/SLAM-Hive/slam_hive_results/mapping_results/2767/1978_vins-mono+MH_05_difficult+Image_comb_test-3.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/f3e141b2-3c6d-11ef-b1f8-0242ac110004/roslaunch-8d6a3cd9895b-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://8d6a3cd9895b:39055/[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 f3e141b2-3c6d-11ef-b1f8-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [159][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720362844.440142217]: init begins[0m
[0m[ INFO] [1720362844.444692004]: 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] [1720362844.445132529]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720362844.445159612]:  fix extrinsic param [0m
[0m[ INFO] [1720362844.445290440]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720362844.445327783]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720362844.445359637]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720362844.445441903]: 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] [1720362851.368912728]: 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: 316724333.44 
[0m[ INFO] [1720362852.972107267]: IMU excitation not enouth![0m
[0m[ INFO] [1720362852.972416338]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362853.168964786]: IMU excitation not enouth![0m
[0m[ INFO] [1720362853.169664125]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362853.382554306]: IMU excitation not enouth![0m
[0m[ INFO] [1720362853.383034293]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362853.471421198]: IMU excitation not enouth![0m
[0m[ INFO] [1720362853.472024078]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362853.671125565]: IMU excitation not enouth![0m
[0m[ INFO] [1720362853.671839962]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362853.870969701]: IMU excitation not enouth![0m
[0m[ INFO] [1720362853.969797644]: IMU excitation not enouth![0m
[0m[ INFO] [1720362853.969972575]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362854.169683546]: IMU excitation not enouth![0m
[0m[ INFO] [1720362854.170295653]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362854.380009622]: IMU excitation not enouth![0m
[0m[ INFO] [1720362854.380558255]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362854.461783700]: IMU excitation not enouth![0m
[0m[ INFO] [1720362854.679688953]: IMU excitation not enouth![0m
[0m[ INFO] [1720362854.680337324]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362854.870991217]: IMU excitation not enouth![0m
[0m[ INFO] [1720362854.871756750]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362854.972283499]: IMU excitation not enouth![0m
[0m[ INFO] [1720362854.972995325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362855.180091837]: IMU excitation not enouth![0m
[0m[ INFO] [1720362855.369858080]: IMU excitation not enouth![0m
[0m[ INFO] [1720362855.370494645]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362855.471126073]: IMU excitation not enouth![0m
[0m[ INFO] [1720362855.471683496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720362855.670322466]: IMU excitation not enouth![0m
[0m[ INFO] [1720362855.670963294]: Not enough features or parallax; Move device around[0m
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0707 14:34:16.028791   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:34:16.029825   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:34:16.032214   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:34:16.034744   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:34:16.037341   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:34:16.038269   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:34:16.042925   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:34:16.045523   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:34:16.046474   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:34:16.049122   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:34:16.051645   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:34:16.052613   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[33m[ WARN] [1720362856.074397567]: gyroscope bias initial calibration -0.00102399   0.0289543   0.0775226[0m
[0m[ INFO] [1720362856.120555173]: Initialization finish![0m
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position: 1.408838, optimize pose graph 
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optimize pose graph 
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position: 5.928158, 8.667301, 3.053512
position: 5.796675, 8.743863, 3.032651
position: optimize pose graph 
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position: 0.185309, 0.073952, 0.133736
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position: 0.222799, 0.074566, 0.097000
position: 0.218142, 0.075529, 0.062564
position: 0.219210, 0.078714, 0.036962
position: 0.230332, 0.0
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720362966.955281803]: Shutdown request received.[0m
[33m[ WARN] [1720362966.955332314]: Reason given for shutdown: [user request][0m
80514, 0.048853
position: 0.239122, 0.082205, 0.048033
position: 0.244726, 0.083426, 0.025545
position: 0.242731, 0.080156, 0.020240
position: 0.234450, 0.083081, 0.014516
position: 0.228461, 0.085707, 0.010228
position: 0.220085, 0.087044, 0.006246
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position: 0.188363, 0.089449, -0.011035
position: 0.180236, 0.089473, -0.015278
position: 0.172265, 0.089970, -0.018942
[33m[ WARN] [1720362966.956223321]: Shutdown request received.[0m
[33m[ WARN] [1720362966.956254799]: Reason given for shutdown: [user request][0m
killed
