/SLAM-Hive/slam_hive_results/mapping_results/2764/1975_vins-mono+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/dddb8f90-3c6c-11ef-8f4b-0242ac110004/roslaunch-d250de71f0a5-118.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://d250de71f0a5:46571/[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 dddb8f90-3c6c-11ef-8f4b-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [157][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720362377.675525079]: init begins[0m
[0m[ INFO] [1720362377.680135010]: 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] [1720362377.680601439]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720362377.680623322]:  fix extrinsic param [0m
[0m[ INFO] [1720362377.680782412]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720362377.680820640]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720362377.680855730]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720362377.680913306]: 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_05_difficult.bag  --clock 
[0m[ INFO] [1720362384.921140820]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316723867.00 
[0m[ INFO] [1720362386.538291752]: IMU excitation not enouth![0m
[0m[ INFO] [1720362386.728310982]: IMU excitation not enouth![0m
[0m[ INFO] [1720362386.729652834]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362386.939048638]: IMU excitation not enouth![0m
[0m[ INFO] [1720362387.017674972]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362387.229860941]: IMU excitation not enouth![0m
[0m[ INFO] [1720362387.231127557]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362387.423386386]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362387.539780213]: IMU excitation not enouth![0m
[0m[ INFO] [1720362387.715693742]: IMU excitation not enouth![0m
[0m[ INFO] [1720362387.715989673]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362387.939894837]: IMU excitation not enouth![0m
[0m[ INFO] [1720362388.026228636]: IMU excitation not enouth![0m
[0m[ INFO] [1720362388.027294196]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362388.238232777]: IMU excitation not enouth![0m
[0m[ INFO] [1720362388.426699448]: IMU excitation not enouth![0m
[0m[ INFO] [1720362388.427925442]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362388.529609633]: IMU excitation not enouth![0m
[0m[ INFO] [1720362388.530705264]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362388.762609187]: IMU excitation not enouth![0m
[0m[ INFO] [1720362388.928633940]: IMU excitation not enouth![0m
[0m[ INFO] [1720362388.929761696]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362389.024079614]: IMU excitation not enouth![0m
[0m[ INFO] [1720362389.024808310]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362389.226911271]: IMU excitation not enouth![0m
[0m[ INFO] [1720362389.227201360]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720362389.921587124]: gyroscope bias initial calibration -0.00286411  0.00833779   0.0771268[0m
[0m[ INFO] [1720362390.030108407]: Initialization finish![0m
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position: 8.847239, 8.699963, 2.96151optimize pose graph 
optimize pose graph 
4
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positionoptimize pose graph 
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poptimize pose graph 
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position: 4.385135, 1.optimize pose graph 
349151
position: 4.645065, 0.110700, 0.368945
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posoptimize pose graph 
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position: 1.891499, 0.328198, 0.428431
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position: 0.436367, 0.287992, 0.236850
position: 0.409103, 0.290431, 0.221545
position: 0.3optimize pose graph 
88235, 0.295606, 0.207889
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position: 0.367744, 0.311752, 0.183381
position: 0.358517, 0.320700, 0.177871
position: 0.353422, 0.329449, 0.176625
position: 0.347062, 0.337480, 0.176877
position: 0.348314, 0.344047, 0.172282
position: 0.337575, 0.346740, 0.162490
position: 0.329988, 0.348761, 0.150437
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position: 0.293090, 0.378985, 0.129400
position: 0.294476, 0.386485, 0.131269
position: 0.300678, 0.392354, 0.134700
position: 0.313629, 0.393119, 0.145500
position: 0.319007, 0.395150, 0.146540
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position: 0.339370, 0.395373, 0.041824
position: 0.345461, 0.397610, 0.019547
position: 0.345666, 0.3optimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720362500.521267924]: Shutdown request received.[0m
[33m[ WARN] [1720362500.521330728]: Reason given for shutdown: [user request][0m
91519, 0.014090
position: 0.340224, 0.391807, 0.008644
position: 0.334603, 0.393626, 0.004522
position: 0.326526, 0.395657, -0.000370
position: 0.318765, 0.397488, -0.005012
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position: 0.302514, 0.401639, -0.013170
position: 0.294604, 0.403652, -0.016754
position: 0.286453, 0.405862, -0.020428
position: 0.278636, 0.407949, -0.023798
[33m[ WARN] [1720362500.522137524]: Shutdown request received.[0m
[33m[ WARN] [1720362500.522169865]: Reason given for shutdown: [user request][0m
killed
