/SLAM-Hive/slam_hive_results/mapping_results/2776/1987_vins-mono+MH_05_difficult+Image_comb_test-12.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/2e264f04-3c71-11ef-a74e-0242ac110004/roslaunch-494bb17115c0-119.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://494bb17115c0:40203/[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 [130][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 2e264f04-3c71-11ef-a74e-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [143][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [154][0m
[1mprocess[vins_estimator-3]: started with pid [161][0m
[0m[ INFO] [1720364230.369529834]: init begins[0m
[0m[ INFO] [1720364230.374080913]: 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] [1720364230.374550561]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720364230.374571393]:  fix extrinsic param [0m
[0m[ INFO] [1720364230.374734583]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720364230.374804465]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720364230.374836745]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720364230.374888709]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [182][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] [1720364237.627219560]: 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: 316725719.70 
[0m[ INFO] [1720364240.539662727]: IMU excitation not enouth![0m
[0m[ INFO] [1720364240.540858072]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364240.724331897]: IMU excitation not enouth![0m
[0m[ INFO] [1720364240.943581742]: IMU excitation not enouth![0m
[0m[ INFO] [1720364241.135756711]: IMU excitation not enouth![0m
[0m[ INFO] [1720364241.136790978]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364241.336170037]: IMU excitation not enouth![0m
[0m[ INFO] [1720364241.337288322]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364241.534241111]: IMU excitation not enouth![0m
[0m[ INFO] [1720364241.535223152]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364241.733438783]: IMU excitation not enouth![0m
[0m[ INFO] [1720364241.734356492]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364241.949871624]: IMU excitation not enouth![0m
[0m[ INFO] [1720364242.181007861]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364242.375655230]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364242.569587761]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364242.740197244]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720364243.095365661]: gyroscope bias initial calibration -0.00119838   0.0217344   0.0782697[0m
[0m[ INFO] [1720364243.190935211]: Initialization finish![0m
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position: 8.791777, 8.999957, 3.069030
position: 8.565902, 8.944919,optimize pose graph 
optimize pose graph 
 3.080354
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position: 8.170525, 8.872073, 3.140425
position: 7.964406, 8.857240, 3.141416
position: 7.737279, 8.860769, 3.154244
position: 7.486731, 8.890760, 3.189656
position: 7.220138, 8.945844, 3.203192
position: 6.924439, 9.024216, 3.186386
position: 6.634634, 9.127969, 3.147475
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position: 5.866693, 9.596137, 3.050231
position: 5.664440, 9.782333, 3.019707
position: 5.477326, 9.963239, 2.963059
position: 5.309506, 10.136011, 2.891715
position: 5.166979, 10.299438, 2.804329
position: 5.035536, 10.454135, 2.698981
position: 4.916957, 10.588282, 2.573385
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position: 4.153269, 11.0500optimize pose graph 
96, 1.626293
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position: 2.650866, 4.571928, 0.382599
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position: 2.804933, 3.823497, 0.476645
position: 2.909075, 3.613538, 0.551775
position: 3.030096, 3.418914, 0.602843
position: 3.161322, 3.234537, 0.636594
position: 3.305821, 3.059550, 0.663457
position: 3.464562, 2.897003, 0.701025
position: 3.634175, 2.738683, 0.742515
position: 3.807071, 2.591964, 0.753976
position: 3.979400, 2.455977, 0.734769
position: 4.155256, 2.329832, 0.707056
position: 4.329401, 2.201207, 0.674814
position: 4.485826, 2.060388, 0.640770
position: 4.608796, 1.914378, 0.625109
position: 4.696488, 1.768088, 0.634919
position: 4.764558, 1.621635, 0.64262optimize pose graph 
optimize pose graph 
2
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position: 5.010291, 0.899584, 0.561130
position: 5.040419, 0.779788, 0.522252
position: 5.054227, 0.677538, 0.472660
position: 5.049574, 0.592618, 0.417492
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position: 4.804996, 0.402608, 0.465708
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position: 4.527688, 0.412601, 0.468304
position: 4.368323, 0.422173, 0.466464
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position: 4.005350, 0.451002, 0.514496
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position: 2.539801, 0.604415, 0.465378
position: 2.325172, 0.616269, 0.488336
position: 2.105088, 0.627610, 0.514098
positionoptimize pose graph 
optimize pose graph 
: 1.907073, 0.624874, 0.525137
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position: 0.584204, 0.632083, 0.262068
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position: 0.571295, 0.645472, 0.225987
position: 0.571863, 0.667616, 0.222501
position: 0.574761, 0.681826, 0.223939
position: 0.595293, 0.683215, 0.235746
position: 0.607633, 0.672955, 0.208721
position: 0.605924, 0.667283, 0.145422
position: 0.619247, 0.669015, 0.130538
position: 0.635322, 0.669546, 0.107049
position: 0.624775, 0.664451, 0.094818
position: 0.610296, 0.668860, 0.086011
position: 0.589813optimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720364353.341581767]: Shutdown request received.[0m
[33m[ WARN] [1720364353.341646639]: Reason given for shutdown: [user request][0m
, 0.671400, 0.079514
position: 0.572205, 0.671518, 0.071488
position: 0.554322, 0.671639, 0.064090
[33m[ WARN] [1720364353.342571253]: Shutdown request received.[0m
[33m[ WARN] [1720364353.342596975]: Reason given for shutdown: [user request][0m
killed
