/SLAM-Hive/slam_hive_results/mapping_results/2724/1935_vins-mono+MH_03_medium+Image_comb_test-20.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/da40d51a-3c5e-11ef-90a1-0242ac110004/roslaunch-f260f84830cd-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://f260f84830cd:32789/[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 da40d51a-3c5e-11ef-90a1-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [157][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720356358.675163886]: init begins[0m
[0m[ INFO] [1720356358.680635817]: 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] [1720356358.681134949]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720356358.681154391]:  fix extrinsic param [0m
[0m[ INFO] [1720356358.681307183]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720356358.681339028]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720356358.681375413]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720356358.681416483]: 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] [1720356365.942242225]: 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: 316719235.61 
[0m[ INFO] [1720356372.827722664]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356373.301104020]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356373.814776347]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356374.338933894]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356374.835742568]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356375.313301468]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356375.826142944]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356376.317448280]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356376.818131959]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356377.324536998]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356377.817353737]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356378.313901869]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356378.827692895]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356379.816214143]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356380.315484587]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356380.815218907]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356381.326840837]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356381.806680739]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356382.313681589]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356382.814975146]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356383.294574583]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356383.825895074]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356384.314241834]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356384.804317742]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356385.296762630]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356385.841716101]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356386.334178531]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356386.834633928]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356387.318339738]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356387.820278255]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356388.317453294]: 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] [1720356389.315564275]: 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!
[33m[ WARN] [1720356391.851324398]: gyroscope bias initial calibration -0.00393352   0.0219046   0.0759139[0m
[0m[ INFO] [1720356391.885247276]: Initialization finish![0m
position: 1.467297, -1.048016, 0.268140
position: 1.599638, -1.298292, 0.177602
position: 1.626520, -1.657707, 0.028381
position: 1.610075, -2.055063, -0.108537
position: 1.625281, -2.633844, -0.055449
position: 1.470663, -3.184274, -0.016627
position: 1.209547, -3.718060, -0.050281
position: 0.887733, -4.296071, -0.084236
position: 0.530076, -4.934107, -0.136691
position: 0.122862, -5.538683, -0.231610
position: -0.309106, -6.005960, -0.327503
position: -0.727063, -6.583503, -0.174912
position: -1.271995, -7.167038, -0.014666
position: -1.634227, -7.620020, -0.022343
position: -2.237369, -7.554444, 0.008472
position: -2.808365, -7.283978, -0.070730
position: -3.384313, -6.877408, -0.057481
position: -4.098625, -6.261806, 0.104802
position: -4.857756, -5.490011, 0.125522
position: -5.634194, -4.711670, 0.115322
position: -6.276061, -3.990543, 0.171428
position: -6.836744, -3.628310, 0.049794
position: -6.896767, -3.154990, -0.028197
position: -6.416772, -2.982143, -0.022003
