/SLAM-Hive/slam_hive_results/mapping_results/2738/1949_vins-mono+MH_04_difficult+Image_comb_test-4.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/4e3b0292-3c64-11ef-8552-0242ac110004/roslaunch-b48dec4211c1-119.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://b48dec4211c1:33455/[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 [130][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 4e3b0292-3c64-11ef-8552-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [143][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [157][0m
[1mprocess[vins_estimator-3]: started with pid [161][0m
[0m[ INFO] [1720358700.721702456]: init begins[0m
[0m[ INFO] [1720358700.726379841]: 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] [1720358700.726901759]: ROW: 192.000000 COL: 300.000000 [0m
[33m[ WARN] [1720358700.726928041]:  fix extrinsic param [0m
[0m[ INFO] [1720358700.727089084]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720358700.727130603]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720358700.727169036]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720358700.727229845]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [182][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] [1720358707.995238388]: 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: 316720580.89 
[0m[ INFO] [1720358709.576970156]: IMU excitation not enouth![0m
[0m[ INFO] [1720358709.787750820]: IMU excitation not enouth![0m
[0m[ INFO] [1720358709.788269201]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358709.878909520]: IMU excitation not enouth![0m
[0m[ INFO] [1720358709.879416997]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358710.085768969]: IMU excitation not enouth![0m
[0m[ INFO] [1720358710.086110315]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358710.279907996]: IMU excitation not enouth![0m
[0m[ INFO] [1720358710.280329081]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358710.395972768]: IMU excitation not enouth![0m
[0m[ INFO] [1720358710.396415038]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358710.580588876]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358710.776924044]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358710.886867765]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358711.077289661]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358711.289105071]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358711.377539927]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358711.585726457]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358711.787719923]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358712.123819338]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720358712.311814340]: Not enough features or parallax; Move device around[0m
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0707 13:25:12.450590   230 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[33m[ WARN] [1720358712.452896093]: gyroscope bias initial calibration -0.0011734 0.00749046   0.078095[0m
[0m[ INFO] [1720358712.472586943]: Initialization finish![0m
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position: 0.742993, 1.227865, -0.314667
position: 0.739082, 1.233396, 
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720358811.539749761]: Shutdown request received.[0m
[33m[ WARN] [1720358811.539810999]: Reason given for shutdown: [user request][0m
-0.309052
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position: 0.607541, 1.225842, -0.046895
position: 0.598006, 1.227157, -0.033976
[33m[ WARN] [1720358811.540687989]: Shutdown request received.[0m
[33m[ WARN] [1720358811.540737208]: Reason given for shutdown: [user request][0m
killed
