/SLAM-Hive/slam_hive_results/mapping_results/2692/1903_vins-mono+MH_02_easy+Image_comb_test-18.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/1e658d02-3c51-11ef-8cb5-0242ac110004/roslaunch-891597b59542-118.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://891597b59542:38475/[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 1e658d02-3c51-11ef-8cb5-0242ac110004[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] [1720350460.023252548]: init begins[0m
[0m[ INFO] [1720350460.027918360]: 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] [1720350460.028418640]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720350460.028442862]:  fix extrinsic param [0m
[0m[ INFO] [1720350460.028589291]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720350460.028660055]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720350460.028696018]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720350460.028741992]: 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] [1720350467.272081893]: 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: 316713610.64 
[0m[ INFO] [1720350475.996898994]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350476.487255382]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350476.995713486]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350477.481932214]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350478.000274861]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350478.499974415]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350478.966249993]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350479.472771063]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720350480.474700711]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350480.978919005]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350481.474869212]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350481.951029629]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350482.495478744]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350482.957796281]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350483.491685206]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350483.992051865]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350484.499978552]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350484.992675101]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350485.489905501]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350485.976923064]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350486.471900620]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350486.990302127]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350487.465743935]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350487.994170817]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350488.498660653]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350489.005124084]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350489.488963289]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350490.008002561]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350490.489231005]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350490.989787208]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350491.490814948]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350491.998396251]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350492.489088449]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350492.966221625]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350493.491122177]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350494.003498751]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350494.496802054]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350494.973078545]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350495.475555884]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350495.973266989]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350496.465981839]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350496.964161078]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350497.456399067]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350497.981042475]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350498.440109764]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350498.978799434]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350499.480153303]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350499.960651640]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350500.494599306]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350500.974076617]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350501.483028733]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350501.957285472]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350502.462923869]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350502.953140890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350503.477196733]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350503.965327081]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350504.453899643]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350504.967504744]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350505.452118793]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350505.963762733]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350506.453025486]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350506.955563037]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350507.452352014]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350507.981352880]: 