/SLAM-Hive/slam_hive_results/mapping_results/2762/1973_vins-mono+MH_04_difficult+Image_comb_test-28.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/2f60761a-3c6c-11ef-a96b-0242ac110004/roslaunch-25540342d7db-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://25540342d7db:35249/[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 2f60761a-3c6c-11ef-a96b-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] [1720362084.911633349]: init begins[0m
[0m[ INFO] [1720362084.916326703]: 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] [1720362084.916781866]: ROW: 192.000000 COL: 300.000000 [0m
[33m[ WARN] [1720362084.916806095]:  fix extrinsic param [0m
[0m[ INFO] [1720362084.916960611]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720362084.917000204]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720362084.917032634]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720362084.917085509]: 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] [1720362092.190042088]: 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: 316723965.07 
[0m[ INFO] [1720362105.481713646]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362106.484512552]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362107.486958507]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362108.481084445]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362109.474661814]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362110.481628399]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362111.467968149]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362112.482122723]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362113.512636482]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362114.486280646]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362115.482961675]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362116.492192237]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362117.475044891]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362118.489213144]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362119.474670360]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362120.492544926]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362121.508263028]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362122.468233158]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362123.490333654]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362124.491142718]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362125.499309125]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362126.499305387]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362127.508079049]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362128.488253403]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362129.500153564]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362130.500898500]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362131.511272995]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362132.512582399]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362133.468331706]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362134.493611739]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362135.500934900]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362136.500052208]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362137.492301421]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362138.499011179]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362139.488716917]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362140.505629477]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362141.495183321]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362142.499229562]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362143.487170461]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362144.471189237]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362145.474673238]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362146.501389756]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362147.512491643]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362148.506974245]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362149.487343693]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362150.509715518]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362151.487899580]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362152.503757013]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362153.479740652]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362154.491875437]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362155.479957419]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362156.480040105]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362157.486039713]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362158.476005605]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362159.484272322]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362160.478636891]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362161.486419876]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362162.489071199]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362163.490050259]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362164.498295488]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362165.470667070]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362166.485793867]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362167.482017193]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362168.470253838]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362169.494474829]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362170.509481970]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362171.502459170]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362172.472746519]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362173.502623177]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362174.499402488]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362175.499524978]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362176.506389213]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362177.471102563]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362178.499531307]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362179.480258129]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362180.501803118]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362181.490034054]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362182.494369804]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362183.489905324]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362184.476603634]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362185.479201489]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362186.478506524]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362187.478061823]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362188.474130501]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362189.500911101]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362191.500700718]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362192.491830622]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362193.479735014]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720362195.680943368]: Shutdown request received.[0m
[33m[ WARN] [1720362195.681001868]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720362195.681938565]: Shutdown request received.[0m
[33m[ WARN] [1720362195.681958449]: Reason given for shutdown: [user request][0m
killed
