/SLAM-Hive/slam_hive_results/mapping_results/2677/1888_vins-mono+MH_02_easy+Image_comb_test-3.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/47570e54-3c4a-11ef-bf3b-0242ac110004/roslaunch-82d97058ac53-118.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://82d97058ac53:42271/[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 47570e54-3c4a-11ef-bf3b-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] [1720347522.228747935]: init begins[0m
[0m[ INFO] [1720347522.233662000]: 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] [1720347522.234227903]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720347522.234248464]:  fix extrinsic param [0m
[0m[ INFO] [1720347522.234399661]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720347522.234433640]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720347522.234463236]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720347522.234504711]: 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] [1720347529.477186061]: 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: 316710672.86 
[33m[ WARN] [1720347533.196060104]: gyroscope bias initial calibration -0.0104837  0.0407594  0.0703884[0m
[0m[ INFO] [1720347533.213799779]: Initialization finish![0m
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position: -0.736325, -0.927254, 0.558226
position: -0.741592, -0.922440, 0.553123
position: -0.749179, -0.918059, 0.546802
position: -0.756305, -0.915200, 0.537951
position: -0.762802, -0.913938, 0.529978
position: -0.771036, -0.913473, 0.521242
position: -0.781826, -0.914491, 0.513716
position: -0.791146, -0.915848, 0.504534
position: -0.801220, -0.915703, 0.492495
position: -0.812612, -0.914530, 0.480819
position: -0.826185, -0.911393, 0.465164
position: -0.839058, -0.905973, 0.450525
position: -0.847253, -0.898591, 0.439355
position: -0.851996, -0.889930, 0.431091
position: -0.857467, -0.881749, 0.423774
position: -0.865559, -0.874361, 0.414746
position: -0.873354, -0.866446, 0.407439
position: -0.878385, -0.857360, 0.403418
position: -0.878716, -0.846135, 0.404881
position: -0.873666, -0.834727, 0.411370
position: -0.867779, -0.824117, 0.416450
position: -0.862740, -0.813352, 0.417602
position: -0.857437, -0.805141, 0.416339
position: -0.850275, -0.803948, 0.410103

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720347684.127091667]: Shutdown request received.[0m
[33m[ WARN] [1720347684.127161026]: Reason given for shutdown: [user request][0m
position: -0.840769, -0.810554, 0.400560
position: -0.831034, -0.821594, 0.387394
position: -0.819704, -0.834376, 0.371836
position: -0.804057, -0.845433, 0.354362
position: -0.795529, -0.853686, 0.345586
position: -0.791878, -0.858875, 0.336644
position: -0.797798, -0.865107, 0.331678
position: -0.802839, -0.868633, 0.323343
position: -0.803189, -0.867182, 0.322640
position: -0.802971, -0.865741, 0.321775
position: -0.802303, -0.863813, 0.320706
position: -0.802470, -0.862219, 0.319675
position: -0.802527, -0.861595, 0.319198
position: -0.803246, -0.861654, 0.319050
position: -0.804432, -0.861983, 0.318991
position: -0.805881, -0.863234, 0.319134
[33m[ WARN] [1720347684.128102789]: Shutdown request received.[0m
[33m[ WARN] [1720347684.128135392]: Reason given for shutdown: [user request][0m
killed
