/SLAM-Hive/slam_hive_results/mapping_results/2766/1977_vins-mono+MH_05_difficult+Image_comb_test-2.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/97bb1638-3c6d-11ef-b40d-0242ac110004/roslaunch-5d4e0fe98e2c-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://5d4e0fe98e2c:34901/[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 97bb1638-3c6d-11ef-b40d-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[0m[ INFO] [1720362689.511927862]: init begins[0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720362689.703000262]: 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] [1720362689.704862445]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720362689.704959713]:  fix extrinsic param [0m
[0m[ INFO] [1720362689.705733506]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720362689.705929959]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720362689.706078800]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720362689.706319885]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [191][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] [1720362696.775299754]: 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: 316724178.87 
[0m[ INFO] [1720362698.404133060]: IMU excitation not enouth![0m
[0m[ INFO] [1720362698.404555225]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362698.592701897]: IMU excitation not enouth![0m
[0m[ INFO] [1720362698.593135638]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362698.810909981]: IMU excitation not enouth![0m
[0m[ INFO] [1720362698.899795798]: IMU excitation not enouth![0m
[0m[ INFO] [1720362698.900339539]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362699.097900901]: IMU excitation not enouth![0m
[0m[ INFO] [1720362699.098790389]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362699.297653776]: IMU excitation not enouth![0m
[0m[ INFO] [1720362699.298446483]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362699.396777882]: IMU excitation not enouth![0m
[0m[ INFO] [1720362699.397013424]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362699.599700310]: IMU excitation not enouth![0m
[0m[ INFO] [1720362699.600556235]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362699.809973210]: IMU excitation not enouth![0m
[0m[ INFO] [1720362699.886512485]: IMU excitation not enouth![0m
[0m[ INFO] [1720362700.107331556]: IMU excitation not enouth![0m
[0m[ INFO] [1720362700.298595232]: IMU excitation not enouth![0m
[0m[ INFO] [1720362700.299465428]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362700.397488823]: IMU excitation not enouth![0m
[0m[ INFO] [1720362700.398213382]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362700.594983335]: IMU excitation not enouth![0m
[0m[ INFO] [1720362700.595235932]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362700.798710045]: IMU excitation not enouth![0m
[0m[ INFO] [1720362700.799689041]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362700.892591472]: IMU excitation not enouth![0m
[0m[ INFO] [1720362700.893109350]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362701.089307774]: IMU excitation not enouth![0m
[0m[ INFO] [1720362701.089774342]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720362701.507207152]: gyroscope bias initial calibration -0.000658927    0.0212484    0.0795244[0m
[0m[ INFO] [1720362701.576986469]: Initialization finish![0m
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posioptimize pose graph 
tion: 8.805009, 9.014868, 3.009063
position: 8.699349, 8.994897, 3.013457
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position: 6.043224, 9.050915, 3.085457
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position: 5.78optimize pose graph 
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positoptimize pose graph 
ion: 2.471394, 0.402788, 0.379955
position: 2.356469, 0.413802, 0.373941
position: 2.247272, 0.416485, 0.376903
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position: 0.386570, 0.342080, 0.296629
position: 0.374399, 0.337333, 0.272907
position: 0.338optimize pose graph 
761, 0.333501, 0.258221
position: 0.308967, 0.331809, 0.242602
position: 0.282149, 0.333746, 0.230310
position: 0.259853, 0.338837, 0.219530
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position: 0.231214, 0.369316, 0.185208
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position: 0.208498, 0.418545, 0.129520
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position: 0.194955, 0.431057, 0.124844
position: 0.200688, 0.435203, 0.129025
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position: 0.234585, 0.431659, 0.117497
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position: 0.228555, 0.432205, 0.055203
position: 0.228506, 0.435382, 0.030031
position: 0.240187, 0.438
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720362812.460148666]: Shutdown request received.[0m
[33m[ WARN] [1720362812.460221356]: Reason given for shutdown: [user request][0m
049, 0.041131
position: 0.249731, 0.440756, 0.039767
position: 0.256131, 0.442805, 0.017680
position: 0.255160, 0.438004, 0.011220
position: 0.247852, 0.437776, 0.004926
position: 0.241463, 0.439117, 0.000638
position: 0.233462, 0.440890, -0.004273
position: 0.225789, 0.442343, -0.008937
position: 0.217515, 0.443946, -0.013343
position: 0.209384, 0.445562, -0.017451
position: 0.201472, 0.447171, -0.021312
position: 0.193318, 0.449545, -0.025253
position: 0.185446, 0.451020, -0.028851
[33m[ WARN] [1720362812.461241132]: Shutdown request received.[0m
[33m[ WARN] [1720362812.461273550]: Reason given for shutdown: [user request][0m
killed
