/SLAM-Hive/slam_hive_results/mapping_results/2774/1985_vins-mono+MH_05_difficult+Image_comb_test-10.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/77658fbe-3c70-11ef-91b9-0242ac110004/roslaunch-dc180316f72d-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://dc180316f72d:35697/[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 77658fbe-3c70-11ef-91b9-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [154][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720363923.725059781]: init begins[0m
[0m[ INFO] [1720363923.729766022]: 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] [1720363923.730290260]: ROW: 192.000000 COL: 300.000000 [0m
[33m[ WARN] [1720363923.730314535]:  fix extrinsic param [0m
[0m[ INFO] [1720363923.730472016]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720363923.730514067]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720363923.730546799]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720363923.730601448]: 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] [1720363931.023177947]: 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: 316725413.10 
[0m[ INFO] [1720363932.626053810]: IMU excitation not enouth![0m
[0m[ INFO] [1720363932.626206463]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363932.823235074]: IMU excitation not enouth![0m
[0m[ INFO] [1720363932.823752187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363933.035071410]: IMU excitation not enouth![0m
[0m[ INFO] [1720363933.124286436]: IMU excitation not enouth![0m
[0m[ INFO] [1720363933.314947425]: IMU excitation not enouth![0m
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[0m[ INFO] [1720363933.523478996]: IMU excitation not enouth![0m
[0m[ INFO] [1720363933.636578740]: IMU excitation not enouth![0m
[0m[ INFO] [1720363933.637048555]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363933.821598413]: IMU excitation not enouth![0m
[0m[ INFO] [1720363934.035269954]: IMU excitation not enouth![0m
[0m[ INFO] [1720363934.038251003]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363934.122318033]: IMU excitation not enouth![0m
[0m[ INFO] [1720363934.122787328]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363934.333188507]: IMU excitation not enouth![0m
[0m[ INFO] [1720363934.333654541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363934.526010911]: IMU excitation not enouth![0m
[0m[ INFO] [1720363934.526605963]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363934.622846600]: IMU excitation not enouth![0m
[0m[ INFO] [1720363934.623352614]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363934.833975601]: IMU excitation not enouth![0m
[0m[ INFO] [1720363934.834296234]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363935.022519971]: IMU excitation not enouth![0m
[0m[ INFO] [1720363935.023065451]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363935.122979559]: IMU excitation not enouth![0m
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[0m[ INFO] [1720363935.326658655]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720363936.535392601]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363936.620057575]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720363937.025864304]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720363937.835415554]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363938.027791271]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363938.129164002]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363938.323309785]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363938.535806432]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363938.627469429]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363938.826919606]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363939.019185689]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363939.124077989]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363939.333313745]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363939.531212557]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363939.625900070]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363939.839236676]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363940.026518880]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363940.125663603]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363940.327504300]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363940.514473211]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363940.618780568]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363940.822218218]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363941.023908346]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363941.126379525]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363941.327374665]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363941.530573125]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363941.628356145]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363941.825238806]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363942.025029146]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363942.114994182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363942.327767858]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363