/SLAM-Hive/slam_hive_results/mapping_results/2720/1931_vins-mono+MH_03_medium+Image_comb_test-16.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/36f58b86-3c5d-11ef-bf81-0242ac110004/roslaunch-caf9839e2ecf-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://caf9839e2ecf:39163/[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 36f58b86-3c5d-11ef-bf81-0242ac110004[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] [1720355655.214015122]: init begins[0m
[0m[ INFO] [1720355655.219228634]: 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] [1720355655.219737750]: ROW: 192.000000 COL: 300.000000 [0m
[33m[ WARN] [1720355655.219764559]:  fix extrinsic param [0m
[0m[ INFO] [1720355655.219937320]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720355655.219978146]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720355655.220016024]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720355655.220072120]: 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] [1720355662.470983198]: 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: 316718532.15 
[0m[ INFO] [1720355665.431401656]: IMU excitation not enouth![0m
[0m[ INFO] [1720355665.431975972]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355665.621860674]: IMU excitation not enouth![0m
[0m[ INFO] [1720355665.845770874]: IMU excitation not enouth![0m
[0m[ INFO] [1720355665.845995128]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355666.040088395]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355666.257150255]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355666.459422734]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355666.621968022]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355666.834995876]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355667.026154361]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355667.260040085]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355667.455942718]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355667.635100927]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355667.840429216]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355668.058738770]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355668.236324098]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355668.439581290]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355668.653132719]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355668.859992887]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355669.036517301]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355669.272728537]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355669.433180166]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355669.634695564]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355669.838525329]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355670.050441658]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355670.262263749]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355670.472430769]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355670.645506834]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355670.853097237]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355671.022778047]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355671.238791040]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355671.459729127]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355671.673108100]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355672.060687800]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355672.225639182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355672.432534272]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355672.637918147]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355672.832847121]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355673.033643863]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355673.233280004]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355673.435874863]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355673.632105976]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355673.843510755]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355674.042995058]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355674.227118032]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355674.432455698]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355674.632822988]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355674.832262353]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355675.033451193]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355675.231727370]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355675.432364810]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355675.635190358]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355675.833131433]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355676.038155095]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355676.243412398]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355676.432335588]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355676.656241348]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355676.823300401]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355677.032601784]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355677.232381243]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355677.422375561]