/SLAM-Hive/slam_hive_results/mapping_results/2705/1916_vins-mono+MH_03_medium+Image_comb_test-1.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/05905432-3c57-11ef-aa80-0242ac110004/roslaunch-9528dc9eeaf8-118.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://9528dc9eeaf8:36475/[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 05905432-3c57-11ef-aa80-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [145][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720352995.411717001]: init begins[0m
[0m[ INFO] [1720352995.416966115]: 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] [1720352995.417495556]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720352995.417528769]:  fix extrinsic param [0m
[0m[ INFO] [1720352995.417676763]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720352995.417708456]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720352995.417745526]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720352995.417792493]: 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] [1720353002.423964154]: 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: 316715872.10 
[0m[ INFO] [1720353004.088999247]: IMU excitation not enouth![0m
[0m[ INFO] [1720353004.090070508]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353004.287051536]: IMU excitation not enouth![0m
[0m[ INFO] [1720353004.288086751]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353004.487486129]: IMU excitation not enouth![0m
[0m[ INFO] [1720353004.488455800]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353004.581605335]: IMU excitation not enouth![0m
[0m[ INFO] [1720353004.788251701]: IMU excitation not enouth![0m
[0m[ INFO] [1720353004.789418888]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353005.006854409]: IMU excitation not enouth![0m
[0m[ INFO] [1720353005.007602860]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353005.087239896]: IMU excitation not enouth![0m
[0m[ INFO] [1720353005.088179136]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353005.289527167]: IMU excitation not enouth![0m
[0m[ INFO] [1720353005.289944807]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353005.507340398]: IMU excitation not enouth![0m
[0m[ INFO] [1720353005.508022120]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353005.583841399]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353005.783812304]: IMU excitation not enouth![0m
[33m[ WARN] [1720353005.966716664]: gyroscope bias initial calibration -0.00281954   0.0243097   0.0781841[0m
[0m[ INFO] [1720353006.075797482]: Initialization finish![0m
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position: 0.33708optimize pose graph 
optimize pose graph 
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optimize pose graph 
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position: -3.406778, -4.995879, -0.104168
position: -3.536228, -5.090204, -0.125896
position: -3.645674, -5.183442, -0.138520
position: -3.738580, -5.272459, -0.145121
position: -3.815948, -5.353260, -0.145220
position: -3.877696, -5.428401, -0.138821
position: -3.926021, -5.501669, -0.132164
position: -3.953017, -5.567773, -0.128506
position: -3.966670, -5.635228, -0.135216
position: -3.951549, -5.697343, -0.138647
position: -3.917044, -5.756809, -0.137658
position: -3.858629, -5.810011, -0.127562
position: -3.786205, -5.855517, -0.111390
position: -3.702709, -5.894705, -0.091699
position: -3.608001, -5.926215, -0.076975
position: -3.501016, -5.951362, -0.071989
position: -3.383284, -5.973365, -0.072768
position: -3.254900, -5.989434, -0.077534
position: -3.117157, -6.000226, -0.079533
position: -2.971765, -6.008239, optimize pose graph 
-0.078541
position: -2.821921, -6.016838, -0.068468
position: -2.670459, -6.027746, -0.050983
position: -2.521062, -6.034976, -0.023586
position: -2.377453, -6.040112, 0.014967
position: -2.241019, -6.045879, 0.063644
position: -2.111989, -6.052894, 0.118456
position: -1.987408, -6.053765, 0.175767
position: -1.871331, -6.058735, 0.239608
position: -1.762642, -6.065101, 0.308071
position: -1.658957, -6.072266, 0.373219
position: -1.556621, -6.081442, 0.430263
position: -1.455621, -6.095240, 0.480188
position: -1.355005, -6.115233, 0.523882
position: -1.254535, -6.140518, 0.561378
position: -1.157024, -6.171625, 0.592399