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] [1720350508.991108879]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350509.459755205]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350509.990415539]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350510.476273765]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350510.950453102]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350511.479724554]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350511.977299631]: 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!
[33m[ WARN] [1720350516.008657819]: gyroscope bias initial calibration -0.00350948   0.0211501   0.0771409[0m
[0m[ INFO] [1720350516.050574829]: Initialization finish![0m
position: 1.385237, -2.000119, 0.318483
position: 1.553196, -2.183112, 0.386345
position: 1.740966, -2.287492, 0.357873
position: 1.970167, -2.356455, 0.384731
position: 2.184359, -2.443651, 0.377047
position: 2.448170, -2.515271, 0.393462
position: 2.794481, -2.633098, 0.454779
position: 3.131553, -2.760564, 0.443226
position: 3.482859, -2.876101, 0.503770
position: 3.895871, -3.017779, 0.517299
position: 4.314083, -3.171893, 0.409900
position: 4.664260, -3.248968, 0.378434
position: 4.998254, -3.300168, 0.315446
position: 5.271386, -3.365483, 0.338011
position: 5.541293, -3.434651, 0.303094
position: 5.848620, -3.529557, 0.299348
position: 6.163291, -3.684333, 0.214996
position: 6.398631, -3.868848, 0.185268
position: 6.603829, -4.065226, 0.173829
position: 6.781053, -4.276989, 0.176128
position: 6.957901, -4.481128, 0.202770
position: 7.144827, -4.635996, 0.152442
position: 7.330125, -4.801828, 0.221936
position: 7.498650, -4.982879, 0.283651
position: 7.648994, -5.110218, 0.246146
position: 7.758076, -5.195702, 0.107174
position: 7.840211, -5.240286, 0.063761
position: 7.916504, -5.223399, 0.089120
position: 8.049761, -5.171076, 0.274321
position: 8.131673, -5.250758, 0.450016
position: 8.121679, -5.338314, 0.471084
position: 8.008464, -5.434729, 0.402070
position: 7.864010, -5.492143, 0.470190
position: 7.772057, -5.543569, 0.445895
position: 7.671940, -5.612917, 0.342255
position: 7.619078, -5.678248, 0.282524
position: 7.603075, -5.713491, 0.229361
position: 7.521983, -5.764192, 0.127096
position: 7.562453, -5.848550, 0.107490
position: 7.744374, -5.970379, 0.096117
position: 7.905131, -6.183329, 0.041738
position: 7.999500, -6.418375, -0.096145
position: 8.284003, -6.666985, -0.082713
position: 8.536791, -6.868279, -0.158216
position: 8.653456, -7.073697, -0.157161
position: 8.712405, -7.331941, -0.239396
position: 8.882899, -7.663605, -0.266407
position: 9.096753, -8.013344, -0.340037
position: 9.296643, -8.325800, -0.276239
position: 9.466335, -8.667012, -0.192381
position: 9.564283, -8.937060, -0.183535
position: 9.602073, -9.163576, -0.092908
position: 9.576615, -9.378825, -0.112350
position: 9.422038, -9.557338, -0.064672
position: 9.259670, -9.583091, -0.072192
position: 9.090468, -9.501430, -0.054899
position: 8.927263, -9.288130, 0.047164
position: 8.798800, -9.053824, -0.013983
position: 8.692253, -8.860301, -0.001815
position: 8.542738, -8.642354, -0.084667
position: 8.351368, -8.408475, 0.021643
position: 8.161812, -8.197494, 0.128177
position: 7.921548, -8.008013, 0.058493
position: 7.681754, -7.976647, 0.016268
position: 7.507196, -8.029702, 0.001635
position: 7.357197, -8.063213, 0.009106
position: 7.267424, -8.092583, -0.108823
position: 7.210149, -7.984716, -0.198125
position: 6.989417, -7.814103, -0.183908
position: 6.731173, -7.645388, -0.217425
position: 6.476107, -7.404238, -0.240698
position: 6.196432, -7.111967, -0.352969
position: 5.887431, -6.851258, -0.318863
position: 5.597451, -6.636453, -0.262147
position: 5.330681, -6.407725, -0.223255
position: 5.030012, -6.142296, -0.221683
position: 4.683593, -5.912133, -0.227061
position: 4.341882, -5.673438, -0.236963
position: 4.054737, -5.412388, -0.376845
position: 3.810256, -5.277914, -0.402826
position: 3.662037, -5.160141, -0.336770
position: 3.620916, -5.022637, -0.329256
position: 3.676050, -4.969113, -0.400142
position: 3.727040, -4.899724, -0.596581
position: 3.751583, -4.794056, -0.760747
position: 3.646778, -4.760583, -0.832813
position: 3.564213, -4.875088, -0.868326
position: 3.589373, -5.078430, -0.991653
position: 3.809931, -5.315835, -1.041065
position: 4.033025, -5.487439, -1.140068
position: 4.198698, -5.610994, -1.147394
position: 4.334007, -5.800175, -1.190231
position: 4.521080, -5.977343, -1.159592
