/SLAM-Hive/slam_hive_results/mapping_results/2676/1887_vins-mono+MH_02_easy+Image_comb_test-2.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/d113c3ae-3c49-11ef-ab37-0242ac110004/roslaunch-1db30582238f-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://1db30582238f:35627/[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 d113c3ae-3c49-11ef-ab37-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [158][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720347323.809727560]: init begins[0m
[0m[ INFO] [1720347323.814546731]: 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] [1720347323.815021847]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720347323.815046693]:  fix extrinsic param [0m
[0m[ INFO] [1720347323.815203884]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720347323.815245293]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720347323.815278430]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720347323.815327921]: 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_02_easy.bag  --clock 
[0m[ INFO] [1720347331.104424588]: 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: 316710474.49 
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position: -1.275899, -0.722882, 0.508459
position: -1.283522, -0.719585, 0.498872
position: -1.291169, -0.717605, 0.489765
position: -1.298320, -0.718033, 0.479570
position: -1.306302, -0.719823, 0.469604
position: -1.315406, -0.721851, 0.459251
position: -1.325577, -0.722374, 0.446753
position: -1.336359, -0.721513, 0.434587
position: -1.350110, -0.718796, 0.419195
position: -1.363457, -0.714043, 0.405087
position: -1.372527, -0.707115, 0.394221
position: -1.378034, -0.698071, 0.387103
position: -1.384116, -0.689843, 0.380003
position: -1.392302, -0.682655, 0.371258
position: -1.399997, -0.675161, 0.363630
position: -1.404934, -0.666291, 0.359384
position: -1.404918, -0.655680, 0.361349
position: -1.400654, -0.644616, 0.368373
position: -1.395716, -0.633860, 0.373541
position: -1.391451, -0.622753, 0.375021
position: -1.
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720347485.826211194]: Shutdown request received.[0m
[33m[ WARN] [1720347485.826258638]: Reason given for shutdown: [user request][0m
386775, -0.614665, 0.373966
position: -1.379642, -0.613762, 0.367370
position: -1.370451, -0.620400, 0.356985
position: -1.360457, -0.630810, 0.342444
position: -1.349270, -0.643135, 0.325748
position: -1.334447, -0.652876, 0.305451
position: -1.328221, -0.661144, 0.293796
position: -1.324963, -0.663629, 0.283145
position: -1.329401, -0.668460, 0.278970
position: -1.330715, -0.670534, 0.271748
position: -1.329482, -0.667518, 0.272376
position: -1.328837, -0.665771, 0.273390
position: -1.326991, -0.664392, 0.271792
position: -1.325870, -0.663127, 0.271285
position: -1.325178, -0.662160, 0.271275
position: -1.325453, -0.662086, 0.271519
position: -1.326274, -0.662815, 0.271745
position: -1.329684, -0.667487, 0.272393
[33m[ WARN] [1720347485.827119791]: Shutdown request received.[0m
[33m[ WARN] [1720347485.827155551]: Reason given for shutdown: [user request][0m
killed
