/SLAM-Hive/slam_hive_results/mapping_results/2691/1902_vins-mono+MH_02_easy+Image_comb_test-17.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/a83ee9d4-3c50-11ef-b461-0242ac110004/roslaunch-b90d230b0314-118.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://b90d230b0314:46163/[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 a83ee9d4-3c50-11ef-b461-0242ac110004[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] [1720350261.945875012]: init begins[0m
[0m[ INFO] [1720350261.950932617]: 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] [1720350261.951445570]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720350261.951468222]:  fix extrinsic param [0m
[0m[ INFO] [1720350261.951620362]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720350261.951672685]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720350261.951722507]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720350261.951771644]: 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] [1720350269.071728815]: 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: 316713412.44 
[0m[ INFO] [1720350273.850280821]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720350286.053267942]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720350288.040144149]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720350288.651646062]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720350289.245741227]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720350298.053734623]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350298.263442084]: IMU excitation not enouth![0m
[0m[ INFO] [1720350298.263801316]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350298.453278245]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350298.655667653]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350298.852764212]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350299.639069094]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350300.251372724]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350300.460218628]: IMU excitation not enouth![0m
[0m[ INFO] [1720350300.460404740]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350300.638384321]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350300.860845441]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350301.053739550]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350301.251535571]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350301.852084279]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350302.053116598]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350302.453571312]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350302.649611551]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350302.838871939]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350303.061054576]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350303.260832363]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350303.452731051]: IMU excitation not enouth![0m
[0m[ INFO] [1720350303.452904111]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350303.660217436]: IMU excitation not enouth![0m
[0m[ INFO] [1720350303.660397898]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350303.860547447]: IMU excitation not enouth![0m
[0m[ INFO] [1720350303.860775159]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350304.061579056]: IMU excitation not enouth![0m
[0m[ INFO] [1720350304.259562772]: IMU excitation not enouth![0m
[0m[ INFO] [1720350304.259697345]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350304.441834786]: IMU excitation not enouth![0m
[0m[ INFO] [1720350304.441907121]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350304.661307192]: IMU excitation not enouth![0m
[0m[ INFO] [1720350304.850167933]: IMU excitation not enouth![0m
[0m[ INFO] [1720350304.850296596]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350305.050238923]: IMU excitation not enouth![0m
[0m[ INFO] [1720350305.250658423]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350305.463082868]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350305.650577362]: IMU excitation not enouth![0m
[0m[ INFO] [1720350305.650706238]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350305.850366670]: IMU excitation not enouth![0m
[0m[ INFO] [1720350305.850495502]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350306.063414427]: IMU excitation not enouth![0m
[0m[ INFO] [1720350306.063587003]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350306.250797144]: IMU excitation not enouth![0m
[0m[ INFO] [1720350306.250985191]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350306.455627043]: IMU excitation not enouth![0m
[0m[ INFO] [1720350306.455853303]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350306.651866022]: IMU excitation not enouth![0m
[0m[ INFO] [1720350306.652052179]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350306.851723688]: IMU excitation not enouth![0m
[0m[ INFO] [1720350306.851849994]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350307.051557338]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350307.250880790]: IMU excitation not enouth![0m
[0m[ INFO] [1720350307.251073817]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350307.461313782]: IMU excitation not enouth![0m
[0m[ INFO] [1720350307.461500164]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350307.651195359]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350307.857964350]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350308.051902024]: IMU excitation not enouth![0m
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[0m[ INFO] [1720350405.458821484]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720350405.848703556]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350406.034281868]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350406.242287610]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350406.442120777]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350406.635476606]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350406.857217124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350407.048211841]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350407.258693223]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350407.440615107]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350407.636616274]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350407.843867116]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350408.047823151]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350408.256603628]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350408.462144522]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350408.649502225]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350408.837687971]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350409.047526500]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350409.246034430]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350409.444673626]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350409.659141833]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350409.848355866]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350410.046609693]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350410.243510738]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350410.446858149]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350410.655223439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350410.845878915]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350411.046510961]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350411.246332651]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350411.442986754]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350411.649168535]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350411.848169507]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350412.049068065]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350412.234914411]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350412.448348411]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350412.646170256]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350412.846638551]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350413.048290103]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350413.248051439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350413.447171637]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350413.650591133]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350413.842031934]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350414.057023116]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350414.246169572]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350414.458812835]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350414.647040455]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350414.847822734]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350415.044641714]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350415.251033782]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350415.443385457]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350415.648108190]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350415.837292692]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350416.046349962]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350416.238830594]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350416.447563022]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350416.657027449]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350416.836365707]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350417.034927143]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350417.257310195]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350417.447725085]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350417.644177582]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350417.844811203]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350418.046881143]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350418.243590006]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350418.446128520]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350418.639333667]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350418.831383048]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350419.046630651]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350419.257507319]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350419.436677086]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350419.645212633]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350419.849701844]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350420.036547559]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350420.243125088]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350420.447741950]: IMU excitation not enouth![0m
[0m[ INFO] [1720350420.447913631]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350420.646292304]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350420.842232734]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350421.046845584]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350421.239863534]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350421.445300590]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350421.633293902]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350421.844391562]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350422.057397656]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350422.248319091]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350422.445217612]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350422.647200102]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350422.834993592]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350423.054351350]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720350423.616769772]: Shutdown request received.[0m
[33m[ WARN] [1720350423.616848079]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720350423.617763771]: Shutdown request received.[0m
[33m[ WARN] [1720350423.617794828]: Reason given for shutdown: [user request][0m
killed
