/SLAM-Hive/slam_hive_results/mapping_results/2771/1982_vins-mono+MH_05_difficult+Image_comb_test-7.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/657c4028-3c6f-11ef-8d05-0242ac110004/roslaunch-f92725857ab6-118.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://f92725857ab6:35195/[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 657c4028-3c6f-11ef-8d05-0242ac110004[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] [1720363464.184228403]: init begins[0m
[0m[ INFO] [1720363464.191233066]: 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] [1720363464.191688710]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720363464.191707435]:  fix extrinsic param [0m
[0m[ INFO] [1720363464.191862518]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720363464.191907137]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720363464.191950357]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720363464.192005733]: 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] [1720363471.446559765]: 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: 316724953.52 
[0m[ INFO] [1720363473.057791313]: IMU excitation not enouth![0m
[0m[ INFO] [1720363473.058889216]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363473.241315857]: IMU excitation not enouth![0m
[0m[ INFO] [1720363473.459552247]: IMU excitation not enouth![0m
[0m[ INFO] [1720363473.549218175]: IMU excitation not enouth![0m
[0m[ INFO] [1720363473.550120042]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363473.748857706]: IMU excitation not enouth![0m
[0m[ INFO] [1720363473.749927056]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363473.946866754]: IMU excitation not enouth![0m
[0m[ INFO] [1720363474.049175254]: IMU excitation not enouth![0m
[0m[ INFO] [1720363474.049440567]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363474.247752758]: IMU excitation not enouth![0m
[0m[ INFO] [1720363474.248796113]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363474.448764024]: IMU excitation not enouth![0m
[0m[ INFO] [1720363474.449035738]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363474.541233673]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363474.760446603]: IMU excitation not enouth![0m
[0m[ INFO] [1720363474.946066493]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363475.049370997]: IMU excitation not enouth![0m
[0m[ INFO] [1720363475.050268377]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363475.278332746]: IMU excitation not enouth![0m
[0m[ INFO] [1720363475.278954787]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363475.465237238]: IMU excitation not enouth![0m
[0m[ INFO] [1720363475.550447148]: IMU excitation not enouth![0m
[0m[ INFO] [1720363475.550822145]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363475.766423204]: IMU excitation not enouth![0m
[0m[ INFO] [1720363475.972064947]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363476.053723234]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363476.247775372]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720363476.718938365]: gyroscope bias initial calibration -0.00159296   0.0179514    0.078606[0m
[0m[ INFO] [1720363476.812709921]: Initialization finish![0m
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position: 0.3389optimize pose graph 
optimize pose graph 
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674320
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posoptimize pose graph 
optimize pose graph 
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positoptimize pose graph 
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position: 1.786849, 0.189428, 0.40806optimize pose graph 
9
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position: 0.117491, 0.255877, 0.017769
position: 0.111813, 0.259410, 0.010766
position: 0.106639, 0.263305, 0.005555
position: 0.098572
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720363587.020537120]: Shutdown request received.[0m
[33m[ WARN] [1720363587.020610260]: Reason given for shutdown: [user request][0m
, 0.265747, 0.000726
position: 0.090895, 0.268059, -0.004170
position: 0.082637, 0.270521, -0.008784
position: 0.074462, 0.272942, -0.013125
position: 0.066224, 0.275399, -0.017347
position: 0.057789, 0.277804, -0.021468
position: 0.049838, 0.280095, -0.025310
[33m[ WARN] [1720363587.021395643]: Shutdown request received.[0m
[33m[ WARN] [1720363587.021429923]: Reason given for shutdown: [user request][0m
killed