position: -1.067472, -6.211462, 0.621451
position: -0.985530, -6.259603, 0.649660
position: -0.907244, -6.314477, 0.672476
position: -0.830113, -6.376224, 0.689115
position: -0.754568, -6.443838, 0.699740
position: -0.679055, -6.517503, 0.704104
position: -0.602595, -6.598259, 0.705125
position: -0.524549, -6.680791, 0.699057
position: -0.444346, -6.762554, 0.686355
position: -0.360407, -6.843optimize pose graph 
049, 0.668294
position: -0.273783, -6.919662, 0.645040
position: -0.184624, -6.992353, 0.618469
position: -0.094524, -7.059703, 0.589019
position: -0.002521, -7.120477, 0.555122
position: 0.091639, -7.171728, 0.517609
position: 0.188254, -7.210834, 0.478345
position: 0.286518, -7.234845, 0.443801
position: 0.384219, -7.243163, 0.415112
position: 0.481419, -7.239962, 0.391897
position: 0.577481, -7.228016, 0.369869
position: 0.672902, -7.210472, 0.343646
position: 0.771099, -7.190264, 0.314071
position: 0.873520, -7.169144, 0.286935
position: 0.976172, -7.142873, 0.253249
position: 1.079504, -7.109943, 0.213824
position: 1.179185, -7.066836, 0.173567
position: 1.275783, -7.012209, 0.137349
position: 1.369343, -6.942132, 0.109721
position: 1.458432, -6.858699, 0.088159
position: 1.540293, -6.764115, 0.072321
position: 1.616952, -6.663360, 0.057395
position: 1.687844, -6.557228, 0.037854
position: 1.757682, -6.449038, 0.014454
position: 1.824722, -6.338185, -0.008845
position: 1.887356, -6.224542, -0.026812
posioptimize pose graph 
tion: 1.944102, -6.107013, -0.037528
position: 1.998605, -5.986292, -0.038176
position: 2.054235, -5.862116, -0.031227
position: 2.111275, -5.736225, -0.017873
position: 2.173081, -5.609594, 0.001029
position: 2.236715, -5.482868, 0.026554
position: 2.302296, -5.357430, 0.056777
position: 2.367149, -5.229673, 0.077468
position: 2.432682, -5.100077, 0.080845
position: 2.497651, -4.967810, 0.066837
position: 2.562296, -4.832635, 0.046426
position: 2.625884, -4.696009, 0.029508
position: 2.685341, -4.555641, 0.017577
position: 2.741084, -4.410568, 0.011803
position: 2.792299, -4.265022, 0.013962
position: 2.838853, -4.119815, 0.017313
position: 2.881883, -3.977078, 0.015440
position: 2.922050, -3.839959, 0.008060
position: 2.957825, -3.707553, -0.003828
position: 2.989594, -3.581765, -0.012015
position: 3.018913, -3.463092, -0.012976
position: 3.047692, -3.352221, -0.005759
position: 3.076151, -3.248612, 0.007779
position: 3.103263, -3.150877, 0.027042
position: 3.128740, -3.059678, 0.052907
position: 3.153420, optimize pose graph 
-2.977057, 0.086186
position: 3.175855, -2.902830, 0.127628
position: 3.199074, -2.834564, 0.176820
position: 3.221873, -2.772232, 0.222589
position: 3.244407, -2.712237, 0.261007
position: 3.263539, -2.658520, 0.292648
position: 3.279589, -2.610776, 0.319397
position: 3.293134, -2.568504, 0.343282
position: 3.304365, -2.529528, 0.363332
position: 3.311190, -2.491296, 0.379351
position: 3.312965, -2.453032, 0.389863
position: 3.308973, -2.416208, 0.393996
position: 3.298752, -2.380696, 0.389405
position: 3.284405, -2.346564, 0.379395
position: 3.266753, -2.316601, 0.363191
position: 3.247317, -2.288355, 0.343939
position: 3.226938, -2.267951, 0.326647
position: 3.208731, -2.252453, 0.320329
position: 3.192236, -2.239570, 0.321462
position: 3.173486, -2.227264, 0.327625
position: 3.156051, -2.215893, 0.331742
position: 3.135682, -2.207098, 0.331820
position: 3.114337, -2.198924, 0.326136
position: 3.091161, -2.192423, 0.314491
position: 3.065997, -2.187107, 0.302803
position: 3.039525, -2.182498, 0.296716
posioptimize pose graph 
tion: 3.011613, -2.176842, 0.297847
position: 2.986899, -2.170958, 0.305996
position: 2.953349, -2.163383, 0.319418
position: 2.918153, -2.152654, 0.339168
position: 2.879921, -2.138842, 0.364144
position: 2.838414, -2.122799, 0.393864
position: 2.798941, -2.105117, 0.422534
position: 2.759543, -2.086701, 0.446684
position: 2.721574, -2.066370, 0.465286
position: 2.683044, -2.045069, 0.477375
position: 2.644346, -2.021102, 0.484928
position: 2.605282, -1.996817, 0.485803
position: 2.565306, -1.970907, 0.482081
position: 2.523373, -1.944446, 0.476556
position: 2.479532, -1.916330, 0.475137
position: 2.433557, -1.887443, 0.481346
position: 2.384161, -1.857633, 0.489521
position: 2.332717, -1.827210, 0.491079
position: 2.281545, -1.797740, 0.487423
