/SLAM-Hive/slam_hive_results/mapping_results/2667/1878_vins-mono+MH_01_easy+Image_comb_test-23.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/0a6f24ae-3c45-11ef-996f-0242ac110004/roslaunch-200e5dfdc22e-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://200e5dfdc22e:42579/[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 0a6f24ae-3c45-11ef-996f-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] [1720345272.570969118]: init begins[0m
[0m[ INFO] [1720345272.575755039]: 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] [1720345272.576262343]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720345272.576295282]:  fix extrinsic param [0m
[0m[ INFO] [1720345272.576487388]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720345272.576559007]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720345272.576599876]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720345272.576653300]: 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] [1720345279.848745504]: 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: 316708701.13 
[0m[ INFO] [1720345287.546011146]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720345305.554268494]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345306.049429090]: IMU excitation not enouth![0m
[0m[ INFO] [1720345306.049547305]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345306.559261444]: IMU excitation not enouth![0m
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[0m[ INFO] [1720345307.050600747]: IMU excitation not enouth![0m
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[0m[ INFO] [1720345308.540605554]: IMU excitation not enouth![0m
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[0m[ INFO] [1720345309.052324701]: IMU excitation not enouth![0m
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[0m[ INFO] [1720345310.038759201]: IMU excitation not enouth![0m[0m[ INFO] [1720345310.540275682]: IMU excitation not enouth![0m
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[0m[ INFO] [1720345446.048688219]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720345447.049045414]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345447.549998839]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345448.063540978]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720345449.035936624]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345449.547606192]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720345450.556655638]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345451.031665360]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345451.547620168]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345452.046472310]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345452.562203925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345453.046441184]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345453.555462789]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345454.047990001]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345454.548090632]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345455.058402099]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345455.554392050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345456.046894475]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345456.547887038]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345457.058092964]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345457.537953172]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345458.049402756]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345458.557081821]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345459.038781146]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345459.555345763]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345460.045675931]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345460.549094473]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345461.032114730]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345461.548856050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345462.043421883]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345462.534266702]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345463.046686379]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345463.553696237]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345464.049004107]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345464.557255294]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720345465.049454813]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720345468.463177849]: Shutdown request received.[0m
[33m[ WARN] [1720345468.463231723]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720345468.463974680]: Shutdown request received.[0m
[33m[ WARN] [1720345468.463995057]: Reason given for shutdown: [user request][0m
killed
