/SLAM-Hive/slam_hive_results/mapping_results/2721/1932_vins-mono+MH_03_medium+Image_comb_test-17.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/a05d45b4-3c5d-11ef-a23a-0242ac110004/roslaunch-e558678fcf2d-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://e558678fcf2d:37391/[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 a05d45b4-3c5d-11ef-a23a-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[0m[ INFO] [1720355832.090446708]: init begins[0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720355832.277354828]: 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] [1720355832.279024832]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720355832.279120622]:  fix extrinsic param [0m
[0m[ INFO] [1720355832.279656095]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720355832.279804653]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720355832.279943371]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720355832.280125899]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [192][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] [1720355839.310897655]: 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: 316718708.99 
[0m[ INFO] [1720355842.269774907]: IMU excitation not enouth![0m
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[0m[ INFO] [1720355851.070181112]: IMU excitation not enouth![0m
[0m[ INFO] [1720355851.070378363]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355851.265783217]: IMU excitation not enouth![0m
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[0m[ INFO] [1720355851.470394805]: IMU excitation not enouth![0m
[0m[ INFO] [1720355851.664934217]: IMU excitation not enouth![0m
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[0m[ INFO] [1720355851.870595815]: IMU excitation not enouth![0m
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[0m[ INFO] [1720355852.070171204]: IMU excitation not enouth![0m
[0m[ INFO] [1720355852.270702024]: IMU excitation not enouth![0m
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[0m[ INFO] [1720355930.100764064]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355930.297389544]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355930.697500638]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720355931.297101458]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355931.476632293]: IMU excitation not enouth![0m
[0m[ INFO] [1720355931.476711976]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355931.683508558]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720355932.683514199]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720355933.680930347]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720355962.872702151]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355963.083844352]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355963.276579401]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355963.494521179]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355963.695187185]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355963.895977751]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355964.082502701]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355964.295323666]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355964.466726727]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355964.681011102]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355964.882650953]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355965.084059133]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355965.293293521]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355965.481593989]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355965.884886686]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355966.068146114]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355966.282094863]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355966.482154268]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355966.882300847]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355967.091097613]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355967.280390675]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355967.488311427]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355967.672797785]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355967.880797494]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355968.083563914]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355968.494366517]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355968.681823823]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355968.882654349]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355969.092148956]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355969.289210849]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355969.479019298]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355969.689458052]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355970.078342288]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355970.280134766]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355970.477950466]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355970.679832454]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355970.880391761]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355971.076881068]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355971.279458554]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355971.480528482]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355971.685943344]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355971.879922097]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355972.081662542]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355972.275037240]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355972.466655597]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355972.680936630]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355972.889600965]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355973.081357167]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355973.278450861]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355973.479679998]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355973.671457580]: IMU excitation not enouth![0m
[0m[ INFO] [1720355973.671490270]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355973.864659752]: IMU excitation not enouth![0m
[0m[ INFO] [1720355974.078076085]: IMU excitation not enouth![0m
[0m[ INFO] [1720355974.078227530]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355974.279027852]: IMU excitation not enouth![0m
[0m[ INFO] [1720355974.279163322]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720355974.481241941]: IMU excitation not enouth![0m
[0m[ INFO] [1720355974.481381481]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720355976.162341213]: Shutdown request received.[0m
[33m[ WARN] [1720355976.162401080]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720355976.163288794]: Shutdown request received.[0m
[33m[ WARN] [1720355976.163316970]: Reason given for shutdown: [user request][0m
killed
