/SLAM-Hive/slam_hive_results/mapping_results/2725/1936_vins-mono+MH_03_medium+Image_comb_test-21.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/429d0c0a-3c5f-11ef-afc1-0242ac110004/roslaunch-e7f127bca0c4-117.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://e7f127bca0c4:43959/[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 429d0c0a-3c5f-11ef-afc1-0242ac110004[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] [1720356533.741805911]: init begins[0m
[0m[ INFO] [1720356533.746911413]: 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] [1720356533.747357595]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720356533.747384013]:  fix extrinsic param [0m
[0m[ INFO] [1720356533.747536221]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720356533.747569748]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720356533.747600621]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720356533.747643978]: 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] [1720356541.009469608]: 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: 316719410.68 
[0m[ INFO] [1720356547.903188735]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356548.382796440]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356548.914337178]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356549.382062880]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356549.900657123]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356550.902584038]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356551.385202221]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356551.878181033]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356552.389664889]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720356553.362393499]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356553.888426387]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356554.372557105]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356554.871948287]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356555.382304863]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356555.879771737]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356556.388872822]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356556.888636282]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356557.371746127]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356557.877959142]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356558.377915060]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356558.888413740]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356559.373013236]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356559.888401286]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356560.377384816]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356560.900425332]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356561.399558900]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356561.885499479]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356562.373978182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356562.885244049]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356563.370070173]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356563.866411122]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356564.372602251]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356564.887387016]: 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] [1720356566.394502861]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356566.887313761]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356567.386661518]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356567.884789811]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356568.389879888]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356568.897101831]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356569.377536821]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356569.886583238]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356570.390905585]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356570.898959467]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356571.394193605]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356571.895200440]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356572.383740278]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356572.899403504]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356573.401031818]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356573.890317203]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356574.401320840]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356574.875095608]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356575.385947258]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356575.905687923]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356576.377812904]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356576.891409368]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356577.396440185]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356577.905740638]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356578.400399607]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356578.903184182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356579.403063264]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356579.873055673]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356580.405026694]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356580.903521563]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356581.381878194]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356581.905366611]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356582.375768095]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356582.913929277]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356583.410960737]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356583.902827670]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356584.403819107]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356584.900063430]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356585.381829429]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356585.873302429]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356586.403457882]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356586.888642230]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356587.387016943]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356587.920337621]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356588.415528828]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356588.891656991]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356589.406230586]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356589.904372676]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356590.391705659]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356590.890623901]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356591.379191990]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356591.899978244]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356592.414620977]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356592.900321094]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356593.377377864]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356593.904918139]