/SLAM-Hive/slam_hive_results/mapping_results/2712/1923_vins-mono+MH_03_medium+Image_comb_test-8.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/ef5048be-3c59-11ef-b4da-0242ac110004/roslaunch-ae68af89f771-117.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://ae68af89f771:35301/[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 [128][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 ef5048be-3c59-11ef-b4da-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720354246.522007276]: init begins[0m
[0m[ INFO] [1720354246.526960052]: 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] [1720354246.527405478]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720354246.527425985]:  fix extrinsic param [0m
[0m[ INFO] [1720354246.527582224]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720354246.527620832]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720354246.527652346]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720354246.527707579]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [180][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] [1720354253.776651354]: 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: 316717123.45 
[0m[ INFO] [1720354255.437100534]: IMU excitation not enouth![0m
[0m[ INFO] [1720354255.437710795]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354255.629746896]: IMU excitation not enouth![0m
[0m[ INFO] [1720354255.845166247]: IMU excitation not enouth![0m
[0m[ INFO] [1720354255.942120294]: IMU excitation not enouth![0m
[0m[ INFO] [1720354255.942492502]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354256.145680637]: IMU excitation not enouth![0m
[0m[ INFO] [1720354256.341182139]: IMU excitation not enouth![0m
[0m[ INFO] [1720354256.341625392]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354256.429857641]: IMU excitation not enouth![0m
[0m[ INFO] [1720354256.659680334]: IMU excitation not enouth![0m
[0m[ INFO] [1720354256.660135015]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354256.847637877]: IMU excitation not enouth![0m
[0m[ INFO] [1720354256.946927354]: IMU excitation not enouth![0m
[0m[ INFO] [1720354257.146954512]: IMU excitation not enouth![0m
[33m[ WARN] [1720354257.277487905]: gyroscope bias initial calibration -0.00260898   0.0192715   0.0770134[0m
[0m[ INFO] [1720354257.342383184]: Initialization finish![0m
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positionoptimize pose graph 
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position: 0.337484, 0.165370, -0.032863
position: 0.337321, 0.164882, -0.032029
position: 0.334588, 0.160388, -0.021971
p
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720354390.587364230]: Shutdown request received.[0m
[33m[ WARN] [1720354390.587433526]: Reason given for shutdown: [user request][0m
osition: 0.332055, 0.156531, -0.011585
position: 0.332115, 0.156834, -0.011563
position: 0.331966, 0.157017, -0.011453
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position: 0.332572, 0.157632, -0.012294
position: 0.332651, 0.157630, -0.012172
[33m[ WARN] [1720354390.588424272]: Shutdown request received.[0m
[33m[ WARN] [1720354390.588459642]: Reason given for shutdown: [user request][0m
killed
