/SLAM-Hive/slam_hive_results/mapping_results/2681/1892_vins-mono+MH_02_easy+Image_comb_test-7.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/1dbfca16-3c4c-11ef-ac80-0242ac110004/roslaunch-85ec7cfc321c-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://85ec7cfc321c:40951/[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 1dbfca16-3c4c-11ef-ac80-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [153][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720348311.478898249]: init begins[0m
[0m[ INFO] [1720348311.484747812]: 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] [1720348311.485225402]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720348311.485246279]:  fix extrinsic param [0m
[0m[ INFO] [1720348311.485408257]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720348311.485455243]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720348311.485491345]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720348311.485543282]: 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] [1720348318.732128115]: 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: 316711462.11 
[33m[ WARN] [1720348322.355931405]: gyroscope bias initial calibration -0.000567675     0.012132    0.0811694[0m
[0m[ INFO] [1720348322.391991617]: Initialization finish![0m
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position: -0.044877, -0.0788optimize pose graph 
optimize pose graph 
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position: -0.695902, -0.959787, 0.570577
position: -0.713526, -0.947797, 0.574231
position: -0.729335, -0.935991, 0.577057
position: -0.747424, -0.924083, 0.578860
position: -0.760475, -0.913609, 0.578224
position: -0.770509, -0.905023, 0.578078
position: -0.778808, -0.897881, 0.577885
position: -0.784421, -0.893016, 0.572614
position: -0.791157, -0.889394, 0.564419
position: -0.797576, -0.887038, 0.555004
position: -0.805455, -0.885826, 0.546185
position: -0.815222, -0.885736, 0.536023
position: -0.824567, -0.887optimize pose graph 
551, 0.526151
position: -0.832281, -0.888724, 0.515516
position: -0.842046, -0.888668, 0.503587
position: -0.853418, -0.887638, 0.491955
position: -0.865412, -0.884462, 0.476767
position: -0.877510, -0.879164, 0.463056
position: -0.886199, -0.872188, 0.452508
position: -0.891787, -0.863449, 0.445789
position: -0.898692, -0.855287, 0.439254
position: -0.906975, -0.848303, 0.430395
position: -0.914168, -0.840653, 0.422619
position: -0.918900, -0.832244, 0.418224
position: -0.918393, -0.821838, 0.420232
position: -0.913612, -0.810471, 0.426613
position: -0.908619, -0.799581, 0.431792
position: -0.904462, -0.788922, 0.433147
position: -0.899736, -0.781684, 0.431396
position: -0.892581, -0.780815, 0.425037
position: -0.883879, -0.787881, 0.413928
position: -0.873724, -0.798108, 0.399366
position: -0.862013, -0.809658, 0.381818
position: -0.847288, -0.818794, 0.360576
position: -0.840406, -0.825295, 0.348026
position: -0.835683, -0.828025, 0.338390
position: -0.838406, -0.833010, 0.334708
position: -0.838947, -0.83
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720348473.451972711]: Shutdown request received.[0m
[33m[ WARN] [1720348473.452035095]: Reason given for shutdown: [user request][0m
5506, 0.327905
position: -0.834985, -0.834003, 0.330208
position: -0.835894, -0.834608, 0.334009
position: -0.835878, -0.836025, 0.334671
position: -0.837608, -0.838594, 0.336041
position: -0.840230, -0.840180, 0.336742
position: -0.842152, -0.841226, 0.337059
position: -0.842209, -0.841284, 0.336884
position: -0.843721, -0.842182, 0.337192
[33m[ WARN] [1720348473.452991702]: Shutdown request received.[0m
[33m[ WARN] [1720348473.453019541]: Reason given for shutdown: [user request][0m
killed
