/SLAM-Hive/slam_hive_results/mapping_results/2683/1894_vins-mono+MH_02_easy+Image_comb_test-9.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/052e30a4-3c4d-11ef-b5fb-0242ac110004/roslaunch-bb334b9f058f-119.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://bb334b9f058f:34471/[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 [130][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 052e30a4-3c4d-11ef-b5fb-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [143][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [157][0m
[1mprocess[vins_estimator-3]: started with pid [161][0m
[0m[ INFO] [1720348699.730534825]: init begins[0m
[0m[ INFO] [1720348699.735289159]: 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] [1720348699.735783195]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720348699.735807970]:  fix extrinsic param [0m
[0m[ INFO] [1720348699.735954235]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720348699.735995749]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720348699.736037483]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720348699.736096898]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [182][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] [1720348707.006207371]: 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: 316711850.38 
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720348710.526677985]: gyroscope bias initial calibration -0.0126435  0.0477987  0.0677758[0m
[0m[ INFO] [1720348710.548258980]: Initialization finish![0m
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position: -0.339144, -0.665217, 0.576464
position: -0.352016, -0.654190, 0.574433
position: -0.358742, -0.643360, 0.575706
position: -0.364532, -0.636280, 0.575946
position: -0.370788, -0.630905, 0.570992
position: -0.378744, -0.625516, 0.563846
position: -0.386556, -0.621820, 0.555081
position: -0.393473, -0.619223, 0.546749
position: -0.400307, -0.618319, 0.537617
position: -0.407584, -0.618580, 0.528757
position: -0.416421, -0.620905, 0.519056
position: -0.427027, -0.621693, 0.505665
position: -0.438719, -0.620268, 0.493683
position: -0.454010, -0.616916, 0.477706
position: -0.468514, -0.611363, 0.462964
position: -0.477763, -0.603947, 0.451244
position: -0.482356, -0.594341, 0.443477
position: -0.488203, -0.585737, 0.437090
position: -0.494443, -0.577981, 0.428421
position: -0.500758, -0.570149, 0.420540
position: -0.504173, -0.560819, 0.415532
position: -0.503793, -0.549362, 0.416389
position: -0.497634, -0.538169, 0.423140
position: -0.491434, -0.527379, 0.427865
position: -0.486186, -0.517013, 0.429052
position: -0.480766, -0.509314, 0.428106
position: -0.473736, -0.508811, 0.421912
position: -0.465406, -0.516534, 0.411934
position: -0.456336, -0.528173, 0.398643
position: -0.445393, -0.541582, 0.383396
position: -0.430505, -0.553395, 0.366427
position: -0.422154, -0.562398, 0.359219
position: -0.416441, -0.566254, 0.352137
position: -0.419684, -0.571955, 0.349980

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720348861.669318867]: Shutdown request received.[0m
[33m[ WARN] [1720348861.669380194]: Reason given for shutdown: [user request][0m
position: -0.421695, -0.577706, 0.344741
position: -0.420623, -0.576871, 0.345976
position: -0.421068, -0.576711, 0.345835
position: -0.422720, -0.578359, 0.344156
position: -0.424744, -0.579112, 0.344104
position: -0.425414, -0.579238, 0.344251
position: -0.425886, -0.579512, 0.344334
position: -0.425764, -0.579686, 0.344201
position: -0.425979, -0.580047, 0.344242
[33m[ WARN] [1720348861.670285470]: Shutdown request received.[0m
[33m[ WARN] [1720348861.670314621]: Reason given for shutdown: [user request][0m
killed
