/SLAM-Hive/slam_hive_results/mapping_results/2689/1900_vins-mono+MH_02_easy+Image_comb_test-15.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/bf369b24-3c4f-11ef-86b6-0242ac110004/roslaunch-792626ffff07-118.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://792626ffff07:42823/[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 bf369b24-3c4f-11ef-86b6-0242ac110004[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] [1720349870.875431378]: init begins[0m
[0m[ INFO] [1720349870.880253655]: 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] [1720349870.880766472]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720349870.880782091]:  fix extrinsic param [0m
[0m[ INFO] [1720349870.880929970]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720349870.880968395]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720349870.880997438]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720349870.881042036]: 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] [1720349878.108518509]: 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: 316713021.48 
[0m[ INFO] [1720349882.921601024]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349883.092563170]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349883.278750521]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720349883.698337838]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349883.920190653]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349884.308834669]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349884.502963046]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349884.689711145]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349884.900782915]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349885.092981328]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349885.325919749]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349885.512812422]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349885.688266201]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349885.895692412]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349886.121767913]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349886.297253137]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349886.486487987]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349886.696541696]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349886.894258098]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349887.090903401]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349887.287999518]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349887.510559327]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349887.710823640]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349887.886515034]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349888.077605675]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349888.305226175]: 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] [1720349888.693881187]: 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] [1720349889.088231138]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349889.314041130]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349889.520943064]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349889.677903326]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349889.894833772]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349890.084100650]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349890.298010208]: 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] [1720349891.705055528]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349891.913133225]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349892.120864793]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349892.311425886]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349892.501712728]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349892.688638783]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349892.876888194]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349893.111632284]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349893.291428781]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349893.511955364]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349893.724301074]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349893.913341472]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349894.109751755]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349894.298452049]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720349894.683328823]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349894.909726666]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349895.123372591]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349895.323906121]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349895.514398534]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349895.687120685]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349895.887745800]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349896.082667262]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349896.306277099]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349896.523034838]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349896.697479934]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349896.912975479]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349897.091113137]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349897.311945642]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349897.513318821]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349897.712893415]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349897.924535305]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349898.121537528]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349898.515277878]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349898.695135621]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349898.942040652]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349899.135593476]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349899.332313760]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349899.510874741]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349899.710738629]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349899.907637259]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349900.122199845]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349900.314639472]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349900.515981702]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349900.712013708]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349900.916236684]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349901.124894875]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349901.311183410]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349901.514644056]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349901.705366530]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349901.910398423]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349902.110020310]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349902.305720150]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349902.485929815]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349902.715130288]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349902.905554002]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349903.086260507]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349903.303897195]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349903.510408886]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349903.694471493]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349903.891357643]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349904.114012357]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349904.284979983]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349904.483162216]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349904.721374911]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349904.906638242]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349905.112717515]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349905.292727786]: 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!