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355677.633056682]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355677.842003979]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355678.032306797]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355678.231928202]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355678.427097727]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355678.632847886]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355678.833747784]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355679.022718960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355679.232413821]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355679.443552506]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355679.622691748]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355679.832358693]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355680.042519040]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355680.232767858]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355680.432210073]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355680.632853486]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355680.837384491]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355681.032374602]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355681.232258960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355681.633034381]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355681.831936353]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355682.040285683]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355682.251965135]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355682.460353043]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355682.671924182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355682.858176666]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355683.062225965]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355683.246306747]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355683.449927633]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355683.646036584]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355683.835413379]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355684.038122533]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355684.232869532]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355684.445821754]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355684.633143234]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355684.837451529]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355685.233850283]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355685.433564399]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355685.622902647]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355685.846171132]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355686.032833211]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355686.225154761]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355686.434523735]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355686.630603732]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355686.838798753]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355687.025779228]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355687.251905777]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720355687.641920056]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355687.855539958]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355688.059921545]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720355688.290988344]: gyroscope bias initial calibration -0.00400089   0.0187741   0.0767476[0m
[0m[ INFO] [1720355688.312372676]: Initialization finish![0m
602625
position: -0.950629, -5.488608, -0.642825
position: -1.090690, -5.736521, -0.633603
position: -1.211056, -5.965263, -0.584499
position: -1.380910, -6.223845, -0.510530
position: -1.593343, -6.501266, -0.440126
position: -1.826620, -6.761879, -0.383832
position: -2.047264, -6.961709, -0.352944
position: -2.270289, -7.130966, -0.354229
position: -2.477282, -7.193298, -0.374148
position: -2.702662, -7.224251, -0.368532
position: -2.936558, -7.212966, -0.369480
position: -3.181734, -7.148189, -0.388464
position: -3.429056, -7.052814, -0.425683
position: -3.651673, -6.918112, -0.476189
position: -3.861130, -6.757084, -0.511922
position: -4.093235, -6.580193, -0.507197
position: -4.356026, -6.373498, -0.468811
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position: -4.943007, -5.862721, -0.359245
position: -5.251683, -5.577403, -0.345226
position: -5.581572, -5.276723, -0.351395
position: -5.918935, -4.963880, -0.374785
position: -6.247590, -4.636922, -0.399241
position: -6.552296, -4.311034, -0.392366
position: -6.838355, -3.996027, -0.362064
position: -7.115093, -3.706550, -0.349135
position: -7.373353, -3.468607, -0.369827
position: -7.595345, -3.280186, -0.436333
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position: -7.906810, -2.847409, -0.587818
position: -7.899806, -2.774793, -0.629974
position: -7.797356, -2.760789, -0.635447
position: -7.599162, -2.820071, -0.642806
position: -7.336628, -2.967687, -0.661809
position: -7.069671, -3.124207, -0.698343
position: -6.817680, -3.296175, -0.718038
position: -6.576556, -3.489600, -0.767817
position: -6.279320, -3.815758, -0.849263
position: -6.018987, -4.032131, -0.931833
