/SLAM-Hive/slam_hive_results/mapping_results/2679/1890_vins-mono+MH_02_easy+Image_comb_test-5.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/30510876-3c4b-11ef-a476-0242ac110004/roslaunch-aad0680827ba-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://aad0680827ba:42795/[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 30510876-3c4b-11ef-a476-0242ac110004[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] [1720347913.103251703]: init begins[0m
[0m[ INFO] [1720347913.107751360]: 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] [1720347913.108232824]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720347913.108257329]:  fix extrinsic param [0m
[0m[ INFO] [1720347913.108414190]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720347913.108462564]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720347913.108512151]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720347913.108571467]: 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_02_easy.bag  --clock 
[0m[ INFO] [1720347920.393993706]: 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: 316711063.76 
[0m[ INFO] [1720347923.870760841]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720347948.668945510]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347948.861924259]: IMU excitation not enouth![0m
[0m[ INFO] [1720347948.861996247]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347949.076382712]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347949.176760200]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347949.362483624]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347949.568836795]: IMU excitation not enouth![0m
[0m[ INFO] [1720347949.569001979]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347949.669328501]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347949.863568221]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347950.068731579]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347950.163258304]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347950.562105150]: IMU excitation not enouth![0m
[0m[ INFO] [1720347950.661093165]: IMU excitation not enouth![0m
[0m[ INFO] [1720347950.661171440]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347950.860191606]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347951.069349739]: IMU excitation not enouth![0m
[0m[ INFO] [1720347951.069600227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347951.166486562]: IMU excitation not enouth![0m
[0m[ INFO] [1720347951.360842176]: IMU excitation not enouth![0m
[0m[ INFO] [1720347951.360956554]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347951.562521347]: IMU excitation not enouth![0m
[0m[ INFO] [1720347951.662705746]: IMU excitation not enouth![0m
[0m[ INFO] [1720347951.868842515]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347952.168881635]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347952.562404066]: IMU excitation not enouth![0m
[0m[ INFO] [1720347952.663440110]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347952.868967627]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347953.068983958]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347953.162465688]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347953.361351744]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347953.567606206]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347954.570409423]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347954.662989277]: IMU excitation not enouth![0m
[0m[ INFO] [1720347954.862750321]: IMU excitation not enouth![0m
[0m[ INFO] [1720347954.862930609]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347955.062993414]: IMU excitation not enouth![0m
[0m[ INFO] [1720347955.063194503]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347955.164979911]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347955.368870081]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347955.564960577]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347955.668641106]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347955.863177828]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347956.062151941]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347956.162273304]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347956.576417215]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347956.668889283]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347956.872293070]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347957.068610391]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347957.164070427]: IMU excitation not enouth![0m
[0m[ INFO] [1720347957.365762291]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347957.563802517]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347957.663257036]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347958.162815660]: IMU excitation not enouth![0m
[0m[ INFO] [1720347958.360702595]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347958.562855932]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347958.661912809]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347959.069253049]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347959.170888566]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347959.362510956]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347959.562406822]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347959.662403438]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347960.061980278]: IMU excitation not enouth![0m
[0m[ INFO] [1720347960.163103318]: IMU excitation not enouth![0m
[0m[ INFO] [1720347960.366718080]: IMU excitation not enouth![0m
[0m[ INFO] [1720347960.560759026]: IMU excitation not enouth![0m
[0m[ INFO] [1720347960.662681542]: IMU excitation not enouth![0m
[0m[ INFO] [1720347960.863257336]: IMU excitation not enouth![0m
[0m[ INFO] [1720347961.063934611]: IMU excitation not enouth![0m
[0m[ INFO] [1720347961.063993293]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347961.161814734]: IMU excitation not enouth![0m
[0m[ INFO] [1720347961.161996873]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347961.378529033]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347961.563130293]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720347962.162075757]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720347962.571495714]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720347963.181794864]: IMU excitation not enouth![0m
[0m[ INFO] [1720347963.181922331]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347963.376323269]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347963.580956686]: IMU excitation not enouth![0m
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[0m[ INFO] [1720347963.672326684]: IMU excitation not enouth![0m
[0m[ INFO] [1720347963.672538209]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347963.870453080]: IMU excitation not enouth![0m
[0m[ INFO] [1720347963.870655606]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347964.059895140]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720347977.373433568]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720347979.572741710]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347979.670614899]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347979.882755053]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347980.081100962]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347980.181644412]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347980.358490113]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347980.559658858]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347980.670136857]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347980.879957028]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347981.074258911]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347981.169315012]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347981.359574126]: IMU excitation not enouth![0m
[0m[ INFO] [1720347981.359620550]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347981.579587809]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347981.679044043]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347981.863095653]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720347982.568172190]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720347983.661162562]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720347984.060637768]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347984.165873160]: IMU excitation not enouth![0m
[0m[ INFO] [1720347984.362350163]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720347984.569987032]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720348023.379493828]: IMU excitation not enouth![0m
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[0m[ INFO] [1720348030.562053490]: IMU excitation not enouth![0m
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[0m[ INFO] [1720348035.670320748]: IMU excitation not enouth![0m
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[0m[ INFO] [1720348063.555675844]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348063.677990848]: IMU excitation not enouth![0m
[0m[ INFO] [1720348063.879394889]: IMU excitation not enouth![0m
[0m[ INFO] [1720348063.879531946]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720348070.664546498]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348070.854468758]: IMU excitation not enouth![0m
[0m[ INFO] [1720348070.854524855]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348071.057126996]: IMU excitation not enouth![0m
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[0m[ INFO] [1720348071.157932208]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348071.355292536]: IMU excitation not enouth![0m
[0m[ INFO] [1720348071.355347814]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348071.559093456]: IMU excitation not enouth![0m
[0m[ INFO] [1720348071.666698528]: IMU excitation not enouth![0m
[0m[ INFO] [1720348071.884634692]: IMU excitation not enouth![0m
[0m[ INFO] [1720348071.884782310]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348072.069750400]: IMU excitation not enouth![0m
[0m[ INFO] [1720348072.069932686]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348072.167160468]: IMU excitation not enouth![0m
[0m[ INFO] [1720348072.167380496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348072.366683796]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348072.565951596]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348072.676817320]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348072.854762428]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348073.077301374]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348073.166859272]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348073.363415996]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348073.566145089]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348073.669356352]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348073.865196747]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348074.075669852]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348074.166660714]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348074.374092387]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720348075.056061193]: Shutdown request received.[0m
[33m[ WARN] [1720348075.056119866]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720348075.057084722]: Shutdown request received.[0m
[33m[ WARN] [1720348075.057112575]: Reason given for shutdown: [user request][0m
killed
