/SLAM-Hive/slam_hive_results/mapping_results/2707/1918_vins-mono+MH_03_medium+Image_comb_test-3.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/dc341d2a-3c57-11ef-82b0-0242ac110004/roslaunch-2f3eff70cc44-118.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://2f3eff70cc44:46301/[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 dc341d2a-3c57-11ef-82b0-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [158][0m
[1mprocess[vins_estimator-3]: started with pid [173][0m
[0m[ INFO] [1720353355.574057344]: init begins[0m
[0m[ INFO] [1720353355.579976339]: 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] [1720353355.580452321]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720353355.580495156]:  fix extrinsic param [0m
[0m[ INFO] [1720353355.580673843]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720353355.580717050]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720353355.580759523]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720353355.580811609]: 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] [1720353362.710650475]: 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: 316716232.39 
[0m[ INFO] [1720353364.376331231]: IMU excitation not enouth![0m
[0m[ INFO] [1720353364.377077278]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353364.577215434]: IMU excitation not enouth![0m
[0m[ INFO] [1720353364.577851199]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353364.776183211]: IMU excitation not enouth![0m
[0m[ INFO] [1720353364.776720457]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353364.877710484]: IMU excitation not enouth![0m
[0m[ INFO] [1720353364.878312146]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353365.066493497]: IMU excitation not enouth![0m
[0m[ INFO] [1720353365.278060969]: IMU excitation not enouth![0m
[0m[ INFO] [1720353365.278646758]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353365.370101273]: IMU excitation not enouth![0m
[0m[ INFO] [1720353365.370401249]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353365.573151626]: IMU excitation not enouth![0m
[0m[ INFO] [1720353365.573462325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353365.778307979]: IMU excitation not enouth![0m
[0m[ INFO] [1720353365.778939963]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353365.870251452]: IMU excitation not enouth![0m
[0m[ INFO] [1720353366.067875713]: IMU excitation not enouth![0m
[33m[ WARN] [1720353366.457269248]: gyroscope bias initial calibration -0.00256343   0.0193338   0.0778634[0m
[0m[ INFO] [1720353366.498722692]: Initialization finish![0m
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32113
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position: 0.360370, 0.051315, -0.037855
position: 0.352316, 0.050044, -0.025840
position: 0
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720353499.612219264]: Shutdown request received.[0m
[33m[ WARN] [1720353499.612275210]: Reason given for shutdown: [user request][0m
.345242, 0.048008, -0.014101
position: 0.345423, 0.048293, -0.013953
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position: 0.346234, 0.048299, -0.014854
position: 0.346534, 0.048607, -0.015014
[33m[ WARN] [1720353499.613237676]: Shutdown request received.[0m
[33m[ WARN] [1720353499.613264491]: Reason given for shutdown: [user request][0m
killed
