/SLAM-Hive/slam_hive_results/mapping_results/2685/1896_vins-mono+MH_02_easy+Image_comb_test-11.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/ee93152a-3c4d-11ef-baa7-0242ac110004/roslaunch-112892915c65-118.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://112892915c65:43303/[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 ee93152a-3c4d-11ef-baa7-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [158][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720349091.310342494]: init begins[0m
[0m[ INFO] [1720349091.315262185]: 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] [1720349091.315853198]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720349091.315876431]:  fix extrinsic param [0m
[0m[ INFO] [1720349091.316033771]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720349091.316067686]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720349091.316095362]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720349091.316182045]: 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] [1720349098.541870598]: 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: 316712241.91 
[0m[ INFO] [1720349102.014817141]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720349126.827538702]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349127.017666386]: IMU excitation not enouth![0m
[0m[ INFO] [1720349127.017801076]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349127.219261961]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349127.320349812]: IMU excitation not enouth![0m
[0m[ INFO] [1720349127.320570557]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349127.517689850]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349127.729305975]: IMU excitation not enouth![0m
[0m[ INFO] [1720349127.729474542]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349127.828368414]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349128.018572905]: IMU excitation not enouth![0m
[0m[ INFO] [1720349128.018708570]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349128.214369177]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349128.319753449]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349128.518455281]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349128.717110130]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349128.818176418]: IMU excitation not enouth![0m
[0m[ INFO] [1720349128.818325015]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349129.022214805]: IMU excitation not enouth![0m
[0m[ INFO] [1720349129.022431691]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349129.228369697]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349129.319348438]: IMU excitation not enouth![0m
[0m[ INFO] [1720349129.319582054]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349129.519345710]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349129.713019355]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349129.806665326]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349130.029171555]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349130.313761856]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349130.516212230]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349130.717609973]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349130.809163134]: IMU excitation not enouth![0m
[0m[ INFO] [1720349130.809241129]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349131.027708785]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349131.228028430]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349131.314882032]: IMU excitation not enouth![0m
[0m[ INFO] [1720349131.517428269]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349131.727144545]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349131.814913537]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349132.006010054]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349132.216758256]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349132.317218199]: IMU excitation not enouth![0m
[0m[ INFO] [1720349132.317360670]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720349132.727960983]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349132.822805019]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349133.017818663]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349133.220014891]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349133.329278847]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349133.522870397]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349133.827980683]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349134.006034525]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349134.715650419]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349134.827274122]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349135.215245254]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349135.719910912]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349135.818744459]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349137.513493350]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349137.818103806]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349138.016571233]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349138.219034974]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349138.320770975]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349138.716827370]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349138.819829104]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349139.019818684]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349139.213138449]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349139.316145571]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349141.329324871]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349141.520417703]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349141.727387888]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349141.818217076]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349159.315817559]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349159.516816588]: IMU excitation not enouth![0m
[0m[ INFO] [1720349159.516948582]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349159.714999319]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720349162.320331672]: IMU excitation not enouth![0m
[0m[ INFO] [1720349162.320466662]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349162.516505280]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720349201.511165616]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349208.715058769]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349241.824731808]: IMU excitation not enouth![0m
[0m[ INFO] [1720349241.824863278]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349242.022671950]: IMU excitation not enouth![0m
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[0m[ INFO] [1720349248.815469784]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349249.012422357]: IMU excitation not enouth![0m
[0m[ INFO] [1720349249.012698372]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349249.213050448]: IMU excitation not enouth![0m
[0m[ INFO] [1720349249.213187984]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349249.303706230]: IMU excitation not enouth![0m
[0m[ INFO] [1720349249.303758655]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349249.518827116]: IMU excitation not enouth![0m
[0m[ INFO] [1720349249.518988081]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349249.713588480]: IMU excitation not enouth![0m
[0m[ INFO] [1720349249.713761977]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349249.803496021]: IMU excitation not enouth![0m
[0m[ INFO] [1720349249.803611733]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349250.030179441]: IMU excitation not enouth![0m
[0m[ INFO] [1720349250.030315609]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349250.212188322]: IMU excitation not enouth![0m
[0m[ INFO] [1720349250.212332670]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349250.311522785]: IMU excitation not enouth![0m
[0m[ INFO] [1720349250.311630165]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349250.512120470]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349250.711314097]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349250.815462734]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349251.011623918]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349251.219734852]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349251.310985009]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349251.524621568]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349251.725039874]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349251.814148786]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349252.013549678]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349252.211478745]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349252.301338430]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349252.520968653]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720349253.269521458]: Shutdown request received.[0m
[33m[ WARN] [1720349253.269581930]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720349253.270351705]: Shutdown request received.[0m
[33m[ WARN] [1720349253.270390693]: Reason given for shutdown: [user request][0m
killed
