/SLAM-Hive/slam_hive_results/mapping_results/2769/1980_vins-mono+MH_05_difficult+Image_comb_test-5.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/ab1cacf4-3c6e-11ef-aaed-0242ac110004/roslaunch-f1e636ebdfc4-117.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://f1e636ebdfc4:38809/[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 [128][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 ab1cacf4-3c6e-11ef-aaed-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720363151.532850432]: init begins[0m
[0m[ INFO] [1720363151.537114911]: 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] [1720363151.537589725]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720363151.537629173]:  fix extrinsic param [0m
[0m[ INFO] [1720363151.537796510]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720363151.537838216]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720363151.537872550]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720363151.537929792]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [180][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] [1720363158.784283586]: 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: 316724640.85 
[0m[ INFO] [1720363160.384386062]: IMU excitation not enouth![0m
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[0m[ INFO] [1720363172.288798387]: IMU excitation not enouth![0m
[0m[ INFO] [1720363172.288964915]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720363173.376750009]: IMU excitation not enouth![0m
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[0m[ INFO] [1720363188.887830884]: IMU excitation not enouth![0m
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[0m[ INFO] [1720363228.085148017]: IMU excitation not enouth![0m
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[0m[ INFO] [1720363238.885556157]: IMU excitation not enouth![0m
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[0m[ INFO] [1720363258.873888719]: IMU excitation not enouth![0m
[0m[ INFO] [1720363259.085744935]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720363268.884069840]: IMU excitation not enouth![0m
[0m[ INFO] [1720363269.085286430]: IMU excitation not enouth![0m
[0m[ INFO] [1720363269.085421565]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363269.296078065]: IMU excitation not enouth![0m
[0m[ INFO] [1720363269.296259230]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363269.587672271]: IMU excitation not enouth![0m
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[0m[ INFO] [1720363271.378690302]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363271.586016534]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363271.770522446]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363271.890293869]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363272.087860500]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363272.287067938]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363272.371887843]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363272.573779082]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720363274.472561790]: Shutdown request received.[0m
[33m[ WARN] [1720363274.472626737]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720363274.473527531]: Shutdown request received.[0m
[33m[ WARN] [1720363274.473559348]: Reason given for shutdown: [user request][0m
killed
