/SLAM-Hive/slam_hive_results/mapping_results/2763/1974_vins-mono+MH_04_difficult+Image_comb_test-29.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/832552d4-3c6c-11ef-b821-0242ac110004/roslaunch-2dc88e2798ae-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://2dc88e2798ae:35629/[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 832552d4-3c6c-11ef-b821-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720362225.447726369]: init begins[0m
[0m[ INFO] [1720362225.454583841]: 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] [1720362225.455096283]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720362225.455130627]:  fix extrinsic param [0m
[0m[ INFO] [1720362225.455314963]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720362225.455355091]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720362225.455388743]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720362225.455436626]: 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] [1720362232.738159806]: 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: 316724105.62 
[0m[ INFO] [1720362246.018455293]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362247.035990034]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362248.034802810]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362249.030453701]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362250.023948302]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362251.044654903]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362252.029552060]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362253.037471199]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362254.018714781]: IMU excitation not enouth![0m
[0m[ INFO] [1720362254.018805258]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362255.034877289]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362256.033265091]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720362260.015606561]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720362290.029358001]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362291.020334000]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720362293.030937313]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362294.028629374]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362295.029160614]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362296.040405107]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362297.036160128]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720362299.033480677]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362300.028398697]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720362302.034755396]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362303.016046418]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362304.034172522]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362305.039180048]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362306.038580595]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720362308.036308156]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362309.029065710]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362310.019810834]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362311.040927405]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362312.037877683]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362313.030009527]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362314.015921912]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362315.028984865]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362316.031800380]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362317.048496544]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362318.038344941]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362319.031866782]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362320.033391206]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362321.019762917]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362322.039061753]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362323.038106354]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362324.043743499]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362325.008736595]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362326.033976689]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362327.033136124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362328.033155351]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362329.044008630]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362330.034958574]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362331.043989517]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362332.026888466]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362333.048702191]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362334.016402596]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720362336.204429823]: Shutdown request received.[0m
[33m[ WARN] [1720362336.204504460]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720362336.205329401]: Shutdown request received.[0m
[33m[ WARN] [1720362336.205362326]: Reason given for shutdown: [user request][0m
killed
