/SLAM-Hive/slam_hive_results/mapping_results/2749/1960_vins-mono+MH_04_difficult+Image_comb_test-15.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/ea658c3e-3c67-11ef-acbd-0242ac110004/roslaunch-5439901a73ba-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://5439901a73ba:43319/[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 ea658c3e-3c67-11ef-acbd-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [158][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720360251.198773251]: init begins[0m
[0m[ INFO] [1720360251.203999877]: 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] [1720360251.204533266]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720360251.204567862]:  fix extrinsic param [0m
[0m[ INFO] [1720360251.204727162]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720360251.204772753]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720360251.204802530]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720360251.204867846]: 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] [1720360258.480575879]: 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: 316722131.37 
[0m[ INFO] [1720360261.382618599]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360261.590215783]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360261.784964592]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360261.979536049]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360262.165093923]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360262.387846479]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360262.575037885]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360262.765992291]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360262.982166080]: 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] [1720360263.374123323]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360263.581909227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360263.782428889]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360263.991299905]: 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] [1720360264.376234585]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360264.565522728]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360264.768319241]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360265.003817744]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360265.209856068]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360265.385802015]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360265.566135186]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360265.774204249]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360265.974393141]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360266.177608349]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720360266.396064502]: gyroscope bias initial calibration -0.00132633   0.0212001    0.076234[0m
[0m[ INFO] [1720360266.418281517]: Initialization finish![0m
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position: 3.065714, 2.280301, 0.227498
position: 3.054645, 2.057306, 0.195126
position: 3.0362optimize pose graph 
35, 1.856392, 0.146934
position: 3.005200, 1.674039, 0.089748
position: 2.971949, 1.509785, 0.053776
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position: 0.983334, 1.294426, -0.011998
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position: 0.717057, 1.321923, -0.241585
position: 0.733271, 1.335124, -0.242737
position: 0.741146, 1.334798, -0.237184
position: 0.768656, 1.323375, -0.212180
position: 0.776427, 1.325420, -0.230536
position: 0.754925, 1.337186, -0.284967
position: 0.743306, 1.353907, -0.346816
position: 0.760555, 1.367790, -0.340705
position: 0.757263, 1.370679, -0.326084
position: 0.753413, 1.367232, -0.308212
position: 0.747337, 1.360434, -0.289101
position: 0.740953, 1.359092, -0.268508
position: 0.731314, 1.356438, -0.247771
position: 0.72
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720360361.941373574]: Shutdown request received.[0m
[33m[ WARN] [1720360361.941433462]: Reason given for shutdown: [user request][0m
0341, 1.354898, -0.226556
position: 0.707631, 1.353740, -0.204331
position: 0.693419, 1.353613, -0.181643
position: 0.678230, 1.354610, -0.158394
position: 0.661852, 1.355931, -0.134285
position: 0.644543, 1.357431, -0.109643
position: 0.625704, 1.359538, -0.084437
position: 0.605650, 1.362167, -0.058385
[33m[ WARN] [1720360361.942309386]: Shutdown request received.[0m
[33m[ WARN] [1720360361.942340265]: Reason given for shutdown: [user request][0m
killed