942.530339944]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363942.631124602]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363942.828787226]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363943.037795800]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363943.139642801]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363943.339816532]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363943.529737273]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363943.629135402]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363943.827916348]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363944.039348089]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363944.127558178]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363944.337393956]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363944.527402393]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720363944.839588111]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363945.019757531]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363945.127582201]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363945.327132787]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363945.529455409]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363945.625797137]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363945.826102356]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363946.026777030]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363946.125707385]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363946.328938253]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363946.526838427]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363946.626488455]: IMU excitation not enouth![0m
[0m[ INFO] [1720363946.626895426]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363946.830416552]: IMU excitation not enouth![0m
[0m[ INFO] [1720363947.026202950]: IMU excitation not enouth![0m
[0m[ INFO] [1720363947.127588837]: IMU excitation not enouth![0m
[0m[ INFO] [1720363947.128079234]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363947.329182381]: IMU excitation not enouth![0m
[0m[ INFO] [1720363947.329740984]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363947.538003969]: IMU excitation not enouth![0m
[0m[ INFO] [1720363947.620162320]: IMU excitation not enouth![0m
[0m[ INFO] [1720363947.817104071]: IMU excitation not enouth![0m
[0m[ INFO] [1720363947.817214286]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363948.025600641]: IMU excitation not enouth![0m
[0m[ INFO] [1720363948.026094960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363948.129348092]: IMU excitation not enouth![0m
[0m[ INFO] [1720363948.326195541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363948.527996247]: IMU excitation not enouth![0m
[0m[ INFO] [1720363948.528648432]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363948.635428055]: IMU excitation not enouth![0m
[0m[ INFO] [1720363948.826172814]: IMU excitation not enouth![0m
[0m[ INFO] [1720363948.826695242]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363949.036165289]: IMU excitation not enouth![0m
[0m[ INFO] [1720363949.125932071]: IMU excitation not enouth![0m
[0m[ INFO] [1720363949.126451906]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363949.330015665]: IMU excitation not enouth![0m
[0m[ INFO] [1720363949.541492207]: IMU excitation not enouth![0m
[0m[ INFO] [1720363949.618934824]: IMU excitation not enouth![0m
[0m[ INFO] [1720363949.619053795]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363949.826027585]: IMU excitation not enouth![0m
[0m[ INFO] [1720363949.826486255]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363950.026547116]: IMU excitation not enouth![0m
[0m[ INFO] [1720363950.126367539]: IMU excitation not enouth![0m
[0m[ INFO] [1720363950.336319234]: IMU excitation not enouth![0m
[0m[ INFO] [1720363950.526869224]: IMU excitation not enouth![0m
[0m[ INFO] [1720363950.617522077]: IMU excitation not enouth![0m
[0m[ INFO] [1720363950.825981956]: IMU excitation not enouth![0m
[0m[ INFO] [1720363950.826424328]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363951.025804424]: IMU excitation not enouth![0m
[0m[ INFO] [1720363951.135951003]: IMU excitation not enouth![0m
[0m[ INFO] [1720363951.327202714]: IMU excitation not enouth![0m
[0m[ INFO] [1720363951.327759995]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363951.519377450]: IMU excitation not enouth![0m
[0m[ INFO] [1720363951.621295546]: IMU excitation not enouth![0m
[0m[ INFO] [1720363951.833571623]: IMU excitation not enouth![0m
[0m[ INFO] [1720363951.833862084]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363952.025340549]: IMU excitation not enouth![0m
[0m[ INFO] [1720363952.126210210]: IMU excitation not enouth![0m
[0m[ INFO] [1720363952.126729990]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363952.329862532]: IMU excitation not enouth![0m
[0m[ INFO] [1720363952.330190361]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363952.529513739]: IMU excitation not enouth![0m
[0m[ INFO] [1720363952.631609670]: IMU excitation not enouth![0m