position: 2.228183, -1.767093, 0.480115
position: 2.173356, -1.735435, 0.477357
position: 2.118836, -1.703492, 0.482673
position: 2.062776, -1.669962, 0.497915
position: 2.004395, -1.637883, 0.521139
position: 1.946479, -1.604289, 0.542830
position: 1.888387, -1.56938optimize pose graph 
9, 0.557391
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position: 1.770766, -1.492650, 0.566758
position: 1.709417, -1.451403, 0.562923
position: 1.645368, -1.408196, 0.551342
position: 1.581833, -1.364327, 0.538309
position: 1.523631, -1.319347, 0.526433
position: 1.465708, -1.276115, 0.519369
position: 1.406466, -1.238793, 0.515687
position: 1.349774, -1.197075, 0.521005
position: 1.293974, -1.155674, 0.532251
position: 1.239309, -1.112943, 0.547360
position: 1.185045, -1.070067, 0.558899
position: 1.129444, -1.024495, 0.564066
position: 1.076616, -0.979874, 0.561478
position: 1.024795, -0.930939, 0.556580
position: 0.976595, -0.879303, 0.547215
position: 0.933251, -0.826508, 0.533160
position: 0.894552, -0.771539, 0.523364
position: 0.860562, -0.715810, 0.522326
position: 0.827068, -0.658105, 0.521416
position: 0.793275, -0.599076, 0.513686
position: 0.761838, -0.541591, 0.498547
position: 0.734955, -0.486023, 0.480610
position: 0.711621, -0.432385, 0.460502
position: 0.690080, -0.383097, 0.437718
position: 0.optimize pose graph 
670580, -0.335499, 0.416710
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position: 0.636762, -0.242987, 0.404707
position: 0.622954, -0.205813, 0.417390
position: 0.609490, -0.172320, 0.433774
position: 0.596984, -0.145363, 0.448011
position: 0.585780, -0.125435, 0.458549
position: 0.575190, -0.112227, 0.466379
position: 0.565707, -0.105060, 0.470204
position: 0.558001, -0.098876, 0.466741
position: 0.550610, -0.095801, 0.461961
position: 0.542240, -0.098751, 0.455973
position: 0.536756, -0.102713, 0.441578
position: 0.530940, -0.109311, 0.422562
position: 0.524718, -0.117179, 0.401614
position: 0.516200, -0.125977, 0.380307
position: 0.505983, -0.130907, 0.356055
position: 0.495460, -0.132095, 0.331730
position: 0.485639, -0.128959, 0.309266
position: 0.476552, -0.122505, 0.288476
position: 0.467584, -0.114235, 0.267298
position: 0.458720, -0.105544, 0.245265
position: 0.448040, -0.096117, 0.222073
position: 0.437017, -0.085818, 0.200616
position: 0.427466, -0.073258, 0.184854
position: 0.419857, -0.058148, 0.176691
position: 0.414661, -0.042843, 0.172028
position: 0.411370, -0.027474, 0.167243
position: 0.410949, -0.010591, 0.167475
position: 0.414446, 0.008807, 0.174095
position: 0.419979, 0.028990, 0.178930
position: 0.425028, 0.047635, 0.174923
position: 0.429725, 0.065294, 0.161884
position: 0.433481, 0.081191, 0.141502
position: 0.433007, 0.084872, 0.126977
position: 0.431409, 0.075751, 0.124321
position: 0.427039, 0.068682, 0.115427
position: 0.426272, 0.063725, 0.115893
position: 0.431216, 0.065405, 0.109359
position: 0.431232, 0.064380, 0.113774
position: 0.425641, 0.066076, 0.120983
position: 0.424472, 0.066082, 0.121606
position: 0.424186, 0.066301, 0.121901
position: 0.424141, 0.066395, 0.122017
position: 0.424145, 0.066195, 0.121956
position: 0.424247, 0.066430, 0.121855
position: 0.424167, 0.066326, 0.121921
position: 0.424286, 0.066338, 0.121832
position: 0.424434, 0.066350, 0.121751
position: 0.424445, 0.066220, 0.121640
position: 0.424538, 0.066406, 0.121636
position: 0.424485, 0.066408, 0.121697
pos
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720353139.257840047]: Shutdown request received.[0m
[33m[ WARN] [1720353139.257900616]: Reason given for shutdown: [user request][0m
ition: 0.424498, 0.066455, 0.121692
position: 0.424616, 0.066543, 0.121664
position: 0.424677, 0.066541, 0.121574
position: 0.424802, 0.066679, 0.121516
position: 0.424842, 0.066706, 0.121542
position: 0.424890, 0.066694, 0.121519
position: 0.424912, 0.066718, 0.121507
position: 0.424924, 0.066681, 0.121503
position: 0.424973, 0.066753, 0.121541
position: 0.424961, 0.066720, 0.121565
position: 0.424986, 0.066747, 0.121552
position: 0.424969, 0.066788, 0.121543
position: 0.424995, 0.066813, 0.121531
position: 0.425056, 0.066894, 0.121538
[33m[ WARN] [1720353139.258713481]: Shutdown request received.[0m
[33m[ WARN] [1720353139.258747842]: Reason given for shutdown: [user request][0m
killed
