/SLAM-Hive/slam_hive_results/mapping_results/2756/1967_vins-mono+MH_04_difficult+Image_comb_test-22.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/3608bbaa-3c6a-11ef-82d9-0242ac110004/roslaunch-899cf2a71f51-118.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://899cf2a71f51:44273/[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 3608bbaa-3c6a-11ef-82d9-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720361237.073148200]: init begins[0m
[0m[ INFO] [1720361237.078904583]: 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] [1720361237.079426612]: ROW: 192.000000 COL: 300.000000 [0m
[33m[ WARN] [1720361237.079458462]:  fix extrinsic param [0m
[0m[ INFO] [1720361237.079647303]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720361237.079678853]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720361237.079705729]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720361237.079754274]: 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] [1720361244.377101143]: 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: 316723117.27 
[0m[ INFO] [1720361251.165627369]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361251.665646086]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720361252.668162711]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361253.173294279]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361253.658543438]: 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] [1720361254.673863948]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361255.201138119]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361255.695303405]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361256.166301866]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361256.665637469]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361257.166595500]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361257.666112596]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361258.160111696]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361258.659204154]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361259.172686494]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361259.689179908]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361260.173426593]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361260.658323595]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361261.160461659]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361261.666959729]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361262.174800311]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361262.658040026]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361263.160219193]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361263.664352057]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361264.166236361]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361264.661449854]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361265.165131622]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361265.698514936]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361266.175556226]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361266.667354677]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361267.161616502]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361267.664198996]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361268.175803674]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361268.678477214]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361269.164406496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361269.677359829]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361270.163859245]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361270.658076331]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361271.166691932]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361271.664735197]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361272.171108020]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361272.650822310]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361273.171588286]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361273.698037750]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361274.157076188]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361274.669269007]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361275.171847974]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361275.682731639]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361276.167844099]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361276.666986534]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361277.190259140]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361277.674356995]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361278.181680519]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361278.681020708]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361279.176892217]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361279.674857385]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361280.176298544]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361280.660903388]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361281.177358775]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361281.674629516]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361282.175964958]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361282.684893870]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361283.183894998]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361283.696687326]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361284.187579581]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361284.690228392]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361285.166141555]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361285.681679152]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361286.188047866]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361286.666343194]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361287.160698666]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361287.678977442]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361288.182298742]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361288.664006365]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361289.157542574]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361289.664055296]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361290.158249683]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361290.683935578]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361291.190823477]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361291.690621270]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361292.188310985]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361292.686449262]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361293.158516097]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361293.682199767]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361294.177435394]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361294.671967189]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361295.177948183]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361295.662509057]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361296.160351346]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361296.681571125]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361297.181310148]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361297.672365246]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361298.172325139]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361298.678816802]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361299.172032232]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361299.679865417]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361300.179677949]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361300.676165456]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361301.163412664]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361301.663902969]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361302.165978948]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361302.675246462]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361303.172339288]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361303.670232509]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361304.170419823]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361304.685654434]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361305.172730632]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361305.674709421]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361306.177275527]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361306.674351057]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361307.156111153]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361307.673857308]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361308.161304851]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361308.665704135]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361309.169292516]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361309.663070443]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361310.171107821]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361310.674767355]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361311.171331498]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361311.666176457]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361312.174165155]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361312.681156694]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361313.171548049]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361313.661322662]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361314.174217226]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361314.664008334]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361315.176029570]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361315.657723992]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361316.180506270]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361316.671846706]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361317.187795169]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361317.667212700]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361318.160804988]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361318.699572992]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361319.169486527]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361319.680174183]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361320.188745877]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361320.688893210]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361321.179382388]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361321.681221360]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361322.185725113]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361322.690660995]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361323.189638160]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361323.661202989]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361324.189243541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361324.689622796]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361325.204926074]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361325.707401304]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361326.167252702]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361326.674968767]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361327.175058488]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361327.658034116]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361328.188434068]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361328.694438237]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361329.158096768]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361329.690923210]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361330.189432435]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361330.688135279]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361331.190063626]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361331.700536695]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361332.169234253]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361332.658686473]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361333.176843313]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361333.665512724]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361334.164281772]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361334.674522775]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361335.169503155]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361335.672107587]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361336.168865503]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361336.661891906]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361337.165300365]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720361338.162147976]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361338.648655179]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361339.167425261]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361339.662498165]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361340.160667773]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361340.660662948]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361341.177532483]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361341.670046136]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361342.156996197]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361342.675288005]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361343.172071814]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361343.693293195]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361344.161032450]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361344.673683869]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361345.162771478]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361345.661219108]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720361346.162256607]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720361347.857357470]: Shutdown request received.[0m
[33m[ WARN] [1720361347.857422900]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720361347.858413557]: Shutdown request received.[0m
[33m[ WARN] [1720361347.858441032]: Reason given for shutdown: [user request][0m
killed
