/SLAM-Hive/slam_hive_results/mapping_results/2701/1912_vins-mono+MH_02_easy+Image_comb_test-27.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/33b865ea-3c55-11ef-88b0-0242ac110004/roslaunch-001c604f1ca0-119.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://001c604f1ca0:40469/[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 [130][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 33b865ea-3c55-11ef-88b0-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [143][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [157][0m
[1mprocess[vins_estimator-3]: started with pid [161][0m
[0m[ INFO] [1720352213.845319663]: init begins[0m
[0m[ INFO] [1720352213.849815772]: 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] [1720352213.850243687]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720352213.850269893]:  fix extrinsic param [0m
[0m[ INFO] [1720352213.850443340]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720352213.850490575]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720352213.850530957]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720352213.850587893]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [182][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] [1720352221.062132919]: 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: 316715364.43 
[0m[ INFO] [1720352236.266462749]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352237.263092659]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352238.279325921]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352239.264168341]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352240.271300730]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352241.269393833]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352242.277100987]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352243.263158442]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352244.271251976]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352245.267441088]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352246.267403349]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352247.269373369]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352248.266832576]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352249.242637202]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352250.247688515]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352251.229889947]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352252.247339768]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352253.248935596]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352254.258422167]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352255.258388545]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352256.257901863]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352257.247975061]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352258.233915271]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352259.246432204]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352260.249455144]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352261.249342192]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352262.263301574]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352263.236336231]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352264.277377932]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352265.257572512]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352266.238401234]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352267.265506184]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352268.262031016]: 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!
[0m[ INFO] [1720352270.261452222]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352271.228201068]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352272.254719472]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352273.229333923]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352274.265773832]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352275.276058173]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352276.275805879]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352277.265467074]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352278.259231841]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352279.251118409]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352280.251662492]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352281.262501407]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352282.276026580]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352283.259722070]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352284.234095009]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352285.264197860]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352286.263184792]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352287.287089829]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352288.253428027]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720352290.225732506]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352291.269557923]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352292.261086284]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352293.268394169]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352294.257785395]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352295.228148739]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352296.255925296]: 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] [1720352298.257888982]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352299.234864927]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352300.269919901]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352301.261852823]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352302.254101315]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352303.278361302]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352304.259651622]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352305.266982900]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352306.277912766]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352307.248944193]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352308.265599600]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352309.255657034]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352310.249623482]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352311.254140655]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352312.250115040]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352313.264206367]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352314.267902435]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352315.260632319]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352316.247562408]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352317.264797819]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352318.264535890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352319.251070064]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352320.263383127]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352321.269817755]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352322.245077141]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352323.277806378]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352324.235722429]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352325.227516076]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352326.248804807]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352327.254141911]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352328.264713158]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352329.259935260]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352330.262838704]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352331.264414414]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352332.253383855]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352333.261956430]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352334.266012974]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352335.278811642]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352336.233090282]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352337.262793799]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720352339.259611601]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352340.264025446]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352341.265308240]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352342.246389568]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352343.246542329]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352344.247718391]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352345.246122868]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352346.250809697]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352347.231034417]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352348.260808453]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352349.255118040]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352350.227305997]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352351.253946637]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352352.262754592]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352353.261112003]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352354.258609185]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352355.277290137]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352356.259273363]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352357.259398124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352359.259870613]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352360.275361448]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352361.249222304]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352362.274325620]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352363.251314937]: IMU excitation not enouth![0m
[0m[ INFO] [1720352363.251447295]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352364.248660153]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352365.250893031]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352366.258487441]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352367.257952256]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352368.259951428]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352369.269983217]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352370.258511765]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352371.263279940]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352372.260981266]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352373.253621071]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352374.262506299]: IMU excitation not enouth![0m
[0m[ INFO] [1720352374.262583620]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720352375.743887073]: Shutdown request received.[0m
[33m[ WARN] [1720352375.743952999]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720352375.744892012]: Shutdown request received.[0m
[33m[ WARN] [1720352375.744924280]: Reason given for shutdown: [user request][0m
killed
