/SLAM-Hive/slam_hive_results/mapping_results/2773/1984_vins-mono+MH_05_difficult+Image_comb_test-9.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/1c43f7ec-3c70-11ef-a72e-0242ac110004/roslaunch-9c13a33f8b7e-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://9c13a33f8b7e:37285/[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 1c43f7ec-3c70-11ef-a72e-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [153][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720363770.856143366]: init begins[0m
[0m[ INFO] [1720363770.860907129]: 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] [1720363770.861361026]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720363770.861381640]:  fix extrinsic param [0m
[0m[ INFO] [1720363770.861528446]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720363770.861564488]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720363770.861595436]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720363770.861650428]: 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] [1720363778.129277377]: 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: 316725260.21 
[0m[ INFO] [1720363779.733231021]: IMU excitation not enouth![0m
[0m[ INFO] [1720363779.733471169]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363779.934021809]: IMU excitation not enouth![0m
[0m[ INFO] [1720363779.934692722]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363780.144871113]: IMU excitation not enouth![0m
[0m[ INFO] [1720363780.234918574]: IMU excitation not enouth![0m
[0m[ INFO] [1720363780.235422754]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363780.433408289]: IMU excitation not enouth![0m
[0m[ INFO] [1720363780.434153783]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363780.631710309]: IMU excitation not enouth![0m
[0m[ INFO] [1720363780.631981020]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363780.747167607]: IMU excitation not enouth![0m
[0m[ INFO] [1720363780.932934052]: IMU excitation not enouth![0m
[0m[ INFO] [1720363780.933648051]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363781.135973133]: IMU excitation not enouth![0m
[0m[ INFO] [1720363781.136302279]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363781.232887030]: IMU excitation not enouth![0m
[0m[ INFO] [1720363781.233446133]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363781.432028403]: IMU excitation not enouth![0m
[0m[ INFO] [1720363781.432233479]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363781.632664335]: IMU excitation not enouth![0m
[0m[ INFO] [1720363781.633399759]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363781.732980703]: IMU excitation not enouth![0m
[0m[ INFO] [1720363781.733585776]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363781.943953974]: IMU excitation not enouth![0m
[0m[ INFO] [1720363782.133694276]: IMU excitation not enouth![0m
[0m[ INFO] [1720363782.134299746]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363782.232649912]: IMU excitation not enouth![0m
[0m[ INFO] [1720363782.233253106]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363782.434096159]: IMU excitation not enouth![0m
[0m[ INFO] [1720363782.434704272]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720363782.743499651]: gyroscope bias initial calibration 0.00014092  0.0231205  0.0802252[0m
[0m[ INFO] [1720363782.792749756]: Initialization finish![0m
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position: 1.36optimize pose graph 
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position: 0.453015, 0.121268, 0.078277
position: 0.453814, 0.124209, 0.
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720363893.663882405]: Shutdown request received.[0m
[33m[ WARN] [1720363893.663947516]: Reason given for shutdown: [user request][0m
053039
position: 0.464442, 0.126990, 0.065550
position: 0.473439, 0.129607, 0.065246
position: 0.479311, 0.131928, 0.043652
position: 0.477307, 0.127024, 0.037621
position: 0.469769, 0.128253, 0.030589
position: 0.462778, 0.130079, 0.025513
position: 0.454219, 0.130835, 0.020931
position: 0.446132, 0.131514, 0.016363
position: 0.437517, 0.132424, 0.012070
position: 0.429022, 0.133291, 0.008009
position: 0.420693, 0.134194, 0.004153
position: 0.412057, 0.135172, 0.000225
position: 0.403726, 0.135978, -0.003446
[33m[ WARN] [1720363893.664936358]: Shutdown request received.[0m
[33m[ WARN] [1720363893.664966479]: Reason given for shutdown: [user request][0m
killed
