/SLAM-Hive/slam_hive_results/mapping_results/2694/1905_vins-mono+MH_02_easy+Image_comb_test-20.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/069fb304-3c52-11ef-8328-0242ac110004/roslaunch-19326956e975-118.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://19326956e975:37233/[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 069fb304-3c52-11ef-8328-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720350849.644076926]: init begins[0m
[0m[ INFO] [1720350849.648738858]: 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] [1720350849.649209794]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720350849.649239491]:  fix extrinsic param [0m
[0m[ INFO] [1720350849.649406785]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720350849.649479828]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720350849.649521540]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720350849.649581027]: 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] [1720350856.906759368]: 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: 316714000.27 
[0m[ INFO] [1720350865.594476511]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350866.091145904]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350866.620032359]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350867.109315451]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350867.618608735]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350868.111305016]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350868.608825757]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350869.105159754]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350869.594889048]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350870.078717590]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350870.589963793]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350871.082899086]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350871.573405557]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350872.114161882]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350872.617225896]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350873.123774076]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350873.613684005]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350874.124210365]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350874.610227770]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350875.114594448]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350875.614122932]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350876.109657830]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350876.609474797]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350877.610201505]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350878.116569248]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350878.623427983]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350879.115224809]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350879.601964799]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350880.115372945]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350880.582169834]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350881.114649940]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350882.081893830]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350882.598561402]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350883.119677353]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350883.626529266]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350884.110222217]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350884.579666347]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350885.073041578]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350885.574597009]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350886.099792937]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350886.600026393]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350887.090720525]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350887.600899944]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350888.090067855]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350888.589625345]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350889.090460038]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350889.582253222]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350890.101500556]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350890.574093071]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350891.101630742]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350891.573752087]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350892.101618276]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350892.578118802]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350893.073511641]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350893.600152178]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350894.089817440]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350894.607545495]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350895.096714191]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350895.582591242]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350896.083355376]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350896.595035279]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350897.091003720]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350897.601385477]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350898.114454194]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350898.610106313]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350899.111112351]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350899.615285083]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350900.124139165]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350900.577982594]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350901.104873876]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350901.592570455]: 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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720350904.593626191]: 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!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720350907.139350382]: gyroscope bias initial calibration -0.00161057   0.0201311   0.0759163[0m
[0m[ INFO] [1720350907.174425797]: Initialization finish![0m
position: 1.599278, -1.993756, 0.215833
position: 1.808183, -2.082481, 0.212652
position: 2.064380, -2.154035, 0.227308
position: 2.406715, -2.275706, 0.290288
position: 2.745999, -2.398950, 0.287841
position: 3.089750, -2.516170, 0.355275
position: 3.475340, -2.673705, 0.367343
position: 3.864415, -2.832369, 0.256436
position: 4.214790, -2.916312, 0.225480
position: 4.538624, -2.978268, 0.163221
position: 4.802574, -3.054280, 0.184104
position: 5.084947, -3.135898, 0.152286
position: 5.409958, -3.253221, 0.146715
position: 5.733748, -3.428235, 0.063402
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position: 6.225489, -3.833640, 0.052241
position: 6.422257, -4.051861, 0.068327
position: 6.613868, -4.278978, 0.056676
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position: 6.946010, -4.613889, 0.048435
position: 7.133246, -4.825222, 0.105313
position: 7.267167, -4.957203, 0.070735
position: 7.361304, -5.050360, -0.066217
position: 7.439166, -5.093467, -0.116296
position: 7.517762, -5.072726, -0.095467
position: 7.657530, -5.024375, 0.086091
position: 7.714231, -5.087244, 0.268161
position: 7.693314, -5.160817, 0.292281
position: 7.571136, -5.245611, 0.226246
position: 7.456591, -5.322501, 0.284511
position: 7.355391, -5.374081, 0.256106
position: 7.251340, -5.448258, 0.152989
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position: 8.829406, -8.243442, -0.470584
position: 8.974552, -8.565446, -0.380922
position: 9.053001, -8.826526, -0.372296
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position: 8.415639, -9.172756, -0.141039
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position: 0.575255, -1.767468, 0.006839
position: 0.357234, -1.507410, -0.000126
position: 0.118533, -1.240374, 0.010556
position: -0.063183, -1.007553, 0.051232
position: -0.230188, -0.845847, 0.044781
position: -0.370494, -0.743945, -0.060979
position: -0.466169, -0.655980, -0.038014
position: -0.539478, -
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720351011.595458692]: Shutdown request received.[0m
[33m[ WARN] [1720351011.595515250]: Reason given for shutdown: [user request][0m
0.590253, -0.046689
position: -0.561289, -0.576668, -0.094888
position: -0.575969, -0.566894, -0.146299
position: -0.623443, -0.508049, -0.193398
position: -0.652549, -0.466181, -0.180213
position: -0.618572, -0.457592, -0.211544
position: -0.595451, -0.494536, -0.244912
position: -0.597343, -0.496667, -0.242295
[33m[ WARN] [1720351011.596431712]: Shutdown request received.[0m
[33m[ WARN] [1720351011.596464178]: Reason given for shutdown: [user request][0m
killed
