/SLAM-Hive/slam_hive_results/mapping_results/2723/1934_vins-mono+MH_03_medium+Image_comb_test-19.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/71b8a14e-3c5e-11ef-b6f3-0242ac110004/roslaunch-3c17fcd00932-117.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://3c17fcd00932:37863/[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 71b8a14e-3c5e-11ef-b6f3-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [154][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720356183.258891626]: init begins[0m
[0m[ INFO] [1720356183.263674226]: 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] [1720356183.264121887]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720356183.264142930]:  fix extrinsic param [0m
[0m[ INFO] [1720356183.264291559]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720356183.264330518]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720356183.264363414]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720356183.264413651]: 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] [1720356190.540379277]: 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: 316719060.21 
[0m[ INFO] [1720356197.437168577]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356197.909791136]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356198.420900835]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356198.939415370]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356199.420156893]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356199.916842149]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356200.440185260]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356200.901580622]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356201.408999763]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356201.922996495]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356202.419226787]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356202.906365228]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356203.410802158]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356203.932355798]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356204.398938445]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356204.921472000]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356205.421680607]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356205.905144257]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356206.417201055]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356206.921251433]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356207.410569935]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356207.902184101]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356208.409393601]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356208.922595631]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356209.436297213]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356209.921425750]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356210.440017025]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356210.939428633]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356211.424071003]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356211.928155655]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356212.430953835]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356212.926157462]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356213.424007186]: 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!
[0m[ INFO] [1720356216.907733774]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356217.425808048]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356217.933354331]: 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] [1720356219.425273515]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356219.902821404]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720356220.931974681]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356221.437847657]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356221.920013892]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356222.440032604]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356222.955182411]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356223.420449048]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356223.939495207]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356224.421286281]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356224.943804984]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356225.431418799]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356225.942883256]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356226.438552799]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356226.957092224]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356227.413809969]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356227.909541991]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356228.445009488]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356228.915738709]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356229.442186324]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356229.936441228]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356230.444259788]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356230.939909200]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356231.439518983]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356231.941901312]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356232.450444374]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356232.954679604]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356233.409883084]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356233.944844045]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356234.435262608]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356234.944959601]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356235.443436194]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356235.944114825]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356236.433436402]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356236.953431128]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356237.455350197]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356237.954318755]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356238.438671724]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356238.931451653]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356239.416916160]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356239.937137644]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356240.428026484]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356240.939593552]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356241.440818325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356241.955141800]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356242.438221768]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356242.939710298]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356243.437441994]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356243.940264698]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356244.412712933]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356244.943530066]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356245.439664072]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356245.945581950]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356246.454953987]: 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!