position: 4.683999, -6.154537, -1.149293
position: 4.852466, -6.427084, -1.138309
position: 5.048971, -6.670709, -1.220353
position: 5.238703, -6.836890, -1.309462
position: 5.368115, -7.034820, -1.405703
position: 5.539515, -7.272673, -1.344384
position: 5.786277, -7.572574, -1.270847
position: 6.081619, -7.924735, -1.345582
position: 6.421589, -8.255688, -1.388528
position: 6.799231, -8.549942, -1.398040
position: 7.107283, -8.782123, -1.400319
position: 7.380462, -8.937875, -1.410285
position: 7.600686, -9.041336, -1.386014
[0m[ INFO] [1720350569.022878773]:  little feature 1[0m
position: 7.809446, -9.116778, -1.475263
position: 7.952252, -9.216463, -1.406981
position: 8.083542, -9.338902, -1.411246
position: 8.212841, -9.461518, -1.532469
position: 8.187680, -9.354984, -1.582232
position: 8.306283, -9.324813, -1.576406
position: 8.514897, -9.252445, -1.670369
position: 8.677486, -9.152346, -1.611244
[0m[ INFO] [1720350572.993441344]:  little feature 1[0m
position: 8.807815, -9.048068, -1.485483
[0m[ INFO] [1720350573.496209551]:  little feature 0[0m
position: 8.900652, -8.920578, -1.330196
position: 8.949281, -8.734431, -1.242708
position: 8.895351, -8.519632, -1.260655
position: 8.809510, -8.299832, -1.161870
position: 8.784480, -7.979376, -1.018514
position: 8.538772, -7.593824, -0.987421
position: 8.268187, -7.176471, -0.812836
position: 8.100823, -6.753434, -0.608294
position: 7.886164, -6.364755, -0.570230
position: 7.575020, -6.103408, -0.580330
position: 7.297363, -5.923133, -0.618666
position: 6.941109, -5.756048, -0.754235
position: 6.473786, -5.591403, -0.840310
position: 5.942795, -5.428268, -0.820392
position: 5.402391, -5.249115, -0.705841
position: 4.951761, -5.030257, -0.692426
position: 4.530817, -4.813456, -0.725043
position: 4.203564, -4.552517, -0.699311
position: 4.051196, -4.355301, -0.789767
position: 3.978376, -4.275675, -0.925515
position: 3.937964, -4.279392, -0.912338
position: 3.920584, -4.315047, -0.876415
position: 3.888127, -4.333497, -0.953829
position: 3.834452, -4.328768, -1.005820
position: 3.821009, -4.339824, -1.098566
[0m[ INFO] [1720350586.002370197]:  little feature 1[0m
position: 3.801821, -4.342317, -1.143446
position: 3.811987, -4.363566, -1.184350
position: 3.856552, -4.372751, -1.170123
position: 3.876844, -4.461256, -1.240910
position: 3.862769, -4.649496, -1.352341
position: 3.873901, -4.846508, -1.399016
position: 3.845067, -5.060606, -1.510419
position: 3.737295, -5.278894, -1.511668
position: 3.787861, -5.570601, -1.566919
position: 3.915074, -5.839224, -1.654353
position: 4.138133, -6.081231, -1.624989
position: 4.403095, -6.314301, -1.699942
position: 4.657674, -6.529562, -1.722334
position: 4.887421, -6.729513, -1.794938
position: 5.129341, -6.930304, -1.779575
position: 5.473431, -7.203130, -1.771574
position: 5.807933, -7.553379, -1.767424
position: 6.111791, -7.869052, -1.854303
position: 6.448262, -8.139827, -1.802013
position: 6.834805, -8.383122, -1.804704
position: 7.254067, -8.603548, -1.784673
position: 7.684539, -8.789551, -1.828828
position: 8.131420, -8.881697, -1.795609
position: 8.539594, -8.819426, -1.852566
position: 8.897633, -8.723833, -1.744681
position: 9.228518, -8.635333, -1.664164
position: 9.403246, -8.440508, -1.601239
position: 9.427933, -8.269348, -1.522452
position: 9.223280, -8.110069, -1.465607
position: 8.811683, -7.952848, -1.397326
position: 8.371699, -7.781905, -1.345622
position: 7.918056, -7.561250, -1.255110
position: 7.500047, -7.323391, -1.287606
position: 7.122225, -7.065129, -1.269620
position: 6.774401, -6.845472, -1.147793
position: 6.421678, -6.651052, -1.119179
position: 6.138139, -6.457545, -1.088060
position: 5.920328, -6.242383, -0.997323
position: 5.685290, -6.021068, -0.931639
position: 5.400981, -5.752209, -0.951379
position: 5.027782, -5.472843, -0.921900
position: 4.605988, -5.222472, -0.822406
position: 4.170701, -4.964324, -0.753474
position: 3.747512, -4.753584, -0.644442
position: 3.381827, -4.545348, -0.635347
position: 3.089607, -4.387423, -0.666584
position: 2.899970, -4.258954, -0.524557
position: 2.828810, -4.173785, -0.398907
position: 2.871617, -4.141450, -0.260810
position: 2.760182, -3.968663, -0.21000killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720350621.987340296]: Shutdown request received.[0m
[33m[ WARN] [1720350621.987401314]: Reason given for shutdown: [user request][0m
4
position: 2.564951, -3.734869, -0.185516
position: 2.341371, -3.482589, -0.142663
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position: 0.035655, -1.204931, -0.035596
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position: -0.071746, -1.120986, -0.081490
position: -0.096568, -1.114763, -0.132504
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position: -0.059290, -1.062083, -0.256341
position: -0.061895, -1.054394, -0.261870
[33m[ WARN] [1720350621.988247687]: Shutdown request received.[0m
[33m[ WARN] [1720350621.988283622]: Reason given for shutdown: [user request][0m
killed
