/SLAM-Hive/slam_hive_results/mapping_results/2722/1933_vins-mono+MH_03_medium+Image_comb_test-18.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/08b25168-3c5e-11ef-b9bd-0242ac110004/roslaunch-f2e2a65a13f4-117.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://f2e2a65a13f4:33163/[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 08b25168-3c5e-11ef-b9bd-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [158][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720356007.182769978]: init begins[0m
[0m[ INFO] [1720356007.187573757]: 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] [1720356007.187969650]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720356007.187984023]:  fix extrinsic param [0m
[0m[ INFO] [1720356007.188106982]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720356007.188130119]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720356007.188167329]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720356007.188229775]: 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] [1720356014.344328596]: 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: 316718884.02 
[0m[ INFO] [1720356021.250530024]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356021.740941678]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356022.263516458]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356022.750012635]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356023.251202381]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356023.749304182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356024.251425979]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356024.735830619]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356025.236294874]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356025.728743170]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356026.239232579]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356026.713068277]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356027.225109701]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356027.722644128]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356028.203449930]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356028.702969987]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356029.231228820]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356029.724009833]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356030.222045222]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356030.732436232]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356031.212464998]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356031.711605905]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356032.223087842]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356033.213971050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356033.732512492]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356034.255345926]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356034.749350227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356035.230129884]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356035.706605204]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356036.237058698]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356036.725420467]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356037.208247869]: 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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720356040.746905733]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356041.248684749]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356041.714740553]: 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!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720356043.260544518]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356043.737655836]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720356044.744819276]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356045.250735221]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356045.714633605]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356046.232082648]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356046.762768117]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356047.245116595]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356047.727244948]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356048.250097996]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356048.750023228]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356049.216539492]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356049.749532766]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356050.248744691]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356050.775399701]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356051.248276705]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356051.752567480]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356052.249351015]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356052.749912007]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356053.253792729]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356053.746085964]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356054.255419393]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356054.753772848]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356055.253867325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356055.752458328]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356056.260641152]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356056.759793252]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356057.252960636]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356057.755048705]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356058.249763184]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356058.715005944]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356059.249832507]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356059.750203120]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356060.224359284]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356060.759529910]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356061.268389218]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356061.765204439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356062.264613545]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356062.767818436]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356063.254509737]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356063.708768663]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356064.262439477]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356064.753078763]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356065.250467388]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356065.750289637]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356066.217759263]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356066.750804954]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356067.251314251]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356067.715963452]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356068.256690039]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356068.725233634]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356069.244285052]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356069.716332462]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356070.228237413]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356071.212438851]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356071.759790102]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356072.240154812]: 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!