position: -5.791678, -3.112706, -0.067153
position: -5.231048, -3.506178, -0.206139
position: -4.708833, -3.758199, -0.377876
position: -4.096890, -4.125412, -0.422710
position: -3.270739, -4.402628, -0.391604
[0m[ INFO] [1720356406.345636874]:  little feature 0[0m
position: -2.282492, -4.527622, -0.498575
[0m[ INFO] [1720356406.846867650]:  little feature 1[0m
position: -0.715226, -4.446470, -0.647403
position: 0.289172, -4.075319, -0.610386
position: 0.857397, -3.482995, -0.566121
position: 1.391819, -2.512637, -0.565773
position: 1.603574, -1.495262, -0.462641
position: 1.697045, -0.837006, -0.511246
position: 1.515304, -0.581883, -0.623151
position: 0.964394, -0.737442, -0.505980
position: 0.320054, -0.659092, -0.353728
position: -0.082434, -0.712598, -0.276821
position: -0.860433, -0.355273, -0.216370
position: -1.747597, -0.110601, -0.145547
position: -2.590156, 0.428932, -0.164187
[0m[ INFO] [1720356413.359160895]:  little feature 1[0m
position: -3.436617, 0.946997, -0.276981
position: -4.266472, 1.129005, -0.341714
position: -4.922965, 0.893546, -0.392329
position: -5.169679, 0.281806, -0.425790
position: -4.904204, -0.743924, -0.521573
position: -4.703311, -1.231476, -0.669267
position: -4.411818, -1.922934, -0.941697
position: -3.985462, -2.652859, -0.960789
position: -3.335885, -3.386552, -0.800794
[0m[ INFO] [1720356417.842683067]:  little feature 1[0m
position: -2.559728, -4.079966, -0.533675
[0m[ INFO] [1720356418.343202698]:  little feature 0[0m
position: -1.728974, -4.669666, -0.360664
[0m[ INFO] [1720356418.845611781]:  little feature 1[0m
position: -0.804401, -4.980820, -0.182142
position: 0.160336, -4.965906, -0.242346
position: 0.989051, -4.609325, -0.381744
position: 1.521080, -3.902343, -0.424714
position: 1.823981, -3.250566, -0.504809
position: 1.853246, -2.839749, -0.353012
position: 1.633909, -2.462119, -0.125375
position: 1.430285, -2.134694, 0.106081
position: 0.989526, -1.188632, 0.260886
position: -0.133047, -0.236553, 0.090353
position: -0.652853, -0.037770, 0.001726
position: -1.265832, 0.046340, -0.119746
position: -1.840488, 0.136970, -0.308183
position: -2.479393, 0.290569, -0.472500
position: -3.128482, 0.459275, -0.505959
position: -3.693347, 0.670983, -0.385076
position: -4.131911, 0.877580, -0.349953
position: -4.454872, 1.006573, -0.402228
position: -4.656771, 1.179322, -0.340202
position: -4.840745, 1.204540, -0.136778
position: -5.031626, 1.009853, -0.012480
position: -5.306897, 0.741537, 0.153409
position: -5.626280, 0.380635, 0.305483
position: -5.878242, -0.067129, 0.334012
position: -6.096274, -0.624841, 0.446503
position: -6.280771, -1.239533, 0.460194
position: -6.354936, -1.807696, 0.545681
position: -6.188861, -2.400797, 0.556044
position: -5.578180, -2.990457, 0.434536
[0m[ INFO] [1720356433.324805109]:  little feature 1[0m
position: -4.659277, -3.505343, 0.369652
position: -3.643000, -3.923603, 0.472068
[0m[ INFO] [1720356434.351488603]:  little feature 1[0m
position: -2.484263, -4.202327, 0.704383
position: -1.178215, -4.281005, 0.649595
position: 0.197649, -4.038785, 0.595446
[0m[ INFO] [1720356435.844056088]:  little feature 1[0m
position: 1.457459, -3.537405, 0.405014
[0m[ INFO] [1720356436.333764728]:  little feature 0[0m
position: 2.264524, -2.834895, 0.046544
position: 2.741814, -2.044273, -0.124360
position: 2.974009, -1.414643, -0.131313
position: 2.953994, -1.016155, -0.166982
position: 2.642500, -1.125842, -0.025364
position: 2.151805, -1.197985, 0.043795
position: 1.840169, -1.284412, 0.023580
position: 1.666647, -1.382762, -0.074862
position: 1.565127, -1.407609, -0.102591
position: 1.453369, -1.370790, -0.038570
position: 1.374130, -1.315693, -0.058575
position: 1.358274, -1.234755, -0.099424
position: 1.357694, -1.131690, -0.056033
position: 1.329897, -1.033262, -0.012573
position: 1.271428, -0.910175, -0.012342
position: 1.178988, -0.791167, -0.007455
position: 1.087104, -0.706414, 0.108318
position: 0.980826, -0.630934, 0.086911
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position: 1.029398, -0.415169, 0.118181
position: 1.462493, -0.546915, -0.008075
position: 2.231104, -0.882434, -0.175076
[0m[ INFO] [1720356447.359948554]:  little feature 1[0m
position: 3.047525, -1.353205, -0.414241
position: 3.786218, -1.875971, -0.582918
position: 4.444220, -2.452769, -0.564251
position: 5.046755, -2.952982, -0.435529
position: 5.650378, -3.449662, -0.358511
position: 6.267711, -3.861274, -0.404253
position: 6.902061, -4.128154, -0.363073
position: 7.436785, -4.109640, -0.214554
position: 7.825016, -3.705619, -0.144305
