/SLAM-Hive/slam_hive_results/mapping_results/2737/1948_vins-mono+MH_04_difficult+Image_comb_test-3.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/fa71f364-3c63-11ef-86d8-0242ac110004/roslaunch-1c97ab64e323-118.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://1c97ab64e323:39789/[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 fa71f364-3c63-11ef-86d8-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720358560.215854487]: init begins[0m
[0m[ INFO] [1720358560.220648008]: 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] [1720358560.221260591]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720358560.221284685]:  fix extrinsic param [0m
[0m[ INFO] [1720358560.221438935]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720358560.221478838]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720358560.221509620]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720358560.221559439]: 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_04_difficult.bag  --clock 
[0m[ INFO] [1720358567.425904562]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316720440.32 
[0m[ INFO] [1720358569.012802385]: IMU excitation not enouth![0m
[0m[ INFO] [1720358569.013481361]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358569.210407651]: IMU excitation not enouth![0m
[0m[ INFO] [1720358569.210646823]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358569.311584903]: IMU excitation not enouth![0m
[0m[ INFO] [1720358569.312291430]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358569.511740404]: IMU excitation not enouth![0m
[0m[ INFO] [1720358569.512555646]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358569.714001983]: IMU excitation not enouth![0m
[0m[ INFO] [1720358569.714658891]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358569.829653542]: IMU excitation not enouth![0m
[0m[ INFO] [1720358569.890504252]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358570.013538587]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358570.238089063]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358570.372011750]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358570.515103960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358570.729680322]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358570.812143565]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720358571.087849853]: gyroscope bias initial calibration -0.000277882   0.00118675    0.0812542[0m
[0m[ INFO] [1720358571.109928089]: Initialization finish![0m
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position: 0.595336, 1optimize pose graph 
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po
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720358670.751646870]: Shutdown request received.[0m
[33m[ WARN] [1720358670.751707148]: Reason given for shutdown: [user request][0m
sition: 0.256681, 1.179345, 0.020276
position: 0.246892, 1.180950, 0.031863
position: 0.236436, 1.182630, 0.043400
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position: 0.213903, 1.186397, 0.066869
position: 0.201884, 1.188438, 0.078786
position: 0.189358, 1.190540, 0.090979
[33m[ WARN] [1720358670.752623854]: Shutdown request received.[0m
[33m[ WARN] [1720358670.752651160]: Reason given for shutdown: [user request][0m
killed
