/SLAM-Hive/slam_hive_results/mapping_results/2687/1898_vins-mono+MH_02_easy+Image_comb_test-13.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/d7306486-3c4e-11ef-aab7-0242ac110004/roslaunch-da5303982361-118.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://da5303982361:43447/[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 d7306486-3c4e-11ef-aab7-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [154][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720349481.563126114]: init begins[0m
[0m[ INFO] [1720349481.567611169]: 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] [1720349481.568062685]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720349481.568086821]:  fix extrinsic param [0m
[0m[ INFO] [1720349481.568243517]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720349481.568281267]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720349481.568317042]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720349481.568385073]: 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] [1720349488.834195263]: 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: 316712632.21 
[0m[ INFO] [1720349493.645665654]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349493.844979677]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349494.030081902]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720349494.417995058]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349494.660442608]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349494.849008627]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349495.018590371]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349495.247313031]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349495.428440748]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349495.630551233]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349495.837986276]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720349496.252217136]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349496.407874197]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349496.660357446]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349496.850430457]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349497.036549833]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349497.230520372]: 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!
[0m[ INFO] [1720349498.244770122]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349498.450058761]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349498.635571717]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349498.830287594]: 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!
[0m[ INFO] [1720349499.443126715]: 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!
[0m[ INFO] [1720349500.258123746]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349500.428749686]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349500.615883226]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349500.808119599]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349501.039117060]: 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!
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] [1720349502.514248048]: gyroscope bias initial calibration 0.00295735  0.0167211  0.0753241[0m
[0m[ INFO] [1720349502.547571943]: Initialization finish![0m
position: -0.008493, -0.098732, 0.024952
position: 0.021167, -0.195839, 0.028099
position: 0.052552, -0.292286, 0.029451
position: 0.071574, -0.361846, 0.021619
position: 0.088382, -0.397229, 0.015580
position: 0.095070, -0.403285, 0.006945
position: 0.084204, -0.418820, 0.006503
position: 0.077469, -0.378789, 0.012130
position: 0.065147, -0.297574, 0.016245
position: 0.050275, -0.190063, 0.021305
[0m[ INFO] [1720349504.475638530]:  little feature 0[0m
position: 0.083666, -0.315599, -0.006449
[0m[ INFO] [1720349506.262912503]:  little feature 1[0m
position: 0.088957, -0.376711, -0.014844
position: 0.095194, -0.387737, -0.019774
position: 0.103324, -0.363423, -0.019101
position: 0.075853, -0.310548, -0.017661
position: 0.072879, -0.202235, -0.016462
position: 0.069702, -0.080792, -0.023810
position: 0.071582, 0.013291, -0.033495
position: 0.078557, 0.068985, -0.041432
position: 0.060499, 0.107911, -0.051737
position: 0.014247, 0.119310, -0.042451
position: -0.042308, 0.079599, -0.045600
position: -0.105221, 0.010859, -0.040598
[0m[ INFO] [1720349508.671636114]:  little feature 1[0m
position: -0.129212, -0.086032, -0.031101
[0m[ INFO] [1720349508.863381913]:  little feature 0[0m
position: -0.100119, -0.195188, -0.032222
[0m[ INFO] [1720349509.062019086]:  little feature 1[0m
position: -0.020641, -0.300238, -0.028271
position: 0.086557, -0.346167, -0.020143
position: 0.185617, -0.308192, -0.019837
[0m[ INFO] [1720349509.668722052]:  little feature 1[0m
position: 0.261812, -0.197362, -0.020719
[0m[ INFO] [1720349509.856943875]:  little feature 1[0m
position: 0.279787, -0.065461, -0.021788
[0m[ INFO] [1720349510.082463138]:  little feature 0[0m
position: 0.230339, 0.061092, -0.032138
position: 0.133090, 0.140769, -0.040865
[0m[ INFO] [1720349510.458011806]:  little feature 1[0m
