/SLAM-Hive/slam_hive_results/mapping_results/2688/1899_vins-mono+MH_02_easy+Image_comb_test-14.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/4aee53e2-3c4f-11ef-8253-0242ac110004/roslaunch-3ea9d2baa0d7-118.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://3ea9d2baa0d7:34551/[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 4aee53e2-3c4f-11ef-8253-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720349675.776104416]: init begins[0m
[0m[ INFO] [1720349675.781756015]: 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] [1720349675.782518818]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720349675.782550085]:  fix extrinsic param [0m
[0m[ INFO] [1720349675.782802646]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720349675.782861911]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720349675.782900149]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720349675.782966760]: 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] [1720349683.020330233]: 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: 316712826.39 
[0m[ INFO] [1720349687.833655245]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349687.993646897]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349688.201322380]: 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] [1720349688.838536640]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349689.028439666]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349689.226142496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349689.422000822]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349689.597103316]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349689.813425717]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720349690.237437349]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349690.425853178]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349690.594346236]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349690.833780400]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349691.030719752]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349691.389869499]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720349691.819482408]: 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!
[0m[ INFO] [1720349692.204398331]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349692.422380600]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349692.613477760]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349692.810766634]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349693.002926639]: 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] [1720349694.011744904]: 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] [1720349694.433230358]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349694.599197715]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349694.810175252]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349695.000505381]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349695.216339845]: 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] [1720349696.601623898]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349696.824899579]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349697.036658952]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349697.231346717]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349697.397441624]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349697.602661288]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349697.806049739]: 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] [1720349698.428928747]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349698.618046481]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349698.822857541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349698.997201424]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349699.216159482]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720349699.627058284]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349699.797656715]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349700.032436866]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349700.229914776]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349700.426986410]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349700.589223293]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349700.808392011]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349701.026055256]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349701.201152792]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349701.433281410]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349701.628035253]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349701.831167271]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349702.016843756]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349702.198488764]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349702.435899972]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349702.627378034]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349702.837462071]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349703.037447031]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349703.230591361]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349703.435788686]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349703.627555403]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349703.838195364]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349704.037593623]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349704.429603070]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349704.625884970]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349704.825931178]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349705.036845690]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349705.227682676]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349705.423462659]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349705.595880173]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349705.833179814]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349706.036567475]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349706.428361412]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349706.627047796]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349706.811130644]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349707.027587551]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349707.225523453]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349707.417890845]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349707.813960905]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349708.022967672]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349708.221561753]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349708.396322261]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349708.626022584]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349708.806831710]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349709.031984088]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349709.207706925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349709.411718604]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349709.792432681]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349710.001378013]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349710.193221502]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