/SLAM-Hive/slam_hive_results/mapping_results/2754/1965_vins-mono+MH_04_difficult+Image_comb_test-20.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/8dc333f8-3c69-11ef-a1f2-0242ac110004/roslaunch-de4d3667a5f5-118.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://de4d3667a5f5:40043/[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 8dc333f8-3c69-11ef-a1f2-0242ac110004[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] [1720360954.774858458]: init begins[0m
[0m[ INFO] [1720360954.780283095]: 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] [1720360954.780819219]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720360954.780841075]:  fix extrinsic param [0m
[0m[ INFO] [1720360954.780990874]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720360954.781026942]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720360954.781082739]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720360954.781126367]: 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] [1720360962.058346673]: 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: 316722834.94 
[0m[ INFO] [1720360968.865867759]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360969.351025752]: 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!
[0m[ INFO] [1720360970.846465307]: 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!
[0m[ INFO] [1720360972.375714045]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360972.868758985]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360973.364150474]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360973.852158820]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360974.352115972]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360974.850809103]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360975.346599028]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360975.861905005]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360976.350767098]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360976.861570811]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360977.367861247]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360977.862056686]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360978.351206928]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360978.837095697]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360979.858783937]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360980.337294646]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360980.862408117]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360981.354140457]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360981.849881842]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360982.350385623]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360982.851634571]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360983.386890010]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360983.876773317]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360984.356303279]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360984.864166598]: 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] [1720360986.851896254]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360987.362264612]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360987.833647110]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720360988.856565777]: 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!
[0m[ INFO] [1720360990.854797574]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360991.355338014]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360991.841858208]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360992.352800105]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720360993.348913261]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360993.852982978]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720360994.870794228]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360995.368733319]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360995.873740898]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360996.372167567]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360996.868376848]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360997.363679541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360997.847165571]: 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] [1720360998.868641918]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360999.362202980]: 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] [1720361000.368408774]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361000.839553383]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361001.375945657]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361001.864726640]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361002.371845715]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361002.880268701]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361003.368155803]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361003.868883336]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361004.355152917]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361004.854743233]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361005.366359495]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361005.869971158]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361006.374832733]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361006.853169487]: 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!
[0m[ INFO] [1720361008.338326070]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361008.870403647]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361009.372443149]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361009.870042889]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361010.373706860]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361010.878348184]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361011.360979781]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720361012.366036795]: 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] [1720361013.869349573]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361014.363640687]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361014.884621231]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361015.362843844]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361015.856404928]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361016.365044175]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361016.869385239]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361017.369697252]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361017.865899500]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361018.372000702]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361018.835727027]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361019.355848107]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361019.857959374]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361020.363935074]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361020.858868927]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361021.335594749]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361021.857996210]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361022.353124362]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361022.844203888]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361023.350296058]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361023.849844170]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361024.359242983]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361024.846122400]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361025.356216508]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361025.852950659]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361026.353200518]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361026.851676606]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361027.857405569]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361028.371617174]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361028.861402454]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361029.350971895]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361029.856498342]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361030.365735722]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361030.852840914]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361031.351936465]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720361032.335525626]: 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!
[0m[ INFO] [1720361033.843944969]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361034.349471373]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361034.871219044]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361035.371004146]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361035.870961017]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361036.387709162]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361036.866399264]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361037.356695282]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361037.870701007]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361038.373764535]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361038.841464440]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361039.374959419]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361039.870104298]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361040.386140642]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361040.871627988]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361041.367134643]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361041.869776510]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361042.373976356]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361042.873324483]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361043.343823368]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361043.842274303]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361044.360565266]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361044.842022600]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361045.374818355]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361045.850362396]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361046.383928006]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361046.874551750]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361047.374935821]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361047.870037440]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361048.368967331]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361048.872447008]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361049.378531395]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361049.856501632]: 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!
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0707 14:04:15.398221   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:04:15.399849   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:04:15.400595   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:04:15.402367   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:04:15.404089   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:04:15.412048   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[33m[ WARN] [1720361055.904391491]: gyroscope bias initial calibration 0.00153137  0.0218954  0.0762556[0m
[0m[ INFO] [1720361055.939753300]: Initialization finish![0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720361065.541085757]: Shutdown request received.[0m
[33m[ WARN] [1720361065.541146710]: Reason given for shutdown: [user request][0m
position: -1.270505, -2.085827, -0.171308
position: -1.557616, -2.080080, -0.229095
position: -1.788748, -2.038269, -0.263549
position: -2.000827, -2.025888, -0.253847
position: -2.140104, -1.992179, -0.292601
position: -2.252239, -1.953703, -0.356147
position: -2.381760, -1.949977, -0.401255
position: -2.470980, -1.972669, -0.484156
position: -2.515134, -1.950634, -0.560472
position: -2.496517, -1.939101, -0.564832
position: -2.484125, -1.940699, -0.591663
position: -2.452167, -1.915790, -0.669660
position: -2.403665, -1.918540, -0.608663
position: -2.422105, -1.939178, -0.555540
position: -2.454947, -1.960391, -0.507077
position: -2.493514, -1.971747, -0.443058
position: -2.541971, -1.989533, -0.377257
[33m[ WARN] [1720361065.542067499]: Shutdown request received.[0m
[33m[ WARN] [1720361065.542100535]: Reason given for shutdown: [user request][0m
killed
