/SLAM-Hive/slam_hive_results/mapping_results/2697/1908_vins-mono+MH_02_easy+Image_comb_test-23.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/61f4d6ac-3c53-11ef-90dc-0242ac110004/roslaunch-b8944a00828c-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://b8944a00828c:43415/[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 61f4d6ac-3c53-11ef-90dc-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] [1720351432.505029476]: init begins[0m
[0m[ INFO] [1720351432.509884901]: 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] [1720351432.510406416]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720351432.510440140]:  fix extrinsic param [0m
[0m[ INFO] [1720351432.510591367]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720351432.510623558]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720351432.510649354]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720351432.510691631]: 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] [1720351439.639978592]: 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: 316714583.01 
[0m[ INFO] [1720351448.333213216]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720351471.311556443]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351471.814159053]: IMU excitation not enouth![0m
[0m[ INFO] [1720351471.814405039]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351472.318831116]: IMU excitation not enouth![0m
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[0m[ INFO] [1720351472.813007439]: IMU excitation not enouth![0m
[0m[ INFO] [1720351472.813077932]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351473.311835638]: IMU excitation not enouth![0m
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[0m[ INFO] [1720351477.322054734]: IMU excitation not enouth![0m
[0m[ INFO] [1720351477.322321330]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351477.822116048]: IMU excitation not enouth![0m
[0m[ INFO] [1720351477.822264095]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351478.334403623]: IMU excitation not enouth![0m
[0m[ INFO] [1720351478.334632849]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351478.825897084]: IMU excitation not enouth![0m
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[0m[ INFO] [1720351539.822760118]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351540.318324776]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351540.802555644]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351541.333295134]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351541.829250893]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351542.317659007]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351542.829422570]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351543.314237960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351543.820102187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351544.303276691]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351544.820357195]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351545.318349887]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351545.820448728]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351546.318366558]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351546.822420317]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351547.329512157]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351547.819600067]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351548.318008035]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351548.820325049]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351549.322308216]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351549.819596442]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351550.316615946]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351550.820412967]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351551.318248979]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351551.816517036]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351552.327617597]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351552.803668579]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351553.316759076]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351553.821844735]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351554.319620253]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351554.824877284]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351555.302749422]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351555.819756459]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351556.319248511]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351556.820098002]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351557.313535392]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351557.818145231]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351558.317696921]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351558.820799185]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351559.320002995]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351559.821314750]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351560.328324373]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351560.819657030]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351561.307493058]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351561.817149807]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351562.321219031]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351562.816028557]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351563.315268879]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351563.816243182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351564.315046524]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351564.796137887]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351565.322322919]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351565.808001918]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351566.299377350]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351566.819427297]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351567.313757540]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351567.801411618]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351568.321157007]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351568.809998417]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351569.298072890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351569.818300109]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351570.332873045]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351570.817734422]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351571.826716125]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351572.317432976]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351572.817362367]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351573.301651107]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351573.811503734]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351574.317668929]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351574.820545354]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351575.330872061]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351575.801420877]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351576.304370865]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351576.818831643]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351577.317709704]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351577.808777557]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351578.317254326]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351578.819476880]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351579.318345604]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351579.821796788]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351580.318411850]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351580.827743737]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351581.320065823]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351581.819582083]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351582.320769890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351582.804751135]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351583.303026386]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351583.816923095]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351584.302746162]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351584.819869660]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351585.308643303]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351585.824811010]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351586.327882625]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351586.802540664]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351587.334671874]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351587.825117940]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351588.314598058]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351588.805594451]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351589.314124114]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351589.828637227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351590.316132573]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351590.816369226]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351591.318703495]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351591.800696191]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351592.326373594]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351592.816620205]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720351593.325961326]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720351594.350730854]: Shutdown request received.[0m
[33m[ WARN] [1720351594.350789350]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720351594.351636136]: Shutdown request received.[0m
[33m[ WARN] [1720351594.351675958]: Reason given for shutdown: [user request][0m
killed
