/SLAM-Hive/slam_hive_results/mapping_results/2711/1922_vins-mono+MH_03_medium+Image_comb_test-7.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/873a611a-3c59-11ef-b6cd-0242ac110004/roslaunch-9ce179cd6d2a-119.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://9ce179cd6d2a:37053/[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 [130][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 873a611a-3c59-11ef-b6cd-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [143][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [161][0m
[0m[ INFO] [1720354071.911568929]: init begins[0m
[0m[ INFO] [1720354071.916606703]: 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] [1720354071.917131304]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720354071.917151717]:  fix extrinsic param [0m
[0m[ INFO] [1720354071.917301092]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720354071.917334063]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720354071.917362742]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720354071.917408233]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [182][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] [1720354079.174659495]: 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: 316716948.87 
[0m[ INFO] [1720354080.873683392]: IMU excitation not enouth![0m
[0m[ INFO] [1720354080.874451386]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354081.055090544]: IMU excitation not enouth![0m
[0m[ INFO] [1720354081.056212333]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354081.273419438]: IMU excitation not enouth![0m
[0m[ INFO] [1720354081.274123720]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354081.373507836]: IMU excitation not enouth![0m
[0m[ INFO] [1720354081.374194737]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354081.569587474]: IMU excitation not enouth![0m
[0m[ INFO] [1720354081.757651881]: IMU excitation not enouth![0m
[0m[ INFO] [1720354081.758699595]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354081.856290953]: IMU excitation not enouth![0m
[0m[ INFO] [1720354081.857336210]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354082.056925710]: IMU excitation not enouth![0m
[0m[ INFO] [1720354082.057384137]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354082.263820124]: IMU excitation not enouth![0m
[0m[ INFO] [1720354082.264288694]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354082.384915227]: IMU excitation not enouth![0m
[0m[ INFO] [1720354082.385439723]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354082.571901432]: IMU excitation not enouth![0m
[33m[ WARN] [1720354082.662133494]: gyroscope bias initial calibration -0.0025351   0.023454  0.0778585[0m
[0m[ INFO] [1720354082.772013696]: Initialization finish![0m
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position: 0.3optimize pose graph 
optimize pose graph 
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position: 0.855274, -0.528044, 0.5364optimize pose graph 
64
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55
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positionoptimize pose graph 
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position: -3.156437, -6.339274, -0.2optimize pose graph 
24995
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position: -0.036762, -7.213853, 0.486160
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position: 1.843514, -6.918706, -0.101402
position: 1.913293, -6.811783, -0.12065optimize pose graph 
9
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position: 2.205319, -6.238316, -0.191551
position: 2.256357, -6.113715, -0.183668
position: 2.311529, -5.985490, -0.171631
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position: 2.748473, -5.076069, -0.110948
position: 2.810535, -4.939310, -0.128044
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position: 3.205839, -3.583501, -0.1639optimize pose graph 
79
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position: 2.357797, -2.011731, 0.320086
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optimize pose graph 
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position: 1.420790, -1.424318, 0.362260
position: 1.366176, -1.384038, 0.377312
position: 1.312186, -1.342957, 0.389460
position: 1.256509, -1.302843, 0.392555
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position: 0.981607, -1.000956, 0.352342
position: 0.946791, -0.944740, 0.351773
position: 0.912377, -0.887565, 0.344445
position: 0.880519, -0.8optimize pose graph 
optimize pose graph 
31017, 0.329972
position: 0.853453, -0.776149, 0.312516
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position: 0.810783, -0.673849, 0.270707
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position: 0.761327, -0.539305, 0.240261
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position: 0.681169, -0.397605, 0.300725
position: 0.674275, -0.393688, 0.295353
position: 0.666452, -0.395952, 0.288507
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position: 0.655508, -0.404867, 0.255875
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position: 0.640309, -0.421112, 0.214943
position: 0.629789, -0.426281, 0.190955
position: 0.618294, -0.427984, 0.166309
position: 0.607834, -0.425614, 0.144095
position: 0.598354, -0.419828, 0.123407
position: 0.589294, -0.411935, 0.102049
position: 0.580315, -0.403471, 0.080073
positionoptimize pose graph 
: 0.569743, -0.394359, 0.056985
position: 0.559046, -0.384040, 0.035421
position: 0.549357, -0.371556, 0.019590
position: 0.541672, -0.356527, 0.011545
position: 0.536156, -0.341566, 0.007111
position: 0.532031, -0.326710, 0.002347
position: 0.531306, -0.309976, 0.002681
position: 0.534497, -0.290510, 0.009290
position: 0.539973, -0.270299, 0.014155
position: 0.544956, -0.251411, 0.010358
position: 0.549325, -0.233759, -0.002628
position: 0.552706, -0.217938, -0.022955
position: 0.552132, -0.214440, -0.037404
position: 0.550261, -0.223269, -0.039670
position: 0.545940, -0.230215, -0.047970
position: 0.545585, -0.235378, -0.046945
position: 0.550657, -0.233574, -0.052937
position: 0.552191, -0.233347, -0.049427
position: 0.547757, -0.231317, -0.044199
position: 0.546050, -0.231366, -0.043486
position: 0.545764, -0.231234, -0.043202
position: 0.545703, -0.231162, -0.043075
position: 0.545720, -0.231345, -0.043137
position: 0.545826, -0.231074, -0.043221
position: 0.545745, -0.231151, -0.043153
position: 0.54590
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720354215.922794216]: Shutdown request received.[0m
[33m[ WARN] [1720354215.922868389]: Reason given for shutdown: [user request][0m
7, -0.231066, -0.043239
position: 0.546123, -0.230947, -0.043317
position: 0.546168, -0.230905, -0.043420
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position: 0.546715, -0.230322, -0.043329
position: 0.546695, -0.230340, -0.043294
position: 0.546835, -0.230230, -0.043351
[33m[ WARN] [1720354215.923653624]: Shutdown request received.[0m
[33m[ WARN] [1720354215.923683693]: Reason given for shutdown: [user request][0m
killed
