/SLAM-Hive/slam_hive_results/mapping_results/2715/1926_vins-mono+MH_03_medium+Image_comb_test-11.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/2b5151f4-3c5b-11ef-8b63-0242ac110004/roslaunch-b7bbf4dc8558-117.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://b7bbf4dc8558:41681/[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 2b5151f4-3c5b-11ef-8b63-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720354776.680274830]: init begins[0m
[0m[ INFO] [1720354776.685097277]: 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] [1720354776.685661152]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720354776.685680914]:  fix extrinsic param [0m
[0m[ INFO] [1720354776.685840339]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720354776.685886545]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720354776.685915553]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720354776.685960574]: 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] [1720354783.938229899]: 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: 316717653.61 
[0m[ INFO] [1720354785.584047627]: IMU excitation not enouth![0m
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[0m[ INFO] [1720354785.784330081]: IMU excitation not enouth![0m
[0m[ INFO] [1720354785.784404868]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354786.788172628]: IMU excitation not enouth![0m
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[0m[ INFO] [1720354794.605070530]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354794.790128812]: IMU excitation not enouth![0m
[0m[ INFO] [1720354794.790165433]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354795.089964995]: IMU excitation not enouth![0m
[0m[ INFO] [1720354795.090005130]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354795.316340152]: IMU excitation not enouth![0m
[0m[ INFO] [1720354795.316579834]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354795.516393014]: IMU excitation not enouth![0m
[0m[ INFO] [1720354795.516813178]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354795.819167769]: IMU excitation not enouth![0m
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[0m[ INFO] [1720354842.006563396]: IMU excitation not enouth![0m
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[0m[ INFO] [1720354857.504969679]: IMU excitation not enouth![0m
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[0m[ INFO] [1720354865.295026662]: IMU excitation not enouth![0m
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[0m[ INFO] [1720354875.091484841]: IMU excitation not enouth![0m
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[0m[ INFO] [1720354880.820213761]: IMU excitation not enouth![0m
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[0m[ INFO] [1720354892.809695385]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354893.000954585]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354893.086217883]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354893.300509187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354893.498114457]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354893.608759511]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354893.802050349]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354894.002628826]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354894.106033657]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354894.320860688]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354894.502864526]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354894.613597652]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354894.816275812]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354895.002888418]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354895.115154367]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354895.302037101]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354895.494189200]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354895.600870608]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354895.803145241]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354896.004377892]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354896.125950562]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354896.302303834]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354896.503537933]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354896.617278172]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354896.801149812]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354897.003749719]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354897.114196141]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354897.303299138]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354897.502876786]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354897.590925474]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354897.803316071]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354898.003474331]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354898.090362527]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354898.303328356]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354898.490188918]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354898.606968109]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354898.799818280]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354899.091073788]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354899.302383763]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354899.504055895]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354899.603389343]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354899.804634986]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354900.002990916]: IMU excitation not enouth![0m
[0m[ INFO] [1720354900.089843739]: IMU excitation not enouth![0m
[0m[ INFO] [1720354900.089921839]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354900.303005885]: IMU excitation not enouth![0m
[0m[ INFO] [1720354900.303148066]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354900.503301321]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354900.613674302]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354900.818266928]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354901.001698783]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354901.101709068]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354901.317411770]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354901.502662840]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354901.594582082]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354901.802563932]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354902.013267676]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354902.103103348]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354902.302702745]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354902.501945356]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354902.613054847]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354902.804608207]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354903.009858367]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354903.113660318]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354903.313747497]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354903.513671614]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354903.601657715]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354903.805346028]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354904.014945302]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354904.103633716]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354904.303182954]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354904.504409431]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354904.613171021]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354904.789324818]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354905.003836001]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354905.090119900]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354905.314113890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354905.503370677]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354905.589633935]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354905.802968398]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354906.005678179]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354906.101627834]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354906.309700739]: IMU excitation not enouth![0m
[0m[ INFO] [1720354906.309791814]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354906.501247155]: IMU excitation not enouth![0m
[0m[ INFO] [1720354906.501378726]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354906.603384975]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354906.804217990]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354906.988311908]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354907.085764780]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354907.301514860]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354907.495334541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354907.590472644]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354907.816392481]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354908.001806541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354908.113029460]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354908.318694754]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354908.501276329]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354908.790322346]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720354909.290242673]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354909.488779361]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354909.613030899]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354909.813796396]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354910.103108722]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354910.303497930]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354910.504588953]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354910.589924911]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354911.089451970]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354911.504620894]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354911.602822465]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354911.821361367]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354912.001102541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354912.106828066]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354912.290883800]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354912.500923450]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354912.601666109]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354912.805605563]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354912.996574628]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354913.116213291]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354913.302448517]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354913.502243495]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354913.602192655]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354913.999847832]: IMU excitation not enouth![0m
[0m[ INFO] [1720354914.099277717]: IMU excitation not enouth![0m
[0m[ INFO] [1720354914.099417919]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354914.296314807]: IMU excitation not enouth![0m
[0m[ INFO] [1720354914.496270205]: IMU excitation not enouth![0m
[0m[ INFO] [1720354914.607450558]: IMU excitation not enouth![0m
[0m[ INFO] [1720354914.807383236]: IMU excitation not enouth![0m
[0m[ INFO] [1720354914.999499626]: IMU excitation not enouth![0m
[0m[ INFO] [1720354914.999701263]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354915.100613842]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354915.299775235]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354915.502016176]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354915.585685249]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354915.788085097]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354915.991582476]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354916.099040385]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354916.307726032]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354916.501253545]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354916.599719459]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354916.803196385]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354916.996241960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354917.098602352]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354917.287173135]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354917.509391373]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354917.608602499]: IMU excitation not enouth![0m
[0m[ INFO] [1720354917.608732868]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354917.800459774]: IMU excitation not enouth![0m
[0m[ INFO] [1720354917.800701848]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354917.988659474]: IMU excitation not enouth![0m
[0m[ INFO] [1720354918.099295124]: IMU excitation not enouth![0m
[0m[ INFO] [1720354918.099426387]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354918.307362989]: IMU excitation not enouth![0m
[0m[ INFO] [1720354918.500665008]: IMU excitation not enouth![0m
[0m[ INFO] [1720354918.500815047]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354918.586883851]: IMU excitation not enouth![0m
[0m[ INFO] [1720354918.587090950]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354918.795684688]: IMU excitation not enouth![0m
[0m[ INFO] [1720354918.795918895]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720354918.997945004]: IMU excitation not enouth![0m
[0m[ INFO] [1720354919.096251090]: IMU excitation not enouth![0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720354920.691168756]: Shutdown request received.[0m
[33m[ WARN] [1720354920.691230940]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720354920.692123394]: Shutdown request received.[0m
[33m[ WARN] [1720354920.692161524]: Reason given for shutdown: [user request][0m
killed
