/SLAM-Hive/slam_hive_results/mapping_results/2704/1915_vins-mono+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/9a7e11c0-3c56-11ef-9c56-0242ac110004/roslaunch-5936faaa27f0-118.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://5936faaa27f0:44507/[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 9a7e11c0-3c56-11ef-9c56-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720352815.777533402]: init begins[0m
[0m[ INFO] [1720352815.782159270]: 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] [1720352815.782573655]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720352815.782590052]:  fix extrinsic param [0m
[0m[ INFO] [1720352815.782739686]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720352815.782783318]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720352815.782823186]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720352815.782873712]: 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_03_medium.bag  --clock 
[0m[ INFO] [1720352822.944818510]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316715692.62 
[0m[ INFO] [1720352824.606058313]: IMU excitation not enouth![0m
[0m[ INFO] [1720352824.606795167]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352824.800227769]: IMU excitation not enouth![0m
[0m[ INFO] [1720352825.010239675]: IMU excitation not enouth![0m
[0m[ INFO] [1720352825.011334642]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352825.110118867]: IMU excitation not enouth![0m
[0m[ INFO] [1720352825.111137118]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352825.314436578]: IMU excitation not enouth![0m
[0m[ INFO] [1720352825.514813116]: IMU excitation not enouth![0m
[0m[ INFO] [1720352825.515285170]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352825.611282035]: IMU excitation not enouth![0m
[0m[ INFO] [1720352825.612130652]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352825.839790298]: IMU excitation not enouth![0m
[0m[ INFO] [1720352826.035589059]: IMU excitation not enouth![0m
[0m[ INFO] [1720352826.036061737]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352826.135550606]: IMU excitation not enouth![0m
[0m[ INFO] [1720352826.135943122]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720352826.335723578]: IMU excitation not enouth![0m
[33m[ WARN] [1720352826.495156827]: gyroscope bias initial calibration -0.00257781   0.0201556   0.0775422[0m
[0m[ INFO] [1720352826.607783985]: Initialization finish![0m
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position: 0.335102optimize pose graph 
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pooptimize pose graph 
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optimize pose graph 
220
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position: optimize pose graph 
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position:optimize pose graph 
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19948
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optimize pose graph 
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position:optimize pose graph 
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position: -3.410822, -6.047036, -0.154901
position: -3.273960, -6.062705, -0.157735optimize pose graph 

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position: -0.581527, -6.839377, 0optimize pose graph 
.607694
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positoptimize pose graph 
ion: 1.731901, -6.318298, -0.094661
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positioptimize pose graph 
optimize pose graph 
on: 2.978665, -3.156208, -0.021058
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position: 2.920933, -2.295199optimize pose graph 
, 0.223823
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position: 1.8optimize pose graph 
14813, -1.706126, 0.463486
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position: 1.073593, -1.172797, 0.473427
position: 1.019979, -1.131443, 0.476483
position: 0.970505, -1.084581, 0.475116
position: 0.920824, -1.038884, 0.467195
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position: 0.616908, -0.541803, 0.3753optimize pose graph 
64
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position: 0.339764, -0.033158, 0.026124
position: 0.340123, -0.032394, 0.032471
position: 0.338604, -0.030688, 0.035364
position: 0.335661, -0.030866, 0.036534
position: 0.334639, -0.030576, 0.037190
position: 0.334294, -0.030309, 0.037489
position: 0.334183, -0.030485, 0.037505
position: 0.334215, -0.030252, 0.037441
position: 0.334076, -0.030339, 0.037539
position: 0.334183, -0.030330, 0.037482
position: 0.334329, -0.030334, 0.037419
position: 0.334353, -0.030447, 0.037311
posit
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720352959.913656356]: Shutdown request received.[0m
[33m[ WARN] [1720352959.913715736]: Reason given for shutdown: [user request][0m
ion: 0.334430, -0.030301, 0.037335
position: 0.334368, -0.030332, 0.037404
position: 0.334351, -0.030327, 0.037426
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position: 0.334838, -0.030381, 0.037311
position: 0.334823, -0.030330, 0.037316
position: 0.334804, -0.030370, 0.037339
position: 0.334941, -0.030284, 0.037325
[33m[ WARN] [1720352959.914599573]: Shutdown request received.[0m
[33m[ WARN] [1720352959.914628314]: Reason given for shutdown: [user request][0m
killed
