/SLAM-Hive/slam_hive_results/mapping_results/2719/1930_vins-mono+MH_03_medium+Image_comb_test-15.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/ceb3af94-3c5c-11ef-a54d-0242ac110004/roslaunch-83191426d243-119.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://83191426d243:37787/[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 ceb3af94-3c5c-11ef-a54d-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [143][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [158][0m
[1mprocess[vins_estimator-3]: started with pid [161][0m
[0m[ INFO] [1720355480.302832396]: init begins[0m
[0m[ INFO] [1720355480.307331475]: 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] [1720355480.307790756]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720355480.307828736]:  fix extrinsic param [0m
[0m[ INFO] [1720355480.307993823]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720355480.308059796]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720355480.308096806]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720355480.308157806]: 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] [1720355487.557309604]: 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: 316718357.23 
[0m[ INFO] [1720355490.521691735]: IMU excitation not enouth![0m
[0m[ INFO] [1720355490.722409971]: IMU excitation not enouth![0m
[0m[ INFO] [1720355490.934816013]: IMU excitation not enouth![0m
[0m[ INFO] [1720355490.945261711]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355491.137071072]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355491.347005909]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355491.546025395]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355491.727335669]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355491.921822798]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355492.130404756]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355492.344794921]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355492.531076279]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355492.721206181]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355492.950563977]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355493.158673571]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355493.326357587]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355493.529319429]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355493.748326524]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355493.951267325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355494.110468715]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355494.357080962]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355494.517976543]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355494.724208611]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355494.930046087]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355495.127428294]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355495.339430365]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355495.529266083]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355495.736848967]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355495.918136390]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355496.122717751]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355496.339690847]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355496.548231996]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355496.729200815]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355496.942387692]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355497.143156065]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355497.310719412]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355497.530801183]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355497.725309899]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355497.926443001]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355498.109157394]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355498.317286429]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355498.522612710]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355498.723173435]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355498.930260909]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355499.134796065]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355499.327887547]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355499.509375778]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355499.725189761]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355499.924541702]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355500.125792084]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355500.324760728]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355500.524866733]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355500.734807153]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355500.936229136]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355501.134823017]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355501.335671034]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355501.524517662]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355501.746708446]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355501.930596307]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355502.124818777]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355502.322592456]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355502.521678810]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355502.723706682]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