/SLAM-Hive/slam_hive_results/mapping_results/2684/1895_vins-mono+MH_02_easy+Image_comb_test-10.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/7965f02e-3c4d-11ef-9e94-0242ac110004/roslaunch-ae09cccf49fc-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://ae09cccf49fc:46625/[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 7965f02e-3c4d-11ef-9e94-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720348894.741997233]: init begins[0m
[0m[ INFO] [1720348894.747601332]: 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] [1720348894.748036267]: ROW: 192.000000 COL: 300.000000 [0m
[33m[ WARN] [1720348894.748056291]:  fix extrinsic param [0m
[0m[ INFO] [1720348894.748212412]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720348894.748249448]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720348894.748294589]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720348894.748340146]: 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] [1720348901.981184060]: 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: 316712045.36 
[0m[ INFO] [1720348905.464016954]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348905.663286669]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348905.765099199]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348905.966313914]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348906.167016701]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348906.263693294]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348906.465593440]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348906.671153182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348906.784630241]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348906.962455316]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348907.164537286]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348907.273673620]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348907.465764341]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348907.663964278]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348907.765862172]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348907.985589068]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348908.164980444]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720348908.473891735]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348908.669632200]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348908.780189644]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348908.963655954]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348909.186185793]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348909.269151727]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348909.464191333]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348909.677865669]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348909.786237956]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348909.978015491]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348910.172281234]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348910.263313654]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348910.468669442]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348910.676676090]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348910.764278208]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348910.961054233]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348911.165438209]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720348911.486297302]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348911.677515932]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348911.763469617]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348911.963947767]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348912.169142279]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348912.264747537]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
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] [1720348912.733758564]: gyroscope bias initial calibration -0.00911522  0.00565477   0.0694526[0m
[0m[ INFO] [1720348912.750141521]: Initialization finish![0m
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position: 5.071772, -0.703066, -0.691366
position: 5.216961, -0.719908, -0.699085
position: 5.361702, -0.740051, -0.708723
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position: 5.943848, -0.815358, -0.741322
position: 6.092562, -0.834761, -0.749288
position: 6.244685, -0.854524, -0.757504
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position: 6.729940, -0.917631, -0.783637
position: 6.903741, -0.940317, -0.793219
position: 7.084477, -0.963922, -0.803428
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position: 7.860070, -1.067014, -0.846257
position: 8.067003, -1.095164, -0.857524
position: 8.285786, -1.124839, -0.869493
position: 8.526366, -1.157402, -0.882737
position: 8.807982, -1.194917, -0.898247
position: 9.104875, -1.234896, -0.913826
position: 9.410880, -1.276125, -0.930580
position: 9.672329, -1.311471, -0.945457
position: 9.899249, -1.342720, -0.957373
position: 10.121251, -1.372998, -0.969564
position: 10.343675, -1.403196, -0.981132
position: 10.564844, -1.432914, -0.992874
position: 10.785698, -1.462577, -1.004216
position: 11.009848, -1.492565, -1.015860
position: 11.046453, -1.647985, -0.905724
[0m[ INFO] [1720348940.106279305]:  big z translation[0m
[33m[ WARN] [1720348940.106324925]: failure detection![0m
[0m[ INFO] [1720348941.164267028]: IMU excitation not enouth![0m
[0m[ INFO] [1720348941.164712010]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348941.263236933]: IMU excitation not enouth![0m
[0m[ INFO] [1720348941.468869459]: IMU excitation not enouth![0m
[0m[ INFO] [1720348941.664045361]: IMU excitation not enouth![0m
[0m[ INFO] [1720348941.765166660]: IMU excitation not enouth![0m
[0m[ INFO] [1720348941.974202633]: IMU excitation not enouth![0m
[0m[ INFO] [1720348942.160298588]: IMU excitation not enouth![0m
[0m[ INFO] [1720348942.259762230]: IMU excitation not enouth![0m
[0m[ INFO] [1720348942.259882908]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348942.669063804]: IMU excitation not enouth![0m
[0m[ INFO] [1720348942.669299204]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348942.764557448]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348942.975914132]: IMU excitation not enouth![0m
[0m[ INFO] [1720348943.013233120]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348943.177134366]: IMU excitation not enouth![0m
[0m[ INFO] [1720348943.177278691]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348943.289725166]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348943.477506892]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348943.669806950]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348943.761447556]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348943.978222592]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348944.165978661]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348944.267152719]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348944.466147562]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348944.671622539]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348944.768096872]: IMU excitation not enouth![0m
[0m[ INFO] [1720348944.778262593]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348944.969665547]: IMU excitation not enouth![0m
[0m[ INFO] [1720348945.170030868]: IMU excitation not enouth![0m
[0m[ INFO] [1720348945.170229738]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348945.264541383]: IMU excitation not enouth![0m
[0m[ INFO] [1720348945.463629678]: IMU excitation not enouth![0m
[0m[ INFO] [1720348945.661082464]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348945.777405377]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348945.968681390]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348946.165504601]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348946.264374925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348946.464979132]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348946.775446185]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348946.969633100]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720348947.163006920]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
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] [1720348947.297900541]: gyroscope bias initial calibration 0.00481188  0.0181164  0.0728661[0m
[0m[ INFO] [1720348947.317756165]: Initialization finish![0m
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position: -0.701826, -0.834929, -0.073455
position: -0.689797, -0.848337, -0.087968
position: -0.674501, -0.861128, -0.103780
position: -0.665132, -0.870659, -0.109497
position: -0.657198, -0.873631, -0.114969
position: -0.658383, -0.87822
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720349056.777318326]: Shutdown request received.[0m
[33m[ WARN] [1720349056.777395491]: Reason given for shutdown: [user request][0m
6, -0.115937
position: -0.660710, -0.881458, -0.122512
position: -0.656952, -0.879993, -0.122450
position: -0.653285, -0.878741, -0.123403
position: -0.649670, -0.876827, -0.123448
position: -0.646889, -0.875393, -0.123948
position: -0.644924, -0.874207, -0.124442
position: -0.644234, -0.873581, -0.124994
position: -0.645127, -0.873486, -0.125889
position: -0.647830, -0.874369, -0.126748
[33m[ WARN] [1720349056.778547828]: Shutdown request received.[0m
[33m[ WARN] [1720349056.778592672]: Reason given for shutdown: [user request][0m
killed
