.291852
position: 5.562478, -5.544997, -1.409332
position: 5.900282, -5.786008, -1.404186
position: 6.244654, -5.995877, -1.326124
position: 6.615329, -6.180643, -1.271637
position: 6.946603, -6.273478, -1.262538
position: 7.214801, -6.341257, -1.235276
position: 7.445983, -6.406324, -1.286167
position: 7.632371, -6.548974, -1.295013
position: 7.801705, -6.771282, -1.389776
position: 8.135929, -6.868015, -1.428419
position: 8.535093, -6.969059, -1.492536
position: 8.935706, -6.955992, -1.443001
position: 9.028279, -6.709093, -1.363574
position: 8.620138, -6.123392, -1.189045
position: 7.872109, -5.563521, -0.977095
[0m[ INFO] [1720344677.287804413]:  little feature 1[0m
position: 7.210093, -5.222080, -0.800726
position: 6.937930, -5.223542, -0.707593
position: 6.741822, -5.297618, -0.759026
position: 6.557157, -5.508386, -0.743497
position: 6.718430, -5.747520, -0.854524
position: 6.972163, -5.894077, -1.017965
position: 7.160229, -6.081416, -1.126746
position: 7.476770, -6.399936, -1.122718
position: 7.844902, -6.631948, -1.248298
position: 8.239133, -6.797046, -1.332924
position: 8.654074, -6.930178, -1.380902
position: 9.012003, -6.970831, -1.446992
position: 9.274877, -7.011601, -1.437131
position: 9.512024, -7.106480, -1.405756
position: 9.708772, -7.098838, -1.454327
position: 9.875990, -7.038578, -1.452702
position: 9.915319, -6.970177, -1.259879
position: 9.521820, -6.760935, -1.112150
position: 9.270836, -6.499600, -1.145200
position: 9.068727, -6.197852, -1.102904
position: 8.816727, -5.902163, -1.054686
position: 8.552896, -5.624256, -1.040099
position: 8.264203, -5.344776, -1.003895
position: 7.925574, -5.074051, -1.056561
position: 7.609395, -4.817192, -1.017389
position: 7.297522, -4.583901, -0.972656
position: 6.958228, -4.447485, -1.000954
position: 6.567870, -4.310262, -0.992801
position: 6.199581, -4.140052, -1.053883
position: 5.880057, -3.975097, -1.053432
position: 5.588866, -3.819867, -1.021956
position: 5.314204, -3.693378, -1.060666
position: 5.074533, -3.612829, -1.209529
position: 4.834601, -3.529434, -1.333487
position: 4.578182, -3.384225, -1.391330
position: 4.370668, -3.217195, -1.265097
position: 4.303065, -3.067171, -1.164349
position: 4.392594, -2.927695, -1.065858
position: 4.640131, -2.980655, -1.078991
position: 4.838425, -3.300888, -0.952941
[0m[ INFO] [1720344697.254522790]:  little feature 1[0m
position: 4.947974, -3.660837, -0.800648
position: 4.986908, -4.016322, -0.536693
position: 4.974820, -4.265175, -0.319443
position: 4.968079, -4.448075, -0.251508
position: 5.152597, -4.521134, -0.248308
position: 5.361481, -4.476115, -0.259914
position: 5.496382, -4.419840, -0.371145
position: 5.611326, -4.466706, -0.340634
position: 5.716138, -4.488992, -0.395694
position: 5.775030, -4.490248, -0.436771
position: 5.782760, -4.494074, -0.466082
position: 5.656434, -4.378048, -0.366573
position: 5.481031, -4.209314, -0.339445
position: 5.326812, -4.011835, -0.413613
position: 5.214713, -3.793289, -0.491712
position: 5.153842, -3.650637, -0.479037
position: 5.119105, -3.613729, -0.544371
position: 5.036649, -3.690450, -0.719484
position: 4.917004, -3.892750, -0.776507
position: 4.840834, -4.023987, -0.742500
position: 4.783036, -4.172669, -0.799033
position: 4.737673, -4.330041, -0.976648
position: 4.810895, -4.503418, -1.145489
position: 4.854625, -4.704649, -1.153563
position: 4.868744, -4.900581, -1.214999
position: 4.899769, -5.136536, -1.259223
position: 5.064200, -5.406359, -1.339221
position: 5.341536, -5.702218, -1.395567
position: 5.671370, -6.020812, -1.429209
position: 5.961651, -6.331475, -1.485455
position: 6.329589, -6.627680, -1.441308
position: 6.770039, -6.886919, -1.305915
position: 7.266988, -7.203189, -1.351341
position: 7.705777, -7.551280, -1.427347
position: 8.039605, -7.833901, -1.475037
position: 8.332242, -7.945238, -1.514615
position: 8.668650, -7.937218, -1.573369
position: 9.034454, -7.881689, -1.724009
position: 9.382373, -7.852926, -1.792978
position: 9.636992, -7.692447, -1.770703
position: 9.781865, -7.407312, -1.688689
position: 9.818069, -7.107811, -1.492236
position: 9.588404, -6.705830, -1.345330
position: 9.326361, -6.309699, -1.120165
position: 9.000639, -6.010015, -1.006755
position: 8.686767, -5.796962, -1.003171
position: 8.467654, -5.630261, -0.892818
position: 8.332685, -5.518414, -0.861749
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position: 1.859858, -2.999263, -1.211756
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position: 1.950661, -3.060009, -0.979514
position: 1.901353, -3.049532, -0.942014
position: 1.828758, -2.985546, -0.754369
position: 1.760601, -2.882737, -0.449145
position: 1.728401, -2.773526, -0.205760
position: 1.709541, -2.756449, 0.001272
position: 1.712892, -2.750646, 0.223589
position: 1.700728, -2.716732, 0.299558
position: 1.680383, -2.601491, 0.317115
position: 1.610882, -2.450160, 0.351364
position:
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720344772.174378706]: Shutdown request received.[0m
[33m[ WARN] [1720344772.174433200]: Reason given for shutdown: [user request][0m
 1.460920, -2.229323, 0.414727
position: 1.273728, -1.978685, 0.353361
position: 1.043210, -1.681844, 0.401284
position: 0.842321, -1.344868, 0.418167
position: 0.620438, -0.996308, 0.433747
position: 0.313889, -0.661983, 0.483416
position: -0.014028, -0.342967, 0.483207
position: -0.222418, 0.015447, 0.615604
position: -0.388136, 0.320407, 0.618006
position: -0.463930, 0.529776, 0.572107
position: -0.475464, 0.505393, 0.449023
position: -0.426780, 0.336579, 0.381029
position: -0.469623, 0.317455, 0.306372
position: -0.536044, 0.358190, 0.249632
position: -0.524477, 0.449192, 0.260482
position: -0.533763, 0.503677, 0.310817
position: -0.529676, 0.603314, 0.248250
position: -0.592136, 0.578845, 0.198553
position: -0.634706, 0.555857, 0.162327
[33m[ WARN] [1720344772.175233289]: Shutdown request received.[0m
[33m[ WARN] [1720344772.175256829]: Reason given for shutdown: [user request][0m
killed
