/SLAM-Hive/slam_hive_results/mapping_results/2709/1920_vins-mono+MH_03_medium+Image_comb_test-5.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/add39900-3c58-11ef-8c53-0242ac110004/roslaunch-05c4c657317f-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://05c4c657317f:34551/[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 add39900-3c58-11ef-8c53-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720353707.125129260]: init begins[0m
[0m[ INFO] [1720353707.129908310]: 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] [1720353707.130395917]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720353707.130419425]:  fix extrinsic param [0m
[0m[ INFO] [1720353707.130567358]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720353707.130603635]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720353707.130642417]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720353707.130700048]: 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] [1720353714.422793173]: 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: 316716584.10 
[0m[ INFO] [1720353716.083776253]: IMU excitation not enouth![0m
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[0m[ INFO] [1720353724.489770772]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720353724.789265761]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720353725.075519834]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353725.275439605]: IMU excitation not enouth![0m
[0m[ INFO] [1720353725.275639815]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353725.475467940]: IMU excitation not enouth![0m
[0m[ INFO] [1720353725.475634770]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353725.572008400]: IMU excitation not enouth![0m
[0m[ INFO] [1720353725.572106254]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353725.786804579]: IMU excitation not enouth![0m
[0m[ INFO] [1720353725.986907458]: IMU excitation not enouth![0m
[0m[ INFO] [1720353725.987093143]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353726.085859872]: IMU excitation not enouth![0m
[0m[ INFO] [1720353726.086067313]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353726.286277308]: IMU excitation not enouth![0m
[0m[ INFO] [1720353726.475664559]: IMU excitation not enouth![0m
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[0m[ INFO] [1720353726.775547210]: IMU excitation not enouth![0m
[0m[ INFO] [1720353726.775748850]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353726.975398767]: IMU excitation not enouth![0m
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[0m[ INFO] [1720353727.586382009]: IMU excitation not enouth![0m
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[0m[ INFO] [1720353787.985132424]: IMU excitation not enouth![0m
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[0m[ INFO] [1720353795.790534963]: IMU excitation not enouth![0m
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[0m[ INFO] [1720353823.294244782]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353823.484279045]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353823.584812547]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353823.787252833]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353823.984634730]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353824.093293505]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353824.285418196]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353824.486668124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353824.589477558]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353824.802865781]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353824.987967377]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353825.098622872]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353825.297306111]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353825.486716268]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353825.584081092]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353825.786835209]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353825.986596436]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353826.098557721]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353826.274009984]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353826.486838357]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353826.610916312]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353826.787658515]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353826.988410671]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353827.101384609]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353827.298913764]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353827.487446496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353827.599445140]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353827.783373451]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353827.987943908]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353828.087723134]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353828.289640527]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353828.485825304]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353828.588102844]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353828.786532540]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353828.973752349]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353829.099105867]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353829.288527480]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353829.474928389]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353829.574166181]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353829.787607363]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353829.975422547]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353830.100701686]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353830.288428644]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353830.488819896]: IMU excitation not enouth![0m
[0m[ INFO] [1720353830.488996190]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353830.574651381]: IMU excitation not enouth![0m
[0m[ INFO] [1720353830.574699320]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353830.789473791]: IMU excitation not enouth![0m
[0m[ INFO] [1720353830.789646165]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353831.085147850]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353831.301385787]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353831.487493069]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353831.581473290]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353831.803403741]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353832.087530432]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353832.287596711]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353832.498982507]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353832.572948857]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353832.787157262]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353832.985955010]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353833.099186144]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353833.288949019]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353833.493685478]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353833.599498539]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353833.785042849]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353833.997976367]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353834.079478609]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353834.288750242]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353834.499366601]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353834.587534815]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353834.788005487]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353834.987870862]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353835.085768521]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353835.275443300]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353835.488837977]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353835.573757635]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353835.799810721]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353835.989347617]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353836.091966928]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353836.287911862]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353836.488425680]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353836.588565238]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353836.801094869]: IMU excitation not enouth![0m
[0m[ INFO] [1720353836.988037645]: IMU excitation not enouth![0m
[0m[ INFO] [1720353836.988164464]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353837.075919114]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353837.273463652]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353837.486100448]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353837.586896445]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353837.787739511]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353837.989018369]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353838.074729433]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353838.300986651]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353838.489247438]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353838.600764809]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353838.799473820]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353839.000950640]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353839.073452484]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353839.285582994]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353839.496364914]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353839.588785038]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353839.773083701]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353839.986690862]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353840.091459890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353840.309843692]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353840.475240104]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353840.574890270]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353840.788448583]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353840.988647960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353841.088266354]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353841.287682359]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353841.498868341]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353841.575529339]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353841.787831801]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353841.974253973]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353842.087473189]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353842.300087036]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353842.486213130]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353842.581219888]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353842.787722795]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353842.974410775]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353843.074486592]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353843.278589738]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353843.488357200]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353843.584914432]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353843.778820268]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353843.987042570]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353844.083951217]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353844.293846111]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353844.487320670]: IMU excitation not enouth![0m
[0m[ INFO] [1720353844.586888992]: IMU excitation not enouth![0m
[0m[ INFO] [1720353844.793520695]: IMU excitation not enouth![0m
[0m[ INFO] [1720353844.793692705]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353844.993296717]: IMU excitation not enouth![0m
[0m[ INFO] [1720353844.993502357]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353845.078409084]: IMU excitation not enouth![0m
[0m[ INFO] [1720353845.078461828]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353845.286027551]: IMU excitation not enouth![0m
[0m[ INFO] [1720353845.286131674]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353845.481964857]: IMU excitation not enouth![0m
[0m[ INFO] [1720353845.482101006]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353845.576334843]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353845.785318603]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353845.985022930]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353846.085670537]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353846.284723487]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353846.472129220]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353846.584561413]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353846.793940577]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353846.984589293]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353847.084599245]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353847.272178146]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353847.484802212]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353847.582896001]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353847.785750996]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353847.993117733]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353848.093070774]: IMU excitation not enouth![0m
[0m[ INFO] [1720353848.271678279]: IMU excitation not enouth![0m
[0m[ INFO] [1720353848.271731108]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353848.585311163]: IMU excitation not enouth![0m
[0m[ INFO] [1720353848.585441941]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353848.792742966]: IMU excitation not enouth![0m
[0m[ INFO] [1720353848.985647885]: IMU excitation not enouth![0m
[0m[ INFO] [1720353849.083921157]: IMU excitation not enouth![0m
[0m[ INFO] [1720353849.292423376]: IMU excitation not enouth![0m
[0m[ INFO] [1720353849.292577854]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353849.493514818]: IMU excitation not enouth![0m
[0m[ INFO] [1720353849.493671558]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720353849.584796997]: IMU excitation not enouth![0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720353851.175920076]: Shutdown request received.[0m
[33m[ WARN] [1720353851.175966227]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720353851.176875127]: Shutdown request received.[0m
[33m[ WARN] [1720353851.176907429]: Reason given for shutdown: [user request][0m
killed
