/SLAM-Hive/slam_hive_results/mapping_results/2770/1981_vins-mono+MH_05_difficult+Image_comb_test-6.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/086fdbf6-3c6f-11ef-9ae9-0242ac110004/roslaunch-fbfb7e59444e-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://fbfb7e59444e:35549/[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 086fdbf6-3c6f-11ef-9ae9-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [151][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720363308.094584098]: init begins[0m
[0m[ INFO] [1720363308.099112997]: 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] [1720363308.099551592]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720363308.099581334]:  fix extrinsic param [0m
[0m[ INFO] [1720363308.099743041]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720363308.099781411]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720363308.099809149]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720363308.099858142]: 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] [1720363315.355328404]: 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: 316724797.43 
[0m[ INFO] [1720363316.968893306]: IMU excitation not enouth![0m
[0m[ INFO] [1720363317.157815991]: IMU excitation not enouth![0m
[0m[ INFO] [1720363317.158880880]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363317.359464060]: IMU excitation not enouth![0m
[0m[ INFO] [1720363317.448017006]: IMU excitation not enouth![0m
[0m[ INFO] [1720363317.659304832]: IMU excitation not enouth![0m
[0m[ INFO] [1720363317.660192330]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363317.859450137]: IMU excitation not enouth![0m
[0m[ INFO] [1720363317.973988796]: IMU excitation not enouth![0m
[0m[ INFO] [1720363318.163167365]: IMU excitation not enouth![0m
[0m[ INFO] [1720363318.164330166]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363318.369232301]: IMU excitation not enouth![0m
[0m[ INFO] [1720363318.458178788]: IMU excitation not enouth![0m
[0m[ INFO] [1720363318.459105403]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363318.669469350]: IMU excitation not enouth![0m
[0m[ INFO] [1720363318.847629871]: IMU excitation not enouth![0m
[0m[ INFO] [1720363318.847872916]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363318.958253287]: IMU excitation not enouth![0m
[0m[ INFO] [1720363318.959183639]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363319.168648808]: IMU excitation not enouth![0m
[0m[ INFO] [1720363319.350042668]: IMU excitation not enouth![0m
[0m[ INFO] [1720363319.350454053]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363319.459514186]: IMU excitation not enouth![0m
[0m[ INFO] [1720363319.460162336]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363319.682340892]: IMU excitation not enouth![0m
[0m[ INFO] [1720363319.682958556]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363319.891637928]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363319.980835543]: Not enough features or parallax; Move device around[0m
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0707 14:42:00.301854   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:42:00.307901   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:42:00.311456   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:42:00.312705   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[0m[ INFO] [1720363320.365284838]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720363320.636918859]: gyroscope bias initial calibration -0.00227785    0.014482   0.0762699[0m
[0m[ INFO] [1720363320.729046442]: Initialization finish![0m
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positoptimize pose graph 
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optimize pose graph 
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pooptimize pose graph 
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position: 4.optimize pose graph 
optimize pose graph 
532593, 0.099268
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position: 0.453850, 0.521953,optimize pose graph 
 -0.060222
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position: 0.391635, 0.623569, -0.245106
position: 0.3optimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720363430.917501092]: Shutdown request received.[0m
[33m[ WARN] [1720363430.917557985]: Reason given for shutdown: [user request][0m
96816, 0.626585, -0.267340
position: 0.394091, 0.623832, -0.274389
position: 0.385627, 0.626429, -0.281151
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position: 0.324329, 0.648445, -0.311540
position: 0.315288, 0.651775, -0.315232
[33m[ WARN] [1720363430.918487550]: Shutdown request received.[0m
[33m[ WARN] [1720363430.918522318]: Reason given for shutdown: [user request][0m
killed