355502.936264054]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355503.124140910]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355503.329858394]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355503.514271745]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355503.724407832]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355503.924415672]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355504.124053370]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355504.323834695]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355504.531942577]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355504.725313098]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355504.925773909]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355505.118621693]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355505.324252448]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355505.524363036]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355505.734446277]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355505.925336549]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355506.123510875]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355506.310782650]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355506.537035127]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355506.707448506]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355506.908430217]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355507.133568610]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355507.351913041]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355507.542178213]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355507.758873824]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355507.949370914]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355508.147864317]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355508.310476630]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355508.534347691]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355508.732135956]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355508.927055015]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355509.127154093]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355509.321712449]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355509.524825857]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355509.719749658]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355509.912459446]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355510.131790287]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355510.336246145]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355510.546847077]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720355510.969646210]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355511.161437210]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720355511.387685100]: gyroscope bias initial calibration -0.00304476   0.0196224   0.0739925[0m
[0m[ INFO] [1720355511.412439585]: Initialization finish![0m
position: 0.857752, -0.667324, 0.511792
position: 0.808471, -0.631351, 0.479909
position: 0.821533, -0.639754, 0.446305
position: 0.885031, -0.693720, 0.415309
position: 0.965066, -0.769816, 0.387693
position: 1.070689, -0.848126, 0.357999
position: 1.173866, -0.898134, 0.356300
position: 1.293203, -0.947963, 0.387870
position: 1.405837, -0.994558, 0.411556
position: 1.502377, -1.036784, 0.408026
position: 1.590830, -1.097969, 0.381304
position: 1.671355, -1.178713, 0.350956
position: 1.737499, -1.275436, 0.321862
position: 1.783300, -1.396316, 0.294043
position: 1.806014, -1.532531, 0.256230
position: 1.805382, -1.670262, 0.196061
position: 1.806441, -1.813484, 0.119099
position: 1.814375, -1.969616, 0.056747
position: 1.818461, -2.141630, 0.029096
position: 1.799787, -2.333415, 0.032316
position: 1.766584, -2.547988, 0.051239
position: 1.719754, -2.775765, 0.051847
position: 1.664794, -3.003849, 0.077743
position: 1.598892, -3.230785, 0.101573
position: 1.506187, -3.455861, 0.104250
position: 1.392525, -3.693881, 0.091146
position: 1.262480, -3.912844, 0.100973
position: 1.125795, -4.149115, 0.098065
position: 0.971931, -4.390756, 0.075483
position: 0.800427, -4.647211, 0.045125
position: 0.637029, -4.913977, 0.027124
position: 0.479158, -5.172085, 0.005649
position: 0.320087, -5.424330, -0.028983
position: 0.166629, -5.645596, -0.081142
position: 0.028611, -5.835295, -0.141929
position: -0.106994, -6.058232, -0.182976
position: -0.239195, -6.305787, -0.172402
position: -0.357480, -6.539151, -0.120710
position: -0.518058, -6.792822, -0.041124
position: -0.732201, -7.069019, 0.040514
position: -0.950249, -7.314771, 0.104206
position: -1.163009, -7.514711, 0.142238
position: -1.383415, -7.672455, 0.150119
position: -1.581818, -7.723386, 0.135760
position: -1.810209, -7.764013, 0.148834
position: -2.047507, -7.755001, 0.153127
position: -2.300152, -7.707407, 0.134685
position: -2.550426, -7.631377, 0.097639
position: -2.767341, -7.517879, 0.043767
position: -2.977814, -7.373812, 0.008343
position: -3.207777, -7.199377, 0.018519
position: -3.471174, -6.997670, 0.059454
position: -3.762281, -6.762022, 0.123419
position: -4.071435, -6.505592, 0.170673
position: -4.387194, -6.230697, 0.188087
position: -4.724756, -5.940712, 0.183085
position: -5.067241, -5.641723, 0.162037
position: -5.394697, -5.328106, 0.140286
position: -5.695756, -5.011194, 0.149895
position: -5.991696, -4.705608, 0.182186
position: -6.275023, -4.429101, 0.199087
position: -6.537692, -4.195214, 0.178120
position: -6.754154, -4.008982, 0.110225
