/SLAM-Hive/slam_hive_results/mapping_results/2765/1976_vins-mono+MH_05_difficult+Image_comb_test-1.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/3bb89e5a-3c6d-11ef-944f-0242ac110004/roslaunch-b257bbbde567-118.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://b257bbbde567:46547/[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 3bb89e5a-3c6d-11ef-944f-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [154][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720362535.166218622]: init begins[0m
[0m[ INFO] [1720362535.170991119]: 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] [1720362535.171528074]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720362535.171554453]:  fix extrinsic param [0m
[0m[ INFO] [1720362535.171730073]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720362535.171782635]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720362535.171823466]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720362535.171880476]: 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] [1720362542.407092719]: 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: 316724024.49 
[0m[ INFO] [1720362544.022042263]: IMU excitation not enouth![0m
[0m[ INFO] [1720362544.023088172]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362544.210774348]: IMU excitation not enouth![0m
[0m[ INFO] [1720362544.211766434]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362544.423772826]: IMU excitation not enouth![0m
[0m[ INFO] [1720362544.424701370]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362544.512230878]: IMU excitation not enouth![0m
[0m[ INFO] [1720362544.513145843]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362544.701964042]: IMU excitation not enouth![0m
[0m[ INFO] [1720362544.702275826]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362544.902576762]: IMU excitation not enouth![0m
[0m[ INFO] [1720362544.904774027]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362545.026464331]: IMU excitation not enouth![0m
[0m[ INFO] [1720362545.210690100]: IMU excitation not enouth![0m
[0m[ INFO] [1720362545.211778599]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362545.413805106]: IMU excitation not enouth![0m
[0m[ INFO] [1720362545.513848686]: IMU excitation not enouth![0m
[0m[ INFO] [1720362545.514784053]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362545.721090433]: IMU excitation not enouth![0m
[0m[ INFO] [1720362545.904669101]: IMU excitation not enouth![0m
[0m[ INFO] [1720362546.001573650]: IMU excitation not enouth![0m
[0m[ INFO] [1720362546.001804067]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362546.239574491]: IMU excitation not enouth![0m
[0m[ INFO] [1720362546.240450965]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362546.403387297]: IMU excitation not enouth![0m
[0m[ INFO] [1720362546.403841458]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362546.511509347]: IMU excitation not enouth![0m
[0m[ INFO] [1720362546.512464596]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362546.728370450]: IMU excitation not enouth![0m
[33m[ WARN] [1720362547.042189868]: gyroscope bias initial calibration -0.00152768   0.0214148   0.0778067[0m
[0m[ INFO] [1720362547.157075515]: Initialization finish![0m
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posioptimize pose graph 
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position: 0.1791optimize pose graph 
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position: 1.optimize pose graph 
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optimize pose graph 
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position: 0.122884, 0.254701, -0.059020
position: 0.132826,
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720362657.980098399]: Shutdown request received.[0m
[33m[ WARN] [1720362657.980166358]: Reason given for shutdown: [user request][0m
 0.257024, -0.047470
position: 0.141144, 0.259280, -0.049057
position: 0.146985, 0.261140, -0.070667
position: 0.146403, 0.255586, -0.075171
position: 0.138992, 0.257883, -0.080973
position: 0.132434, 0.259490, -0.085514
position: 0.123699, 0.261312, -0.090172
position: 0.115197, 0.262666, -0.094749
position: 0.106139, 0.263724, -0.098825
position: 0.097020, 0.265229, -0.102024
position: 0.087833, 0.266819, -0.105677
position: 0.078634, 0.268224, -0.109141
position: 0.069789, 0.269414, -0.112286
[33m[ WARN] [1720362657.981080873]: Shutdown request received.[0m
[33m[ WARN] [1720362657.981102640]: Reason given for shutdown: [user request][0m
killed