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356594.402823595]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356594.877040885]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356595.407716780]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356595.903474971]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356596.404396503]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356596.910691665]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356597.384499484]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356597.896310450]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356598.377688639]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356598.885879561]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356599.394551110]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356599.887839439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356600.400287451]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356600.899831249]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356601.375559450]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356601.867583098]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356602.363576013]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356602.897468165]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356603.385280909]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356603.892049551]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356604.367304798]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356604.896905902]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356605.384704339]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356605.892461856]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356606.383800828]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356606.863119764]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356607.371230218]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356607.871365675]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356608.403003476]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356608.903947920]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356609.380574365]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356609.899632097]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356610.401203075]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356610.900615545]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356611.397365645]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356611.901366483]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356612.403654353]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720356612.897366799]: 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] [1720356614.371465412]: 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] [1720356617.892448675]: gyroscope bias initial calibration -0.0038422  0.0221347  0.0768041[0m
[0m[ INFO] [1720356617.927141432]: Initialization finish![0m
position: -0.514897, -1.468290, 0.033133
position: -0.634711, -1.445230, 0.031526
position: -0.773801, -1.484393, 0.031015
position: -0.880901, -1.524222, 0.147634
position: -0.990776, -1.597788, 0.125102
position: -1.148002, -1.602248, 0.088947
position: -1.186396, -1.473338, 0.161261
position: -0.923817, -1.113161, 0.039073
position: -0.349487, -0.498993, -0.125211
position: 0.367211, 0.123022, -0.361453
position: 1.106371, 0.656212, -0.526993
position: 1.870588, 1.100529, -0.503549
position: 2.567319, 1.504043, -0.382036
position: 3.255773, 1.918619, -0.317669
position: 3.867183, 2.367917, -0.369791
position: 4.329191, 2.912614, -0.333649
position: 4.496257, 3.462254, -0.183720
position: 4.301126, 4.023591, -0.124273
position: 3.775362, 4.401074, -0.021805
position: 3.132888, 4.566231, 0.145415
position: 2.586097, 4.539240, 0.242869
position: 2.077633, 4.133306, 0.311076
position: 1.712710, 3.467604, 0.305693
position: 1.340281, 2.568938, 0.282861
position: 0.969883, 1.578087, 0.233178
position: 0.525325, 0.516642, 0.103030
position: -0.073737, -0.498986, 0.122287
position: -0.821392, -1.263202, 0.311370
position: -1.473239, -1.849273, 0.424694
position: -1.982111, -2.175831, 0.438357
position: -2.192465, -2.572670, 0.300135
position: -2.480466, -2.973165, 0.130895
position: -2.640065, -3.243613, 0.085455
position: -2.710546, -3.401980, 0.248006
position: -2.575627, -3.274604, 0.387725
position: -2.578916, -3.229300, 0.332086
position: -2.599627, -3.216455, 0.264914
position: -2.659004, -3.244172, 0.175640
position: -2.770594, -3.275120, 0.246975
position: -2.925370, -3.294904, 0.333726
position: -3.101775, -3.266840, 0.317534
position: -3.208931, -3.187964, 0.323625
position: -3.229491, -3.100991, 0.274125
position: -3.241211, -3.055577, 0.232929
position: -3.340686, -3.084902, 0.279641
position: -3.457941, -3.122890, 0.225750
position: -3.487721, -3.170379, 0.109720
position: -3.457010, -3.153111, 0.063788
position: -3.427915, -3.121038, 0.144919
position: -3.329607, -3.162351, -0.005057
position: -3.135607, -3.384225, -0.302458
position: -2.954616, -3.749777, -0.385457
position: -2.937686, -4.241623, -0.333674
position: -2.902532, -5.017714, -0.255338
position: -2.684253, -5.945351, -0.398626
position: -1.904237, -6.474316, -0.645157
position: -0.900740, -6.586849, -0.967239
position: 0.016136, -6.447033, -1.158806
position: 0.914433, -6.222276, -1.163207
[0m[ INFO] [1720356647.383025713]:  little feature 1[0m
position: 1.800985, -5.574063, -0.998139
position: 2.551470, -4.521362, -0.809192
position: 2.875907, -3.366989, -0.489082
position: 2.549047, -2.355809, -0.071160
position: 2.009757, -1.724638, 0.192947
position: 1.297179, -1.742856, 0.354879
position: 1.030812, -2.543676, 0.523427
position: 0.865720, -3.656066, 0.379011
[0m[ INFO] [1720356651.385914733]:  little feature 1[0m
position: 0.629806, -4.771190, 0.088796
position: 0.566633, -5.895070, -0.015956
position: 0.584400, -6.820554, -0.157812
position: 0.895484, -7.584563, -0.201668
position: 1.201247, -7.957132, -0.150404
position: 1.412098, -7.994524, -0.066684
position: 1.636977, -8.011100, -0.081141
position: 2.193099, -7.532641, 0.025442
position: 2.640690, -7.092622, 0.326484
position: 2.916639, -6.624761, 0.588465
position: 3.445222, -6.434189, 0.715106
position: 3.125417, -5.603895, 0.693158
position: 3.484789, -5.459485, 0.533039
position: 3.858546, -5.124305, 0.364220
position: 4.059891, -4.649959, 0.243087
position: 3.865402, -4.219918, 0.038079
position: 3.572539, -3.651753, -0.074152
position: 3.333401, -2.949056, -0.077088
position: 2.925708, -2.316042, -0.012864
position: 2.495621, -1.653681, -0.127147
position: 2.094943, -1.041964, -0.171193
position: 1.709082, -0.576979, -0.182907
position: 1.488946, -0.254077, 0.012493
position: 1.411110, -0.135179, 0.191641
position: 1.124222, -0.019211, 0.242188
position: 0.
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720356677.824643434]: Shutdown request received.[0m
[33m[ WARN] [1720356677.824722017]: Reason given for shutdown: [user request][0m
793674, -0.109807, 0.241077
position: 0.555115, -0.360904, 0.241853
position: 0.453871, -0.449283, 0.238993
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[33m[ WARN] [1720356677.825595582]: Shutdown request received.[0m
[33m[ WARN] [1720356677.825642318]: Reason given for shutdown: [user request][0m
killed