position: 7.938472, -3.064859, -0.013852
position: 7.854750, -2.406432, 0.149266
position: 7.557596, -1.851691, 0.241265
position: 6.925978, -1.462149, 0.309135
position: 6.184926, -1.283629, 0.330438
position: 5.147419, -1.176945, 0.331588
position: 4.034199, -1.093542, 0.297299
position: 2.827230, -0.902252, 0.174792
position: 1.647682, -0.590469, 0.186928
position: 0.681485, -0.234337, 0.376522
position: -0.114654, 0.064084, 0.509758
position: -0.573402, 0.328444, 0.514411
position: -0.955785, 0.529906, 0.397826
position: -1.171660, 0.589052, 0.219112
position: -1.410373, 0.642952, 0.187706
position: -1.305559, 0.579172, 0.336272
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position: -1.186441, 0.556182, 0.403919
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position: -1.353967, 0.867776, 0.426083
position: -1.391764, 1.050937, 0.405617
position: -1.349690, 1.174994, 0.407482
position: -1.268860, 1.217871, 0.350089
position: -1.225508, 1.251884, 0.313432
position: -1.269740, 1.318069, 0.356530
position: -1.342929, 1.420009, 0.307069
position: -1.402648, 1.442858, 0.191136
position: -1.394651, 1.434051, 0.148260
position: -1.380392, 1.441696, 0.228101
position: -1.423467, 1.370665, 0.083585
position: -1.595052, 1.180008, -0.223112
position: -1.906855, 0.983062, -0.310115
position: -2.388477, 0.911086, -0.261829
position: -3.130996, 0.779827, -0.195415
position: -3.907331, 0.341067, -0.329791
position: -4.151538, -0.429942, -0.568922
position: -3.864166, -1.366525, -0.860610
position: -3.387727, -2.046557, -1.050220
position: -2.767452, -2.635576, -1.057349
position: -1.829510, -3.108504, -0.902995
position: -0.619539, -3.375692, -0.709507
[0m[ INFO] [1720356473.354853053]:  little feature 0[0m
position: 0.609873, -3.138896, -0.391657
position: 1.549306, -2.448338, 0.016768
[0m[ INFO] [1720356474.337166090]:  little feature 1[0m
position: 2.074546, -1.489605, 0.266336
[0m[ INFO] [1720356474.852295051]:  little feature 0[0m
position: 1.880965, -0.613912, 0.436870
position: 1.083720, -0.233092, 0.598873
position: 0.019657, -0.095085, 0.452129
[0m[ INFO] [1720356476.351655454]:  little feature 1[0m
position: -1.054872, -0.073224, 0.178027
position: -2.048394, -0.069860, 0.062018
position: -2.877467, -0.194145, -0.076158
position: -3.418589, -0.490592, -0.120317
position: -3.558364, -0.731453, -0.093724
position: -3.353987, -1.064289, -0.058308
position: -3.258356, -1.466812, -0.162688
position: -2.789652, -1.747239, -0.121101
position: -2.365120, -1.953455, 0.148561
position: -1.856037, -2.137745, 0.386240
position: -1.670005, -2.566713, 0.492019
position: -1.406028, -3.038160, 0.491257
position: -1.044234, -3.512935, 0.362792
[0m[ INFO] [1720356482.847623712]:  little feature 1[0m
position: -0.599405, -3.792169, 0.200030
position: -0.096702, -3.839811, 0.076028
position: 0.356973, -3.644120, -0.097518
position: 0.860946, -3.250926, -0.194895
position: 1.395742, -2.765440, -0.220440
position: 1.875426, -2.233489, -0.171436
position: 2.351038, -1.630672, -0.281489
position: 2.798161, -1.068504, -0.345782
position: 3.140256, -0.609788, -0.353799
position: 3.394009, -0.353154, -0.184235
position: 3.543618, -0.158239, -0.023156
position: 3.412390, 0.310611, 0.052842
position: 3.191702, 0.563739, 0.055056
position: 3.098020, 0.674622, 0.071728
position: 2.963929, 0.762866, 0.087225
position: 2.780495, 0.874794, 0.208678
position: 2.597539, 1.038177, 0.251119
position: 2.392098, 1.226807, 0.267981
position: 2.147343, 1.440763, 0.284376
position: 1.897890, 1.681260, 0.351387
position: 1.630571, 1.951693, 0.286216
position: 1.395665, 2.203074, 0.313755
position: 1.183930, 2.492860, 0.278687
position: 1.064015, 2.795506, 0.241844
position: 0.965353, 3.075855, 0.161185
position: 0.888299, 3.27874
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720356502.759500374]: Shutdown request received.[0m
[33m[ WARN] [1720356502.759566008]: Reason given for shutdown: [user request][0m
0, 0.209094
position: 0.869212, 3.319920, 0.212932
position: 0.938099, 3.208754, 0.136792
position: 0.888025, 3.255269, 0.006138
position: 0.868255, 3.314859, -0.068215
position: 0.903696, 3.394806, -0.056727
position: 0.903647, 3.404783, -0.106150
position: 0.899744, 3.389052, -0.124443
position: 0.901853, 3.425899, -0.128431
position: 0.897808, 3.428514, -0.137822
position: 0.902454, 3.432986, -0.148821
position: 0.900211, 3.436838, -0.161689
[33m[ WARN] [1720356502.760382042]: Shutdown request received.[0m
[33m[ WARN] [1720356502.760412476]: Reason given for shutdown: [user request][0m
killed
