/SLAM-Hive/slam_hive_results/mapping_results/2690/1901_vins-mono+MH_02_easy+Image_comb_test-16.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/3452489a-3c50-11ef-8a42-0242ac110004/roslaunch-b49a98fed733-117.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://b49a98fed733:45339/[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 3452489a-3c50-11ef-8a42-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [158][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720350067.305931220]: init begins[0m
[0m[ INFO] [1720350067.310358509]: 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] [1720350067.310885463]: ROW: 192.000000 COL: 300.000000 [0m
[33m[ WARN] [1720350067.310906124]:  fix extrinsic param [0m
[0m[ INFO] [1720350067.311074066]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720350067.311112940]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720350067.311149237]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720350067.311204377]: 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] [1720350074.579621653]: 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: 316713217.95 
[0m[ INFO] [1720350079.386615520]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720350084.161695651]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350084.353786732]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720350084.965219503]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350085.149470576]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350085.356732832]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350085.552092185]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350085.751724630]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350085.989488996]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720350086.548586365]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350086.765426543]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720350087.171773954]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350087.347982798]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720350088.380966916]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720350088.766877243]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350088.961033734]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350089.153975752]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350089.352254973]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720350089.768173835]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350089.992067682]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720350115.354393893]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720350117.769590389]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350117.956529631]: IMU excitation not enouth![0m
[0m[ INFO] [1720350117.956781468]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350118.153195421]: IMU excitation not enouth![0m
[0m[ INFO] [1720350118.363754393]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720350120.153186147]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350120.350591088]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350120.558162340]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350120.755600070]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350120.953297517]: 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!
[33m[ WARN] [1720350121.179954728]: gyroscope bias initial calibration -0.00526716   0.0201017   0.0777754[0m
[0m[ INFO] [1720350121.207856827]: Initialization finish![0m
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pkilling:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720350229.237678505]: Shutdown request received.[0m
[33m[ WARN] [1720350229.237741232]: Reason given for shutdown: [user request][0m
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[33m[ WARN] [1720350229.238647931]: Shutdown request received.[0m
[33m[ WARN] [1720350229.238692432]: Reason given for shutdown: [user request][0m
killed
