/SLAM-Hive/slam_hive_results/mapping_results/2753/1964_vins-mono+MH_04_difficult+Image_comb_test-19.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/39c4fbba-3c69-11ef-bb50-0242ac110004/roslaunch-fd42d06232dc-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://fd42d06232dc:41437/[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 39c4fbba-3c69-11ef-bb50-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [151][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720360813.895208527]: init begins[0m
[0m[ INFO] [1720360813.901224052]: 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] [1720360813.901713330]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720360813.901736308]:  fix extrinsic param [0m
[0m[ INFO] [1720360813.901889866]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720360813.901936679]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720360813.901975688]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720360813.902023128]: 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] [1720360821.138170420]: 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: 316722694.02 
[0m[ INFO] [1720360827.959482167]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360828.447212531]: 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] [1720360829.943364936]: 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] [1720360831.961213753]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360832.467232057]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360832.916591388]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360833.436499002]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360833.939252061]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360834.417501241]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360834.920368187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360835.418826685]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360835.934981700]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360836.459169317]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360836.920151162]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360837.425377746]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360837.926435252]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360838.421678018]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360838.936078009]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360839.418525049]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360839.928092288]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360840.424385296]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360840.938983990]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360841.425827760]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360841.938920210]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360842.960196795]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360843.441909963]: 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!
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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720360849.954822936]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360850.469460098]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360850.943999866]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720360852.446420622]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360852.939265527]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720360853.955261182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360854.451843948]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360854.927350799]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360855.442825106]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360855.954408898]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360856.442308025]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360856.955704328]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720360857.959369472]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360858.419596463]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720360859.460889246]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360859.954009228]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360860.957412043]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360861.471576124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360861.960732967]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360862.454946535]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360862.955815874]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360863.451530751]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360863.954671126]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360864.422755025]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360864.949969183]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360865.457906968]: 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] [1720360867.459056716]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360867.956972348]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360868.456798630]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360868.958392255]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360869.428946997]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360869.959089213]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360870.461940192]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720360871.432216818]: 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] [1720360872.959004345]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360873.461833014]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360873.969438472]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360874.461455072]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360874.927202677]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360875.458543089]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360875.949738586]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360876.462576317]: Not enough features or parallax; Move device around[0m[0m[ INFO] [1720360876.924653859]: 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!
[0m[ INFO] [1720360879.467873103]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360879.950826026]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360880.444005081]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360880.942790993]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360881.462244204]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360881.951329627]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360882.438308637]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360882.939071493]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360883.425770638]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360883.945134541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360884.942465614]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360885.436202849]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360885.939899330]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720360886.959635878]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360887.455281265]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360887.922651339]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360888.445011095]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360888.948362890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360889.434760637]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360889.935013647]: 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!
[0m[ INFO] [1720360893.957915963]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360894.458897159]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360894.955790482]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360895.438442800]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360895.957245379]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360896.435710235]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360896.951189634]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360897.457550117]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360897.941006518]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360898.440414609]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360898.935792489]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360899.466182254]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360899.963353869]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360900.437734561]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360900.959362220]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360901.459313901]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360901.964325673]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360902.459409831]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360902.960404634]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360903.454445567]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720360904.462569137]: 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] [1720360905.960743785]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360906.449611514]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360906.959957966]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360907.455297131]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360907.958258100]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360908.469175731]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360908.957593199]: 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!
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] [1720360913.469146505]: gyroscope bias initial calibration 0.00854405  0.0235808  0.0740195[0m
[0m[ INFO] [1720360913.502708676]: Initialization finish![0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720360924.620071414]: Shutdown request received.[0m
[33m[ WARN] [1720360924.620141322]: Reason given for shutdown: [user request][0m
position: 0.378125, -4.626270, -0.241136
position: 0.197402, -4.740343, -0.250858
position: -0.049300, -4.821473, -0.301564
position: -0.339828, -4.931207, -0.280340
position: -0.625493, -4.932156, -0.335623
position: -0.879366, -4.909428, -0.358453
position: -1.088862, -4.903327, -0.345165
position: -1.232812, -4.887243, -0.381054
position: -1.351313, -4.861443, -0.446383
position: -1.461809, -4.867821, -0.483470
position: -1.540565, -4.897828, -0.567246
position: -1.580696, -4.886822, -0.648413
position: -1.559692, -4.874168, -0.653409
position: -1.547078, -4.874122, -0.678520
position: -1.519781, -4.841554, -0.755228
position: -1.497735, -4.836159, -0.705869
position: -1.498469, -4.846690, -0.657519
position: -1.508545, -4.869069, -0.612352
position: -1.517642, -4.881403, -0.573534
position: -1.533907, -4.896345, -0.514539
[33m[ WARN] [1720360924.620950529]: Shutdown request received.[0m
[33m[ WARN] [1720360924.620989807]: Reason given for shutdown: [user request][0m
killed