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720356073.222024497]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356073.753199521]: 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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720356076.250098615]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356076.740824871]: 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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720356081.232313432]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356081.751040326]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356082.218350659]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356082.750799507]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356083.225370515]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356083.747307358]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356084.256127187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356084.755955922]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356085.250113126]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356085.750129572]: 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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720356090.254594987]: gyroscope bias initial calibration -0.00316421   0.0221505   0.0775155[0m
[0m[ INFO] [1720356090.296715456]: Initialization finish![0m
position: -1.540367, -0.307533, -0.072779
position: -1.604341, -0.219262, -0.028494
position: -1.696186, -0.159134, 0.014478
position: -1.805286, -0.091883, 0.013455
position: -1.960703, -0.069089, 0.018686
position: -2.069600, -0.060939, 0.136908
position: -2.199046, -0.080112, 0.117305
position: -2.333161, -0.010346, 0.081218
position: -2.295888, 0.120856, 0.149606
position: -1.889066, 0.318751, 0.024070
position: -1.077512, 0.581747, -0.143063
position: -0.134073, 0.773172, -0.379972
position: 0.786263, 0.870888, -0.545201
position: 1.679434, 0.879510, -0.528301
position: 2.488711, 0.903961, -0.393518
position: 3.315980, 0.936683, -0.318852
position: 4.100573, 1.006159, -0.372741
position: 4.805868, 1.221556, -0.346356
position: 5.281167, 1.600280, -0.203970
position: 5.427001, 2.174371, -0.144497
position: 5.188742, 2.745323, -0.011797
position: 4.810634, 3.210002, 0.148709
position: 4.412358, 3.449858, 0.243692
position: 3.891098, 3.373252, 0.307730
position: 3.358290, 3.031759, 0.295684
position: 2.629094, 2.469268, 0.245815
position: 1.891765, 1.798175, 0.184893
position: 1.099651, 1.139273, 0.038990
position: 0.090396, 0.716643, 0.023922
position: -1.269943, 0.793682, 0.210109
position: -2.165356, 0.400357, 0.318732
position: -2.789609, 0.117524, 0.292523
position: -3.299379, -0.138665, 0.161967
position: -3.808430, -0.391467, -0.001317
position: -4.185000, -0.605654, -0.046344
position: -4.203663, -0.662326, 0.108824
position: -4.170266, -0.667953, 0.239301
position: -4.114571, -0.643912, 0.199175
position: -4.141396, -0.635479, 0.146718
position: -4.203389, -0.630068, 0.054538
position: -4.319092, -0.607003, 0.124832
position: -4.466692, -0.555937, 0.214940
position: -4.612115, -0.445228, 0.194066
position: -4.663635, -0.322624, 0.201271
position: -4.630625, -0.232950, 0.151402
position: -4.615882, -0.189150, 0.113069
position: -4.699953, -0.173716, 0.159276
position: -4.828755, -0.151404, 0.116787
position: -4.881740, -0.171296, 0.004222
position: -4.858555, -0.171329, -0.034582
position: -4.837471, -0.152952, 0.045255
position: -4.798146, -0.235990, -0.101286
position: -4.758744, -0.496658, -0.408471
position: -4.818826, -0.877177, -0.498094
[0m[ INFO] [1720356117.286040523]:  little feature 0[0m
position: -5.082661, -1.293644, -0.448603
position: -5.480781, -1.947328, -0.377940
position: -5.734775, -2.830370, -0.528149
position: -5.331745, -3.629084, -0.775344
position: -4.540066, -4.128646, -1.094698
position: -3.777661, -4.398626, -1.289320
[0m[ INFO] [1720356120.238556068]:  little feature 0[0m
position: -2.886411, -4.516033, -1.293508
[0m[ INFO] [1720356120.749079476]:  little feature 1[0m
position: -1.843658, -4.315834, -1.135996
[0m[ INFO] [1720356121.248604428]:  little feature 1[0m
position: -0.747750, -3.769558, -0.949913
[0m[ INFO] [1720356121.755682756]:  little feature 0[0m
position: 0.023967, -2.850989, -0.634774
position: 0.239559, -1.750810, -0.234857
position: 0.012233, -0.825497, 0.020218
position: -0.607878, -0.471210, 0.190470
[0m[ INFO] [1720356123.742009054]:  little feature 0[0m
position: -1.356123, -0.804783, 0.341557
[0m[ INFO] [1720356124.248790974]:  little feature 0[0m
position: -2.170713, -1.637479, 0.191228
[0m[ INFO] [1720356124.732064944]:  little feature 1[0m
position: -2.964817, -2.397675, -0.095894
position: -3.631932, -3.226578, -0.215050
position: -4.057485, -3.996394, -0.368072
position: -4.359032, -4.555117, -0.405515
position: -4.543663, -4.362599, -0.399080
position: -4.751791, -4.894892, -0.451021
position: -4.328059, -4.932032, -0.551160
position: -3.682677, -4.588996, -0.468974
position: -3.145535, -4.348061, -0.193672
position: -2.658397, -4.240700, 0.050176
position: -2.169195, -4.192583, 0.152407
position: -1.639738, -4.340700, 0.149601
[0m[ INFO] [1720356130.727254147]:  little feature 1[0m
optimize pose graph 
position: -1.062380, -4.459793, 0.017820
position: -0.545664, -4.384190, -0.149754
position: -0.145651, -4.103541, -0.284884
position: 0.137956, -3.673653, -0.445401
position: 0.219320, -3.076927, -0.564445
position: 0.191374, -2.401714, -0.615041
position: 0.151550, -1.702739, -0.580376
position: 0.094761, -0.926468, -0.693652
position: 0.032923, -0.218977, -0.731170
position: -0.012858, 0.324203, -0.750452
position: -0.021946, 0.678294, -0.581089
position: -0.101790, 0.812200, -0.363505
position: -0.683215, 1.162304, -0.286358
position: -0.920758, 1.222710, -0.319190
position: -1.062019, 1.272007, -0.297868
position: -1.204271, 1.237745, -0.292935
position: -1.397613, 1.195802, -0.177305
position: -1.625872, 1.192287, -0.141040
position: -1.892677, 1.193421, -0.129993
position: -2.195952, 1.189876, -0.113894
position: -2.518593, 1.196777, -0.049761
position: -2.879091, 1.215873, -0.109916
position: -3.219795, 1.235031, -0.084394
position: -3.543160, 1.327347, -0.110208
position: -3.802220, 1.475577, -0.1499
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720356151.202137467]: Shutdown request received.[0m
[33m[ WARN] [1720356151.202194310]: Reason given for shutdown: [user request][0m
38
position: -4.030055, 1.620109, -0.245609
position: -4.180876, 1.727608, -0.211167
position: -4.224020, 1.772285, -0.203458
position: -4.243074, 1.668105, -0.274760
position: -4.326314, 1.657401, -0.398734
position: -4.404569, 1.673521, -0.478537
position: -4.437758, 1.758377, -0.468737
position: -4.447206, 1.784952, -0.514324
position: -4.444793, 1.789572, -0.524310
position: -4.420894, 1.813290, -0.492814
position: -4.415370, 1.812472, -0.491936
position: -4.409225, 1.812487, -0.489972
position: -4.405744, 1.813052, -0.488638
[33m[ WARN] [1720356151.203073592]: Shutdown request received.[0m
[33m[ WARN] [1720356151.203108072]: Reason given for shutdown: [user request][0m
killed