position: -5.781659, -4.215118, -0.991660
position: -5.550316, -4.403772, -1.057533
position: -5.297773, -4.614511, -1.095383
position: -5.015596, -4.823122, -1.102991
position: -4.703088, -5.031492, -1.091456
position: -4.357925, -5.226294, -1.097617
position: -3.981763, -5.411711, -1.133944
position: -3.573815, -5.576226, -1.188104
position: -3.136671, -5.698479, -1.254619
position: -2.697684, -5.784888, -1.336285
position: -2.284137, -5.802516, -1.414341
position: -1.892153, -5.756658, -1.461405
position: -1.549523, -5.669633, -1.471946
position: -1.258942, -5.539016, -1.451533
position: -1.003525, -5.373159, -1.431237
position: -0.749124, -5.174437, -1.437136
position: -0.483539, -4.936267, -1.466931
position: -0.249172, -4.632956, -1.493046
position: -0.065108, -4.292725, -1.483713
position: 0.072559, -3.956888, -1.448263
position: 0.168346, -3.643983, -1.403235
position: 0.234771, -3.382183, -1.407157
position: 0.331220, -3.183715, -1.441452
position: 0.418428, -3.058252, -1.476384
position: 0.400427, -3.023006, -1.530483
position: 0.338278, -3.033286, -1.597670
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position: 0.063008, -3.229351, -1.581346
position: -0.105278, -3.322635, -1.531317
position: -0.307484, -3.398174, -1.468057
position: -0.537403, -3.443814, -1.429596
position: -0.774638, -3.477360, -1.411175
position: -1.035172, -3.476652, -1.406098
position: -1.288950, -3.448443, -1.418711
position: -1.558801, -3.378496, -1.439800
position: -1.862921, -3.274300, -1.423984
position: -2.183679, -3.149974, -1.371570
position: -2.499258, -2.997328, -1.331312
position: -2.806875, -2.799792, -1.315824
position: -3.104081, -2.578626, -1.315234
position: -3.394903, -2.351631, -1.330929
position: -3.682557, -2.127956, -1.365120
position: -3.974551, -1.929484, -1.417758
position: -4.285660, -1.780156, -1.483931
position: -4.612670, -1.694491, -1.532332
position: -4.925565, -1.673339, -1.560545
position: -5.221983, -1.689324, -1.605949
position: -5.468679, -1.762067, -1.642812
position: -5.655966, -1.898937, -1.649632
position: -5.766495, -2.090334, -1.649844
position: -5.828076, -2.304545, -1.666021
position: -5.856232, -2.512179, -1.700742
position: -5.855713, -2.706630, -1.727926
position: -5.838978, -2.896791, -1.692360
position: -5.800506, -3.088521, -1.680196
position: -5.742024, -3.288317, -1.759650
position: -5.630255, -3.500323, -1.873783
position: -5.465186, -3.707735, -1.965862
position: -5.290158, -3.912621, -2.028316
position: -5.125419, -4.141932, -2.048325
position: -4.959286, -4.404314, -2.034477
position: -4.765459, -4.693189, -1.992898
position: -4.529441, -4.984350, -1.923651
position: -4.276164, -5.278641, -1.823791
position: -4.008975, -5.580123, -1.693463
position: -3.727617, -5.862840, -1.569297
position: -3.429415, -6.119980, -1.464114
position: -3.110658, -6.348420, -1.378595
position: -2.779191, -6.548857, -1.303406
position: -2.441958, -6.686528, -1.207631
position: -2.095221, -6.765872, -1.121001
position: -1.740926, -6.799434, -1.082192
position: -1.387116, -6.776479, -1.103909
position: -1.060104, -6.684523, -1.145666
position: -0.754740, -6.521736, -1.200510
position: -0.480352, -6.308191, -1.251088
position: -0.275368, -6.018345, -1.268479
position: -0.149946, -5.657654, -1.267453
position: -0.070570, -5.277383, -1.309020
position: 0.003998, -4.918910, -1.360462
position: 0.061683, -4.583833, -1.382718
position: 0.069282, -4.288937, -1.366617
position: 0.026518, -4.033027, -1.317184
position: -0.047877, -3.819977, -1.234431
position: -0.146717, -3.648223, -1.134889
position: -0.257966, -3.496272, -1.060416
position: -0.364764, -3.351802, -1.009259
position: -0.463379, -3.208205, -0.941607
position: -0.553275, -3.052598, -0.850138
position: -0.647840, -2.889262, -0.771174
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position: -1.306639, -0.029676, -0.386180
position: -1.296838, -0.032681, -0.384231
position: -1.313329, -0.030436, -0.407697
position: -1.323326, -0.042901, -0.447041
position: -1.352487, -0.081520, -0.490534
position: -1.383871, -0.077534, -0.539212
position: -1.406862, -0.062834, -0.585410
position: -1.425334, -0.042984, -0.631340
position: -1.442757, -0.018775, -0.669623
position: -1.448640, 0.013247, -0.684163
position: -1.449683, 0.041394, -0.686731
position: -1.428234, 0.076944, -0.666616
position: -1.411783, 0.111849, -0.682591
position: -1.405994, 0.132270, -0.714923
position: -1.417555, 0.117009, -0.723547
position: -1.415053, 0.112436, -0.730846
position: -1.410755, 0.109749, -0.730329
position: -1.407379, 0.110951, -0.729883
position: -1.404916, 0.108298, -0.734456
position: -1.402987, 0.106405, -0.738141
position: -1.400623, 0.104286, -0.741518
position: -1.398421, 0.102487, -0.744482
position: -1.39
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720355799.299700613]: Shutdown request received.[0m
[33m[ WARN] [1720355799.299770210]: Reason given for shutdown: [user request][0m
6388, 0.100752, -0.747506
position: -1.393865, 0.098889, -0.750437
position: -1.390011, 0.097562, -0.753180
position: -1.384343, 0.098787, -0.754143
position: -1.364654, 0.110664, -0.749574
position: -1.357601, 0.109294, -0.746104
position: -1.359193, 0.108968, -0.745505
[33m[ WARN] [1720355799.300671331]: Shutdown request received.[0m
[33m[ WARN] [1720355799.300697398]: Reason given for shutdown: [user request][0m
killed