[0m[ INFO] [1720356249.408287970]: 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!
[0m[ INFO] [1720356251.416166085]: 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!
[0m[ INFO] [1720356253.433596081]: 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] [1720356257.418123646]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356257.939582312]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356258.440191823]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356258.931669752]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356259.426803224]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356259.941966903]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356260.441188884]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356261.440299342]: 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!
[33m[ WARN] [1720356266.957465913]: gyroscope bias initial calibration -0.00367429     0.02114      0.0771[0m
[0m[ INFO] [1720356266.999650055]: Initialization finish![0m
position: -0.897476, -1.306458, -0.031800
position: -0.996360, -1.271636, 0.008634
position: -1.125634, -1.258563, 0.004260
position: -1.270359, -1.293963, 0.005897
position: -1.381279, -1.335443, 0.122018
position: -1.487637, -1.403757, 0.104849
position: -1.632141, -1.398042, 0.068274
position: -1.656984, -1.265740, 0.137411
position: -1.367076, -0.922349, 0.009888
position: -0.744099, -0.348700, -0.161291
position: 0.027575, 0.219572, -0.401544
position: 0.812289, 0.698929, -0.570946
position: 1.607609, 1.082470, -0.550685
position: 2.322360, 1.442649, -0.393552
position: 3.058270, 1.826369, -0.321064
position: 3.732974, 2.232941, -0.370562
position: 4.269542, 2.744097, -0.340011
position: 4.537469, 3.298988, -0.196943
position: 4.405856, 3.877868, -0.132896
position: 3.901142, 4.280248, -0.001086
position: 3.250144, 4.480801, 0.152772
position: 2.741777, 4.494110, 0.251874
position: 2.229309, 4.137180, 0.313771
position: 1.740103, 3.421827, 0.274347
position: 1.261866, 2.482234, 0.237506
position: 0.766353, 1.466154, 0.176237
position: 0.203476, 0.382906, 0.043227
position: -0.621084, -0.669014, 0.062164
position: -1.449039, -1.479829, 0.244390
position: -2.043293, -2.192628, 0.368809
position: -2.466842, -2.599850, 0.380107
position: -2.928496, -2.436567, 0.287465
position: -3.170269, -2.689218, 0.149055
position: -3.296136, -2.838015, 0.105907
position: -3.293775, -2.845969, 0.251527
position: -3.297407, -2.841115, 0.359616
position: -3.260795, -2.778315, 0.301535
position: -3.290876, -2.783099, 0.253042
position: -3.348299, -2.800866, 0.158586
position: -3.459966, -2.821667, 0.225495
position: -3.613742, -2.834277, 0.319150
position: -3.788851, -2.789171, 0.292893
position: -3.886850, -2.696450, 0.300705
position: -3.894491, -2.604712, 0.254660
position: -3.896305, -2.558407, 0.215061
position: -3.984617, -2.581016, 0.260075
position: -4.103197, -2.607443, 0.211696
position: -4.144012, -2.648288, 0.091243
position: -4.128637, -2.630114, 0.056426
position: -4.112673, -2.594493, 0.133483
position: -4.033695, -2.643574, -0.014593
position: -3.856386, -2.896258, -0.322472
[0m[ INFO] [1720356292.959796195]:  little feature 1[0m
position: -3.730702, -3.273067, -0.415192
[0m[ INFO] [1720356293.448630834]:  little feature 1[0m
position: -3.784628, -3.767308, -0.369775
position: -3.854252, -4.533845, -0.301280
position: -3.675013, -5.464359, -0.453939
position: -2.995409, -6.054480, -0.708143
position: -1.979006, -6.234712, -1.030931
[0m[ INFO] [1720356295.948870315]:  little feature 1[0m
position: -1.050276, -6.206313, -1.222519
[0m[ INFO] [1720356296.441348143]:  little feature 1[0m
position: -0.118039, -5.994102, -1.232285
[0m[ INFO] [1720356296.941445523]:  little feature 1[0m
position: 0.823975, -5.422642, -1.079591
[0m[ INFO] [1720356297.415837971]:  little feature 1[0m
position: 1.683255, -4.483603, -0.903027
position: 2.114522, -3.380833, -0.590751
position: 1.971580, -2.343166, -0.193227
position: 1.505570, -1.631290, 0.053345
[0m[ INFO] [1720356299.450534631]:  little feature 1[0m
position: 0.816835, -1.686904, 0.211380
position: 0.424882, -2.451639, 0.368697
[0m[ INFO] [1720356300.445812368]:  little feature 1[0m
position: 0.124621, -3.539074, 0.214490
[0m[ INFO] [1720356300.952870611]:  little feature 0[0m
position: -0.247361, -4.593170, -0.087000
position: -0.416371, -5.689074, -0.213523
position: -0.388680, -6.690579, -0.359941
position: -0.119949, -7.495285, -0.413798
position: 0.279837, -7.930564, -0.376496
position: 0.589646, -8.094264, -0.321418
position: 0.730518, -8.375273, -0.352240
position: 0.917835, -8.110246, -0.269627
position: 1.135492, -7.640157, -0.012658
position: 1.605193, -7.469353, 0.243842
position: 1.298795, -6.089632, 0.277305
position: 1.713757, -5.977357, 0.326695
position: 2.268364, -5.842337, 0.198421
position: 2.668448, -5.563781, 0.026474
position: 2.886995, -5.133474, -0.102369
position: 2.906359, -4.627290, -0.268144
position: 2.699078, -4.055205, -0.390181
position: 2.478612, -3.334374, -0.395558
position: 2.124812, -2.658028, -0.331690
position: 1.776672, -1.923688, -0.414463
position: 1.380638, -1.275384, -0.454550
position: 1.081640, -0.766449, -0.457810
position: 0.914500, -0.402612, -0.266732
position: 0.835930, -0.253180, -0.085076
position: 0.267149, -0.349294, -0.049142
position: 0.057780, -0.448050, -0.086692
position: -0.063917, -0.487697, -0.077407
position: -0.180601, -0.586622, -0.066039
position: -0.349083, -0.709433, 0.053091
position: -0.558428, -0.812647, 0.094216
position: -0.806676, -0.928925, 0.107514
position: -1.084300, -1.062595, 0.120698
position: -1.392478, -1.194322, 0.185888
position: -1.739337, -1.326919, 0.120422
position: -2.056634, -1.445715, 0.144131
position: -2.392905, -1.517226, 0.111346
position: -2.715578, -1.508852, 0.068363
position: -3.007492, -1.488241, -0.023579
position: -3.215939, -1.473761, 0.015435
position: -3.262558, -1.459157, 0.029830
position: -3.184094, -1.484450, -0.046734
position: -3.256442, -1.523665, -0.171904
position: -3.314424, -1.528239, -0.246959
position: -3.380197, -1.471367, -0.239670
position: -3.398309, -1.453061, -0.288443
position: -3.393431, -1.443309, -0.303259
position: -3.413407, -1.396331, -0.291902
position: -3.411493, -1.393106, -0.289263
position: -3.415130, -1.390800, -0.303913
position: -3.422706, -1.3866
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720356327.388022168]: Shutdown request received.[0m
[33m[ WARN] [1720356327.388093584]: Reason given for shutdown: [user request][0m
97, -0.328329
[33m[ WARN] [1720356327.388959135]: Shutdown request received.[0m
[33m[ WARN] [1720356327.388995506]: Reason given for shutdown: [user request][0m
killed