position: 0.025106, 0.163102, -0.052082
[0m[ INFO] [1720349510.654814350]:  little feature 0[0m
position: -0.060303, 0.129650, -0.060759
[0m[ INFO] [1720349510.861526590]:  little feature 0[0m
position: -0.115248, 0.040626, -0.068538
[0m[ INFO] [1720349511.058710786]:  little feature 0[0m
position: -0.122609, -0.072739, -0.057562
[0m[ INFO] [1720349511.254635049]:  little feature 1[0m
position: -0.080683, -0.179784, -0.038060
position: -0.011855, -0.253500, -0.027567
position: 0.075356, -0.273893, -0.012156
[0m[ INFO] [1720349511.864841562]:  little feature 0[0m
position: 0.107934, -0.254362, 0.000426
position: 0.156664, -0.189305, 0.029506
position: 0.142187, -0.064294, 0.040145
position: 0.077016, 0.034082, 0.043206
position: -0.026950, 0.059936, 0.048227
position: -0.123028, 0.026055, 0.057148
position: -0.181532, -0.029672, 0.059406
position: -0.203208, -0.010913, 0.064574
position: -0.206011, 0.055530, 0.062876
position: -0.161556, 0.117260, 0.064478
position: -0.081349, 0.140901, 0.065508
position: 0.008000, 0.112978, 0.061572
position: 0.039176, 0.056972, 0.043331
position: 0.088483, -0.041079, 0.025042
position: 0.072892, -0.134466, 0.008337
position: 0.040038, -0.159886, -0.019059
position: 0.030895, -0.129137, -0.042968
position: 0.075162, -0.089755, -0.068703
position: 0.125420, -0.053923, -0.112737
position: 0.171524, -0.023755, -0.158189
position: 0.203070, 0.002797, -0.189309
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position: 0.222317, 0.025608, -0.209742
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position: 5.376104, -4.87optimize pose graph 
optimize pose graph 
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position: 4.824004, -4.578673, -0.515314
position: 4.631095, -4.477464, -0.467019
position: 4.436932, -4.386082, -0.442300
position: 4.242963, -4.307755, -0.427332
position: 4.062407, -4.238602, -0.385491
position: 3.888052, -4.167970, -0.319313
position: 3.718741, -4.096445, -0.286295
position: 3.552799, -4.025441, -0.292038
position: 3.393074, -3.960485, -0.315303
position: 3.249813, -3.905082, -0.332442
position: 3.125301, -3.852370, -0.317789
position: 3.034317, -3.803934, -0.273624
position: 2.967081, -3.760761, -0.203276
position: 2.949929, -3.730623, -0.126111
position: 2.925143, -3.697019, -0.074394
position: 2.918298, -3.668830, -0.017373
position: 2.897110, -3.638060, 0.058660
position: 2.864516, -3.599111, 0.120540
position: 2.823379, -3.549803, 0.159216
position: 2.775881, -3.489501, 0.176944
position: 2.725273, -3.423206, 0.179914
position: 2.663796, -3.352798, 0.169550
position: 2.588503, -3.276671,optimize pose graph 
 0.162867
position: 2.503847, -3.193302, 0.173536
position: 2.412727, -3.102063, 0.192145
position: 2.321453, -3.009494, 0.198674
position: 2.229167, -2.912461, 0.225078
position: 2.132234, -2.810717, 0.249798
position: 2.026101, -2.709622, 0.256685
position: 1.910917, -2.608938, 0.288195
position: 1.794405, -2.511115, 0.326858
position: 1.676801, -2.417789, 0.345788
position: 1.559327, -2.327424, 0.340179
position: 1.446417, -2.244526, 0.320177
position: 1.335807, -2.162711, 0.298583
position: 1.225397, -2.077181, 0.311872
position: 1.115783, -1.986626, 0.338563
position: 1.004677, -1.893926, 0.340061
position: 0.905956, -1.801556, 0.321743
position: 0.803921, -1.709151, 0.307967
position: 0.706678, -1.618707, 0.325413
position: 0.597470, -1.530324, 0.342310
position: 0.497871, -1.445051, 0.339037
position: 0.399868, -1.363545, 0.313267
position: 0.318918, -1.285055, 0.313768
position: 0.241465, -1.207768, 0.360425
position: 0.162049, -1.136231, 0.400814
position: 0.081534, -1.081404, 0.384110
position: 0.01optimize pose graph 
optimize pose graph 
3378, -1.041929, 0.347353
position: -0.042016, -1.013751, 0.298009
position: -0.094776, -0.979276, 0.263458
position: -0.147359, -0.943281, 0.271333
position: -0.189734, -0.914331, 0.286203
position: -0.222355, -0.891633, 0.294603
position: -0.256736, -0.868180, 0.294951
position: -0.272351, -0.853289, 0.291807
position: -0.279199, -0.841992, 0.284224
position: -0.291912, -0.836308, 0.265035
position: -0.308492, -0.838668, 0.246616
position: -0.329754, -0.841491, 0.226826
position: -0.356547, -0.836609, 0.200347
position: -0.376499, -0.823648, 0.174062
position: -0.387420, -0.806038, 0.159818
position: -0.403186, -0.790884, 0.144628
position: -0.409840, -0.771369, 0.142828
position: -0.400885, -0.749282, 0.152810
position: -0.391984, -0.730683, 0.150760
position: -0.372548, -0.734804, 0.134485
position: -0.348572, -0.757303, 0.106475
position: -0.326544, -0.776818, 0.080820
position: -0.324464, -0.786417, 0.072096
position: -0.327037, -0.788087, 0.065022
position: -0.331316, -0.786394, 0.062986
position: -0.3killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720349643.489353792]: Shutdown request received.[0m
[33m[ WARN] [1720349643.489443452]: Reason given for shutdown: [user request][0m
43260, -0.792072, 0.063525
position: -0.342756, -0.795486, 0.063657
[33m[ WARN] [1720349643.490305109]: Shutdown request received.[0m
[33m[ WARN] [1720349643.490330532]: Reason given for shutdown: [user request][0m
killed
