/SLAM-Hive/slam_hive_results/mapping_results/2750/1961_vins-mono+MH_04_difficult+Image_comb_test-16.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/3e35a484-3c68-11ef-9aca-0242ac110004/roslaunch-27d0f1c20b68-117.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://27d0f1c20b68:41987/[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 3e35a484-3c68-11ef-9aca-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] [1720360391.818455794]: init begins[0m
[0m[ INFO] [1720360391.823146274]: 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] [1720360391.823567280]: ROW: 192.000000 COL: 300.000000 [0m
[33m[ WARN] [1720360391.823597601]:  fix extrinsic param [0m
[0m[ INFO] [1720360391.823748858]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720360391.823784451]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720360391.823816750]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720360391.823866002]: 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_04_difficult.bag  --clock 
[0m[ INFO] [1720360399.087929607]: 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: 316722271.98 
[0m[ INFO] [1720360401.992822504]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360402.186739890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360402.407273485]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360402.579053386]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360402.774181437]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360402.977800022]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360403.174347279]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360403.370363272]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360403.586235638]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360403.792699654]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360403.975440029]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360404.195252356]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360404.386738763]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360404.590588803]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360404.781124343]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360404.983790790]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360405.173947109]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360405.374230640]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360405.574244704]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360405.795354836]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360405.985271603]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360406.172740148]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360406.573365318]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360406.778083466]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360406.976020107]: 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!
[33m[ WARN] [1720360407.210784604]: gyroscope bias initial calibration -0.00450956   0.0232621   0.0752843[0m
[0m[ INFO] [1720360407.235282117]: Initialization finish![0m
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position: 0.480769, 1.976840, -0.412612
position: 0.479018, 1.971547, -0.392230
position: 0.474206, 1.963849, -0.37
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720360502.550611263]: Shutdown request received.[0m
[33m[ WARN] [1720360502.550683077]: Reason given for shutdown: [user request][0m
1788
position: 0.467991, 1.956461, -0.350743
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position: 0.450852, 1.941386, -0.306106
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position: 0.416482, 1.919681, -0.234306
position: 0.402393, 1.911844, -0.208924
position: 0.386737, 1.903502, -0.182378
[33m[ WARN] [1720360502.551593045]: Shutdown request received.[0m
[33m[ WARN] [1720360502.551619251]: Reason given for shutdown: [user request][0m
killed
