/SLAM-Hive/slam_hive_results/mapping_results/2768/1979_vins-mono+MH_05_difficult+Image_comb_test-4.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/4fc74288-3c6e-11ef-9811-0242ac110004/roslaunch-9cde0a791c0b-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://9cde0a791c0b:33119/[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 4fc74288-3c6e-11ef-9811-0242ac110004[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] [1720362998.338355591]: init begins[0m
[0m[ INFO] [1720362998.343852901]: 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] [1720362998.344409207]: ROW: 192.000000 COL: 300.000000 [0m
[33m[ WARN] [1720362998.344434085]:  fix extrinsic param [0m
[0m[ INFO] [1720362998.344733600]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720362998.344782792]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720362998.344815276]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720362998.344867615]: 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] [1720363005.566916471]: 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: 316724487.64 
[0m[ INFO] [1720363007.173859447]: IMU excitation not enouth![0m
[0m[ INFO] [1720363007.174415860]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363007.365026075]: IMU excitation not enouth![0m
[0m[ INFO] [1720363007.365568996]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363007.574660030]: IMU excitation not enouth![0m
[0m[ INFO] [1720363007.575166439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363007.664756601]: IMU excitation not enouth![0m
[0m[ INFO] [1720363007.865069350]: IMU excitation not enouth![0m
[0m[ INFO] [1720363007.865565859]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363008.064388608]: IMU excitation not enouth![0m
[0m[ INFO] [1720363008.174534183]: IMU excitation not enouth![0m
[0m[ INFO] [1720363008.175007498]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363008.366877457]: IMU excitation not enouth![0m
[0m[ INFO] [1720363008.367374384]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363008.568722634]: IMU excitation not enouth![0m
[0m[ INFO] [1720363008.654473831]: IMU excitation not enouth![0m
[0m[ INFO] [1720363008.654592938]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363008.868439858]: IMU excitation not enouth![0m
[0m[ INFO] [1720363008.868696709]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363009.063143230]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363009.175791581]: IMU excitation not enouth![0m
[0m[ INFO] [1720363009.176314123]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363009.368413937]: IMU excitation not enouth![0m
[0m[ INFO] [1720363009.368709093]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363009.559788909]: IMU excitation not enouth![0m
[0m[ INFO] [1720363009.663081270]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363009.865863118]: IMU excitation not enouth![0m
[0m[ INFO] [1720363009.866359732]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363010.061829224]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363010.161246682]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363010.365953797]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363010.560691012]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363010.657707997]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363010.881194675]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363011.073477561]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363011.163931803]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363011.367203281]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363011.568020051]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363011.670301714]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363011.863333780]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363012.080122055]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363012.155007744]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363012.379156302]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363012.566763182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363012.669006047]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363012.864031139]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363013.074547337]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363013.165644322]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720363013.386972201]: gyroscope bias initial calibration -0.00300509   0.0205606   0.0773655[0m
[0m[ INFO] [1720363013.403714656]: Initialization finish![0m
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position: 0.078074, -0.258901, -0.074319
position: 0.084942, -0.257617, -0.096882
position: 0.08330
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720363121.241612968]: Shutdown request received.[0m
[33m[ WARN] [1720363121.241700643]: Reason given for shutdown: [user request][0m
8, -0.260691, -0.103610
position: 0.077054, -0.258709, -0.109694
position: 0.072325, -0.255686, -0.114060
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position: 0.027270, -0.234062, -0.138185
position: 0.019718, -0.230735, -0.141557
[33m[ WARN] [1720363121.242674387]: Shutdown request received.[0m
[33m[ WARN] [1720363121.242702002]: Reason given for shutdown: [user request][0m
killed
