/SLAM-Hive/slam_hive_results/mapping_results/2682/1893_vins-mono+MH_02_easy+Image_comb_test-8.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/9249f35c-3c4c-11ef-9ff5-0242ac110004/roslaunch-e49aefdcbb70-118.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://e49aefdcbb70:38973/[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 9249f35c-3c4c-11ef-9ff5-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720348506.969250452]: init begins[0m
[0m[ INFO] [1720348506.973924855]: 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] [1720348506.974374713]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720348506.974400394]:  fix extrinsic param [0m
[0m[ INFO] [1720348506.974540451]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720348506.974587407]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720348506.974626366]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720348506.974684765]: 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] [1720348514.258790514]: 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: 316711657.63 
[0m[ INFO] [1720348517.759251652]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720348518.027193875]: gyroscope bias initial calibration 0.0113136 0.0294716    0.1174[0m
[0m[ INFO] [1720348518.049412994]: Initialization finish![0m
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position:optimize pose graph 
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position: -0.697920, -0.594154, 0.267965
position: -0.691347, -0.594163, 0.258160
position
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720348668.962932606]: Shutdown request received.[0m
[33m[ WARN] [1720348668.962996687]: Reason given for shutdown: [user request][0m
: -0.697163, -0.601596, 0.254261
position: -0.699164, -0.605493, 0.247483
position: -0.698981, -0.603656, 0.248691
position: -0.700328, -0.604541, 0.249263
position: -0.699993, -0.604782, 0.248565
position: -0.701009, -0.606362, 0.248539
position: -0.703421, -0.609264, 0.249535
position: -0.704919, -0.610789, 0.250555
position: -0.704951, -0.610955, 0.250383
position: -0.705222, -0.611475, 0.250277
[33m[ WARN] [1720348668.963922454]: Shutdown request received.[0m
[33m[ WARN] [1720348668.963950382]: Reason given for shutdown: [user request][0m
killed