position: -6.917160, -3.860306, 0.059339
position: -7.007690, -3.715307, 0.013890
position: -7.061434, -3.589861, -0.033820
position: -7.040724, -3.525097, -0.073222
position: -6.894649, -3.544511, -0.077919
position: -6.684218, -3.600473, -0.086282
position: -6.370577, -3.777843, -0.106873
position: -6.079106, -3.946369, -0.141096
position: -5.816281, -4.107264, -0.154915
position: -5.572363, -4.307378, -0.194684
position: -5.336433, -4.501823, -0.282502
position: -5.092887, -4.686282, -0.372867
position: -4.862364, -4.875156, -0.436151
position: -4.638466, -5.067637, -0.501082
position: -4.391950, -5.266899, -0.541287
position: -4.110382, -5.463811, -0.551332
position: -3.793037, -5.652980, -0.540627
position: -3.457067, -5.837444, -0.549847
position: -3.094000, -6.010074, -0.591008
position: -2.691305, -6.153496, -0.645502
position: -2.269119, -6.279517, -0.717173
position: -1.841477, -6.357803, -0.802228
position: -1.412566, -6.374227, -0.880886
position: -1.019777, -6.334086, -0.931485
position: -0.674711, -6.248849, -0.943635
position: -0.374401, -6.124097, -0.922093
position: -0.109444, -5.951135, -0.899384
position: 0.165265, -5.766476, -0.910630
position: 0.436609, -5.547093, -0.949537
position: 0.660726, -5.252785, -0.976713
position: 0.853852, -4.929164, -0.967303
position: 0.992190, -4.610345, -0.932464
position: 1.087277, -4.316221, -0.887526
position: 1.157480, -4.076481, -0.886457
position: 1.235684, -3.906576, -0.919924
position: 1.321203, -3.804148, -0.958031
position: 1.338144, -3.728824, -1.009810
position: 1.263428, -3.733639, -1.073762
position: 1.137306, -3.797609, -1.085419
position: 1.001913, -3.899484, -1.047933
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position: 0.647472, -4.065996, -0.922110
position: 0.399821, -4.025662, -0.881723
position: 0.153895, -4.031198, -0.867873
position: -0.092468, -4.047551, -0.864950
position: -0.349102, -4.020315, -0.877748
position: -0.624823, -3.943621, -0.896008
position: -0.932328, -3.841860, -0.880197
position: -1.255764, -3.715018, -0.827334
position: -1.571731, -3.548939, -0.782487
position: -1.889517, -3.355747, -0.763734
position: -2.203131, -3.145377, -0.760689
position: -2.507977, -2.916965, -0.774198
position: -2.804187, -2.685781, -0.810253
position: -3.117227, -2.489644, -0.864673
position: -3.447097, -2.342050, -0.932009
position: -3.788370, -2.257158, -0.982784
position: -4.116956, -2.236536, -1.012411
position: -4.417711, -2.257291, -1.058423
position: -4.666135, -2.334728, -1.099348
position: -4.849810, -2.479054, -1.111514
position: -4.951198, -2.675222, -1.114954
position: -5.003005, -2.892919, -1.134000
position: -5.016624, -3.104026, -1.171000
position: -5.017173, -3.298260, -1.200837
position: -4.999764, -3.490164, -1.170075
position: -4.955532, -3.683717, -1.158234
position: -4.879650, -3.878064, -1.243651
position: -4.754923, -4.082521, -1.361152
position: -4.593361, -4.286515, -1.453739
position: -4.418191, -4.486111, -1.518501
position: -4.255490, -4.716251, -1.537494
position: -4.085562, -4.975574, -1.527012
position: -3.889422, -5.264695, -1.486368
position: -3.654192, -5.563830, -1.414227
position: -3.396946, -5.852179, -1.311790
position: -3.107635, -6.132423, -1.183700
position: -2.806136, -6.411304, -1.062279
position: -2.503760, -6.660020, -0.955454
position: -2.187870, -6.881709, -0.871615
position: -1.862980, -7.052455, -0.793694
position: -1.527054, -7.171963, -0.693616
position: -1.175887, -7.238152, -0.603625
position: -0.820304, -7.254042, -0.562930
position: -0.468554, -7.214557, -0.579740
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optimize pose graph 

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position: 0.965809, -0.963659, 0.326160
position: 0.872316, -0.852475, 0.327233
position: 0.792503, -0.735906, 0.307838
position: 0.733103, -0.614813, 0.283184
position: 0.688186, -0.487305, 0.280947
position: 0.649017, -0.359503, 0.260242
position: 0.618347, -0.236890, 0.226214
position: 0.591389, -0.124875, 0.187543
position: 0.582500, -0.029770, 0.180893
position: 0.563062, 0.053811, 0.208256
position: 0.545570, 0.126561, 0.232198
position: 0.533826, 0.161771, 0.239416
position: 0.549150, 0.164159, 0.243462
position: 0.543227, 0.159536, 0.220105
position: 0.518423, 0.148511, 0.177499
position: 0.504035, 0.111407, 0.137981
position: 0.470061, 0.099918, 0.091044
position: 0.455935, 0.116260, 0.046092
position: 0.440712, 0.135680, 0.001647
position: 0.426000, 0.161303, -0.033414
position: 0.423019, 0.192946, -0.044213
position: 0.425983, 0.222921, -0.045186
position: 0.441197, 0.257009, -0.029045
position: 0.454595, 0.290567, -0.045417
position: 0.459172, 0.308878, -0.078208
position: 0.446786, 0.295071, -0.087383
position: 0.450427, 0.293009, -0.093301
position: 0.454810, 0.292099, -0.096085
position: 0.458614, 0.294202, -0.095365
position: 0.460452, 0.291043, -0.098259
position: 0.460781, 0.289758, -0.099529
position: 0.460427, 0.289225, -0.098248
position: 0.460796, 0.291989, -0.093712
position: 0.460375, 0.295674, -0.088030
position: 0.457458, 0.295507, -0.085720
position: 0.457571, 0.295754, -0.085519
position: 0.458203, 0.295139, -0.085605
position: 0.459110, 0.294885, -0.085904
position: 0.459978,
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720355624.207054305]: Shutdown request received.[0m
[33m[ WARN] [1720355624.207120633]: Reason given for shutdown: [user request][0m
 0.294756, -0.085977
position: 0.460762, 0.295374, -0.085959
[33m[ WARN] [1720355624.207929372]: Shutdown request received.[0m
[33m[ WARN] [1720355624.207954944]: Reason given for shutdown: [user request][0m
killed
