/SLAM-Hive/slam_hive_results/mapping_results/2703/1914_vins-mono+MH_02_easy+Image_comb_test-29.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/1a727598-3c56-11ef-82ca-0242ac110004/roslaunch-4fa764a8509f-117.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://4fa764a8509f:38021/[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 [128][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 1a727598-3c56-11ef-82ca-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [154][0m
[0m[ INFO] [1720352600.927444350]: init begins[0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720352600.936131151]: 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] [1720352600.936608986]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720352600.936630168]:  fix extrinsic param [0m
[0m[ INFO] [1720352600.936791409]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720352600.936830002]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720352600.936865714]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720352600.936925345]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [192][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] [1720352608.157910444]: 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: 316715751.52 
[0m[ INFO] [1720352623.346982625]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720352644.340611889]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352645.341520483]: IMU excitation not enouth![0m
[0m[ INFO] [1720352645.341634182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352646.343846955]: IMU excitation not enouth![0m
[0m[ INFO] [1720352646.343927977]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352647.325456088]: IMU excitation not enouth![0m
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[0m[ INFO] [1720352648.347944124]: IMU excitation not enouth![0m
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[0m[ INFO] [1720352649.341405649]: IMU excitation not enouth![0m
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[0m[ INFO] [1720352750.339963569]: IMU excitation not enouth![0m
[0m[ INFO] [1720352750.340051581]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720352760.320099622]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352761.338517299]: IMU excitation not enouth![0m
[0m[ INFO] [1720352761.338626630]: Not enough features or parallax; Move device around[0m
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720352762.847459734]: Shutdown request received.[0m
[33m[ WARN] [1720352762.847535609]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720352762.848390450]: Shutdown request received.[0m
[33m[ WARN] [1720352762.848423411]: Reason given for shutdown: [user request][0m
killed
