/SLAM-Hive/slam_hive_results/mapping_results/2675/1886_vins-mono+MH_02_easy+Image_comb_test-1.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/5ca1f612-3c49-11ef-b433-0242ac110004/roslaunch-394523a5c446-119.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://394523a5c446:43169/[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 5ca1f612-3c49-11ef-b433-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [143][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [146][0m
[1mprocess[vins_estimator-3]: started with pid [161][0m
[0m[ INFO] [1720347128.787363040]: init begins[0m
[0m[ INFO] [1720347128.792393150]: 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] [1720347128.792907497]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720347128.792927896]:  fix extrinsic param [0m
[0m[ INFO] [1720347128.793076822]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720347128.793109328]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720347128.793137666]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720347128.793185195]: 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_02_easy.bag  --clock 
[0m[ INFO] [1720347135.477021060]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316710278.86 
[33m[ WARN] [1720347139.043090360]: gyroscope bias initial calibration -0.00803501   0.0303224   0.0733671[0m
[0m[ INFO] [1720347139.093426800]: Initialization finish![0m
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position: -0.040220, -0.08130optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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position: 3.5728optimize pose graph 
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6755
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01466
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position: -1.107664, -0.779883, 0.439518
position: -1.106986, -0.769240, 0.441637
position: -1.101923, -0.757912, 0.448621
position: -1.095941, -0.747116, 0.453965
position: -1.091430, -0.736370, 0.455402
position: -1.086592, -0.729206, 0.optimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720347290.209389596]: Shutdown request received.[0m
[33m[ WARN] [1720347290.209446199]: Reason given for shutdown: [user request][0m
453642
position: -1.079143, -0.728441, 0.447353
position: -1.069944, -0.735182, 0.436640
position: -1.060507, -0.746217, 0.421599
position: -1.049496, -0.758050, 0.402499
position: -1.036641, -0.768002, 0.379006
position: -1.029562, -0.775421, 0.365913
position: -1.024302, -0.778056, 0.356329
position: -1.027491, -0.782903, 0.352274
position: -1.028579, -0.785062, 0.344501
position: -1.026257, -0.782307, 0.343940
position: -1.025545, -0.781027, 0.343909
position: -1.023501, -0.778273, 0.341887
position: -1.022368, -0.776248, 0.340263
position: -1.021757, -0.774799, 0.339042
position: -1.021842, -0.774087, 0.338200
position: -1.022297, -0.773632, 0.337496
position: -1.023540, -0.774841, 0.337266
[33m[ WARN] [1720347290.210392854]: Shutdown request received.[0m
[33m[ WARN] [1720347290.210424118]: Reason given for shutdown: [user request][0m
killed
optimize pose graph 