[0m[ INFO] [1720363952.631913192]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363952.835325810]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363953.330092934]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363953.526368217]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363953.637070743]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363953.832575943]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363954.057144246]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363954.166480880]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363954.359797590]: Not enough features or parallax; Move device around[0m
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0707 14:52:34.588964   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:52:34.590152   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:52:34.592228   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:52:34.596014   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:52:34.596383   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:52:34.598368   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:52:34.599385   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:52:34.599781   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:52:34.601032   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 14:52:34.602206   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[33m[ WARN] [1720363954.604053894]: gyroscope bias initial calibration -0.000322421  0.000236045    0.0724781[0m
[0m[ INFO] [1720363954.623744514]: Initialization finish![0m
position: 0.011258, 0.048608, -0.021590
position: 0.083794, 0.062298, -0.029117
position: 0.129785, 0.088889, -0.033011
position: 0.161334, 0.114975, -0.035160
position: 0.207126, 0.150527, -0.030987
position: 0.240800, 0.186852, -0.022474
position: 0.280554, 0.226455, -0.007829
position: 0.313499, 0.266640, 0.004249
position: 0.337700, 0.305516, 0.009430
position: 0.370153, 0.346309, 0.009189
position: 0.399153, 0.386736, 0.003990
position: 0.427789, 0.425885, -0.004399
position: 0.447883, 0.460515, -0.013333
position: 0.459095, 0.494744, -0.024320
position: 0.477989, 0.540899, -0.030204
position: 0.493504, 0.592310, -0.025158
position: 0.504904, 0.646760, -0.012906
position: 0.520602, 0.706101, 0.010764
position: 0.521568, 0.760399, 0.036671
position: 0.517634, 0.808252, 0.050811
position: 0.518973, 0.865260, 0.066784
position: 0.519152, 0.918669, 0.070794
position: 0.525787, 0.976130, 0.071300
position: 0.531660, 1.033702, 0.068002
position: 0.538092, 1.100431, 0.068100
position: 0.547435, 1.184312, 0.080119
position: 0.552620, 1.264323, 0.095221
position: 0.556704, 1.347131, 0.118367
position: 0.556116, 1.420669, 0.142275
position: 0.555728, 1.494327, 0.164691
position: 0.555647, 1.565827, 0.179207
position: 0.558158, 1.638515, 0.187928
position: 0.559516, 1.706141, 0.192797
position: 0.562245, 1.778016, 0.195440
position: 0.565008, 1.857407, 0.208748
position: 0.566560, 1.929131, 0.221355
position: 0.568596, 2.005118, 0.235598
position: 0.569956, 2.077095, 0.241947
position: 0.575261, 2.156710, 0.246628
position: 0.578153, 2.228490, 0.242626
position: 0.580764, 2.300866, 0.234361
position: 0.590865, 2.389030, 0.225928
position: 0.591551, 2.462029, 0.208202
position: 0.599896, 2.552212, 0.200820
position: 0.598296, 2.621173, 0.193208
position: 0.605510, 2.699566, 0.198902
position: 0.609729, 2.774696, 0.212160
position: 0.610578, 2.843764, 0.232647
position: 0.610210, 2.908108, 0.255579
position: 0.610732, 2.984678, 0.272418
position: 0.611257, 3.064684, 0.282808
position: 0.613541, 3.155341, 0.286222
position: 0.613740, 3.236795, 0.284026
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position: -0.876690, -0.522309, -0.245897
position: -0.860528, -0.507702, -0.259212
position: -0.877616, -0.506837, -0.266816
position: -0.888210, -0.506747, -0.277840
position: -0.782643, -0.487328, -0.301523
position: -0.786039, -0.479376, -0.309594
position: -0.776072, -0.470114, -0.321857
position: -0.790584, -0.459561, -0.325964
position: -0.798138, -0.452896, -0.327271
position: -0.803924, -0.447927, -0.330700
position: -0.803123, -0.438738, -0.331883
position: -0.762529, -0.441272, -0.312174
position: -0.748773, -0.445317, -0.305913
position: -0.742621, -0.448465, -0.312998
position: -0.738459, -0.452706, -0.330641
position: -0.737012, -0.453978, -0.358600
position: -0.740316, -0.454132, -0.392722
position: -0.741062, -0.448725, -0.418683
position: -0.730911, -0.445065, -0.409097
position: -0.720526, -0.441728, -0.410131
position: -0.712678, -0.441423, -0.432730
position: -0.712975, -0.446088, -0.439271
position: -0.720067, -0.445094, -0.445544
position: -0.725561, -0.440703, -0.450147
position: -0.734328, -0.438567, -0.45372
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720364046.597928555]: Shutdown request received.[0m
[33m[ WARN] [1720364046.597986543]: Reason given for shutdown: [user request][0m
7
position: -0.741031, -0.437533, -0.458374
position: -0.748513, -0.436047, -0.462633
position: -0.755841, -0.434592, -0.466697
position: -0.762910, -0.433101, -0.470594
position: -0.770476, -0.431635, -0.474415
position: -0.777740, -0.430323, -0.477861
[33m[ WARN] [1720364046.598783052]: Shutdown request received.[0m
[33m[ WARN] [1720364046.598817577]: Reason given for shutdown: [user request][0m
killed