720349710.598396894]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349710.790460071]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349711.020636541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349711.208667553]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349711.394905290]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349711.590232314]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349711.806512775]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349712.009145078]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349712.213389150]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349712.407604718]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349712.612788610]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349712.799527423]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349713.007627394]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349713.193659032]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349713.405791753]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349713.589957414]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349713.809798482]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349714.202704838]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349714.415683974]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349714.606977942]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349714.820383957]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349715.004552723]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349715.205210450]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349715.391568611]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349715.589273751]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349715.806402653]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349716.009137060]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349716.211760319]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349716.419614315]: 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!
[33m[ WARN] [1720349717.071021904]: gyroscope bias initial calibration -0.00349615   0.0201319    0.076698[0m
[0m[ INFO] [1720349717.114700118]: Initialization finish![0m
position: 0.054814, 0.042745, -0.105459
position: 0.054242, 0.042703, -0.105144
position: 0.054373, 0.042528, -0.104791
position: 0.054266, 0.042552, -0.104907
position: 0.054194, 0.042695, -0.105006
position: 0.054185, 0.042742, -0.105088
position: 0.054085, 0.042728, -0.104953
position: 0.053969, 0.042728, -0.104960
position: 0.053932, 0.042790, -0.104949
position: 0.053912, 0.042842, -0.104993
position: 0.053893, 0.042843, -0.104983
position: 0.053859, 0.042910, -0.104973
position: 0.053756, 0.042970, -0.104990
position: 0.053731, 0.043014, -0.105029
position: 0.053705, 0.043090, -0.105079
position: 0.053681, 0.043131, -0.105098
position: 0.053625, 0.043182, -0.105145
position: 0.053592, 0.043234, -0.105119
position: 0.053535, 0.043291, -0.105089
position: 0.053511, 0.043352, -0.105098
position: 0.053470, 0.043386, -0.105091
position: 0.053463, 0.043443, -0.105174
position: 0.053482, 0.043465, -0.105217
position: 0.053473, 0.043505, -0.105205
position: 0.053438, 0.043519, -0.105227
position: 0.053347, 0.043598, -0.105176
position: 0.053254, 0.043599, -0.105127
position: 0.053218, 0.043646, -0.105082
position: 0.053210, 0.043587, -0.105018
position: 0.053486, 0.043451, -0.105029
position: 0.053178, 0.043551, -0.105017
position: 0.053225, 0.043717, -0.105096
position: 0.053244, 0.043719, -0.105241
position: 0.052810, 0.043720, -0.105437
position: 0.049203, 0.042105, -0.105842
position: 0.040504, 0.028735, -0.107329
position: 0.023333, 0.005758, -0.108425
position: 0.006529, -0.019137, -0.088587
position: 0.003657, -0.033154, -0.053113
position: 0.008203, -0.039673, -0.034656
position: 0.017193, -0.039106, -0.005654
position: 0.022086, -0.047418, 0.033120
position: 0.043189, -0.041259, 0.065427
position: 0.072427, -0.029281, 0.087215
position: 0.112663, -0.028770, 0.108327
position: 0.152963, -0.041932, 0.128571
position: 0.183556, -0.059254, 0.140478
position: 0.220683, -0.085278, 0.152436
position: 0.267251, -0.116775, 0.156161
position: 0.312827, -0.148466, 0.170466
position: 0.346221, -0.182397, 0.213104
position: 0.378801, -0.214645, 0.251939
position: 0.417786, -0.247712, 0.266321
position: 0.465805, -0.284919, 0.265579
position: 0.526682, -0.338928, 0.251491
position: 0.599143, -0.412266, 0.258966
position: 0.675729, -0.490462, 0.274904
position: 0.751836, -0.571482, 0.265138
position: 0.826764, -0.657297, 0.240850
position: 0.898873, -0.742782, 0.234987
position: 0.968885, -0.834470, 0.218927
position: 1.034760, -0.912364, 0.165249
position: 1.097901, -0.995971, 0.141060
position: 1.154305, -1.076638, 0.144737
position: 1.212593, -1.164073, 0.176532
position: 1.270247, -1.250602, 0.217227
position: 1.322163, -1.336307, 0.232232
position: 1.367717, -1.390264, 0.231286
position: 1.431770, -1.454255, 0.253889
position: 1.501009, -1.523864, 0.303924
position: 1.565723, -1.596811, 0.348130
position: 1.629963, -1.678655, 0.372058
position: 1.691967, -1.760531, 0.387112
position: 1.754804, -1.840070, 0.388073
position: 1.822864, -1.920040, 0.393621
position: 1.892703, -1.985607, 0.420601
position: 1.968467, -2.049416, 0.456155
position: 2.045783, -2.097832, 0.460824
position: 2.119376, -2.133313, 0.440588
position: 2.206955, -2.158277, 0.419634
position: 2.296605, -2.173807, 0.428843
position: 2.390416, -2.199077, 0.444198
position: 2.485479, -2.236772, 0.438294
position: 2.570619, -2.264678, 0.428886
position: 2.663412, -2.291870, 0.433027
position: 2.756951, -2.309016, 0.423750
position: 2.875962, -2.331427, 0.447212
position: 2.994551, -2.358068, 0.490458
position: 3.146794, -2.400402, 0.499964
position: 3.296271, -2.442761, 0.500718
position: 3.437980, -2.484056, 0.497499
position: 3.571023, -2.519338, 0.479773
position: 3.712814, -2.558112, 0.486568
position: 3.859101, -2.592106, 0.524250
position: 4.018739, -2.627979, 0.555213
position: 4.202896, -2.674299, 0.567747
position: 4.394929, -2.725921, 0.557947
position: 4.579963, -2.781511, 0.527989
position: 4.743878, -2.826441, 0.479250
position: 4.887525, -2.849853, 0.434091
position: 5.030360, -2.865153, 0.421372
position: 5.168307, -2.878546, 0.422872
position: 5.326624, -2.896469, 0.398995
position: 5.462908, -2.902950, 0.369970
position: 5.602827, -2.919282, 0.351890
position: 5.716375, -2.933736, 0.363415
position: 5.818796, -2.945294, 0.386620
position: 5.917612, -2.955790, 0.392856
position: 6.019710, -2.972842, 0.373248
position: 6.140096, -2.997702, 0.360813
position: 6.277305, -3.027828, 0.373021
position: 6.407952, -3.060679, 0.366701
position: 6.539471, -3.103825, 0.340662
position: 6.655040, -3.160522, 0.304745
position: 6.762569, -3.223010, 0.267968
position: 6.845501, -3.276302, 0.258978
position: 6.925258, -3.336064, 0.256848
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 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720349837.666944096]: Shutdown request received.[0m
[33m[ WARN] [1720349837.666999781]: Reason given for shutdown: [user request][0m
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[33m[ WARN] [1720349837.667868155]: Shutdown request received.[0m
[33m[ WARN] [1720349837.667898628]: Reason given for shutdown: [user request][0m
killed