[0m[ INFO] [1720349906.102280516]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349906.292175626]: 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!
[0m[ INFO] [1720349906.893945931]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720349907.078156924]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720349907.370943368]: gyroscope bias initial calibration -0.000899081   0.00942056     0.075698[0m
[0m[ INFO] [1720349907.394758704]: Initialization finish![0m
position: 0.045427, 0.037720, -0.099246
position: 0.051368, 0.040961, -0.104321
position: 0.054720, 0.042506, -0.107048
position: 0.055212, 0.042639, -0.107196
position: 0.055245, 0.042553, -0.107203
position: 0.054974, 0.042397, -0.106916
position: 0.054892, 0.042360, -0.106854
position: 0.054728, 0.042295, -0.106679
position: 0.054593, 0.042214, -0.106523
position: 0.054561, 0.042230, -0.106525
position: 0.054513, 0.042127, -0.106478
position: 0.054453, 0.042050, -0.106415
position: 0.054370, 0.042037, -0.106366
position: 0.054261, 0.041956, -0.106293
position: 0.054230, 0.042005, -0.106341
position: 0.054127, 0.041955, -0.106264
position: 0.054045, 0.042209, -0.106618
position: 0.054215, 0.042340, -0.106942
position: 0.054379, 0.042318, -0.107085
position: 0.054497, 0.042405, -0.107327
position: 0.054521, 0.042444, -0.107367
position: 0.054548, 0.042425, -0.107355
position: 0.054559, 0.042332, -0.107406
position: 0.054259, 0.042179, -0.107081
position: 0.054572, 0.042319, -0.107329
position: 0.054381, 0.042350, -0.107444
position: 0.054368, 0.042217, -0.107171
position: 0.054175, 0.042065, -0.107037
position: 0.054019, 0.042117, -0.107022
position: 0.054003, 0.042141, -0.107097
position: 0.053878, 0.042050, -0.106935
position: 0.053771, 0.042001, -0.106916
position: 0.053764, 0.041998, -0.106955
position: 0.053704, 0.041972, -0.106990
position: 0.053661, 0.041893, -0.106984
position: 0.053657, 0.041852, -0.107008
position: 0.053544, 0.041822, -0.107048
position: 0.053498, 0.041797, -0.107134
position: 0.053495, 0.041778, -0.107242
position: 0.053500, 0.041751, -0.107352
position: 0.053478, 0.041727, -0.107499
position: 0.053444, 0.041688, -0.107561
position: 0.053384, 0.041634, -0.107611
position: 0.053379, 0.041593, -0.107714
position: 0.053376, 0.041557, -0.107851
position: 0.053409, 0.041544, -0.108070
position: 0.053481, 0.041519, -0.108296
position: 0.053512, 0.041451, -0.108449
position: 0.056251, 0.044295, -0.114178
position: 0.056661, 0.044798, -0.114868
position: 0.056806, 0.045044, -0.115173
position: 0.056926, 0.045193, -0.115338
position: 0.057028, 0.045252, -0.115433
position: 0.057242, 0.045071, -0.115512
position: 0.057185, 0.045016, -0.115476
position: 0.057129, 0.044955, -0.115328
position: 0.057335, 0.044979, -0.115457
position: 0.057041, 0.045234, -0.115997
position: 0.053086, 0.043553, -0.116599
position: 0.042880, 0.028643, -0.117560
position: 0.019311, 0.000706, -0.116660
position: 0.000883, -0.030443, -0.095099
position: -0.004423, -0.051091, -0.056656
position: 0.001524, -0.066223, -0.034794
position: 0.006720, -0.063429, 0.003552
position: 0.023872, -0.063758, 0.050743
position: 0.045619, -0.057656, 0.094532
position: 0.077654, -0.047455, 0.130092
position: 0.127467, -0.045826, 0.155104
position: 0.177277, -0.055696, 0.168744
position: 0.213436, -0.074709, 0.177561
position: 0.250934, -0.105613, 0.183194
position: 0.302493, -0.143081, 0.184217
position: 0.352159, -0.181421, 0.195140
position: 0.395233, -0.218544, 0.239250
position: 0.435685, -0.254644, 0.279304
position: 0.483236, -0.292309, 0.294473
position: 0.537755, -0.335144, 0.293869
position: 0.602394, -0.402895, 0.276165
position: 0.660777, -0.485159, 0.279012
position: 0.726629, -0.560632, 0.292678
position: 0.783183, -0.656848, 0.290843
position: 0.854105, -0.755918, 0.268748
position: 0.925452, -0.849505, 0.261947
position: 0.994072, -0.942557, 0.242749
position: 1.046984, -1.031950, 0.192679
position: 1.094291, -1.107383, 0.165354
position: 1.143057, -1.179700, 0.168056
position: 1.203674, -1.262016, 0.201992
position: 1.251303, -1.341156, 0.246739
position: 1.301309, -1.414356, 0.258261
position: 1.347675, -1.474616, 0.254011
position: 1.404342, -1.535657, 0.274564
position: 1.470842, -1.607903, 0.323566
position: 1.531826, -1.688253, 0.366521
position: 1.591815, -1.775096, 0.391579
position: 1.651632, -1.867898, 0.409093
position: 1.713297, -1.963256, 0.417180
position: 1.782955, -2.054520, 0.430206
position: 1.861606, -2.136198, 0.466155
position: 1.935307, -2.196318, 0.504216
position: 2.008886, -2.246395, 0.511342
position: 2.080768, -2.287461, 0.493683
position: 2.168029, -2.318864, 0.476466
position: 2.256086, -2.336284, 0.487543
position: 2.346526, -2.363026, 0.504510
position: 2.433329, -2.400695, 0.499945
position: 2.516501, -2.435360, 0.493734
position: 2.601122, -2.464453, 0.495909
position: 2.693763, -2.488680, 0.487756
position: 2.805068, -2.514453, 0.510113
position: 2.922850, -2.548709, 0.557136
position: 3.071082, -2.596139, 0.570251
position: 3.218270, -2.646680, 0.576152
position: 3.355113, -2.692899, 0.576727
position: 3.484496, -2.737774, 0.560487
position: 3.615516, -2.781821, 0.567980
position: 3.759509, -2.824785, 0.606717
position: 3.913281, -2.869138, 0.638610
position: 4.077104, -2.919547, 0.652094
position: 4.249455, -2.973661, 0.644087
position: 4.418347, -3.030977, 0.615651
position: 4.572371, -3.085269, 0.567934
position: 4.712422, -3.118644, 0.525067
position: 4.838922, -3.140402, 0.513774
position: 4.964962, -3.158577, 0.515362
position: 5.095639, -3.176811, 0.492369
position: 5.226374, -3.187524, 0.466084
position: 5.342460, -3.210378, 0.449459
position: 5.441809, -3.234811, 0.459435
position: 5.542792, -3.251971, 0.482819
position: 5.632820, -3.272926, 0.487546
position: 5.733090, -3.296010, 0.469417
position: 5.843944, -3.325304, 0.450592
position: 5.963933, -3.358077, 0.462099
position: 6.091741, -3.399916, 0.458627
position: 6.208535, -3.450324, 0.435698
position: 6.341247, -3.516979, 0.397571
position: 6.454871, -3.589087, 0.362032
position: 6.557936, -3.662052, 0.356808
position: 6.653416, -3.737960, 0.360383
position: 6.739969, -3.814128, 0.348113
position: 6.825855, -3.890353, 0.354660
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 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720350032.767835150]: Shutdown request received.[0m
[33m[ WARN] [1720350032.767891986]: Reason given for shutdown: [user request][0m
532, 0.372141
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[33m[ WARN] [1720350032.768881776]: Shutdown request received.[0m
[33m[ WARN] [1720350032.768912255]: Reason given for shutdown: [user request][0m
killed
