/SLAM-Hive/slam_hive_results/mapping_results/2777/1988_vins-mono+MH_05_difficult+Image_comb_test-13.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/89ced6dc-3c71-11ef-89e4-0242ac110004/roslaunch-98cf9b6d5d3b-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://98cf9b6d5d3b:35225/[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 89ced6dc-3c71-11ef-89e4-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720364384.260953353]: init begins[0m
[0m[ INFO] [1720364384.265648911]: 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] [1720364384.266126839]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720364384.266146908]:  fix extrinsic param [0m
[0m[ INFO] [1720364384.266301416]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720364384.266348281]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720364384.266382294]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720364384.266433433]: 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] [1720364391.403824962]: 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: 316725873.48 
[0m[ INFO] [1720364394.306542810]: IMU excitation not enouth![0m
[0m[ INFO] [1720364394.307826202]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364394.505345133]: IMU excitation not enouth![0m
[0m[ INFO] [1720364394.506274242]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364394.712012846]: IMU excitation not enouth![0m
[0m[ INFO] [1720364394.712589063]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364394.910567686]: IMU excitation not enouth![0m
[0m[ INFO] [1720364394.911496702]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364395.107397471]: IMU excitation not enouth![0m
[0m[ INFO] [1720364395.108430931]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364395.295292459]: IMU excitation not enouth![0m
[0m[ INFO] [1720364395.523380967]: IMU excitation not enouth![0m
[0m[ INFO] [1720364395.719900459]: IMU excitation not enouth![0m
[0m[ INFO] [1720364395.720280698]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364395.944226925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364396.143585208]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364396.344215367]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364396.545643490]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720364397.023201702]: gyroscope bias initial calibration 0.0184032 0.0189448 0.0717232[0m
[0m[ INFO] [1720364397.121203559]: Initialization finish![0m
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position: 9.653111, 8.890608, 3.180436
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position: 7.992985, 8.720192, 3.198422
position: 7.800155, 8.711058, 3.198851
position: 7.5744optimize pose graph 
26, 8.718193, 3.210036
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position: 6.477543, 8.997102, 3.202349
position: 6.199931, 9.127498, 3.148945
position: 5.944735, 9.288860, 3.114690
position: 5.720400, 9.472350, 3.108127
position: 5.514969, 9.659162, 3.079181
position: 5.331329, 9.839628, 3.025259
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position: 4.892108, 10.334436, 2.763755
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position: 4.546319, 10.679639, 2.374795
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position: 2.426657, 4.749338, 0.468786
position: 2.436987, 4.501570, 0.443256
position: 2.461570, 4.244649, 0.440686
position: 2.511523, 3.986715, 0.468610
position: 2.585080, 3.746343, 0.531539
position: 2.683981, 3.529232, 0.604662
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position: 3.068249, 2.974608, 0.714905
position: 3.221525, 2.810714, 0.753989
position: 3.385899, 2.652170, 0.795147
position: 3.554459, 2.506262, 0.805799
position: 3.722080, 2.371302, 0.785682
position: 3.893078, 2.248424, 0.756050
position: 4.058805, 2.120974, 0.720717
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position: 4.680606, 0.944optimize pose graph 
422, 0.640423
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position: 4.717787, 0.431833, 0.450612
position: 4.665210, 0.376096, 0.452873
position: 4.594295, 0.336716, 0.492754
position: 4.491427, 0.322292, 0.526532
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position: 3.882470, 0.358696, 0.551414
position: 3.692904, 0.380008, 0.573979
position: 3.502652, 0.403810, 0.575160
position: 3.303783, 0.429667, 0.560433
position: 3.105398, 0.451387, 0.538593
position: 2.878862, 0.479106, 0.520275
position: 2.658035, 0.508779, 0.530159
position: 2.436465, 0.537106, 0.526977
position: 2.221627, 0.558015, 0.524907
position: 2.009415, 0.571478, 0.546901
position: 1.785779, 0.584855, 0.571934
position: 1.585210, 0.583913, 0.581287
position: 1.388372, 0.577248, 0.570437
position: 1.195276, 0.570112, 0.543554
position: 1.007598, 0.565343, 0.510optimize pose graph 
optimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720364506.925863922]: Shutdown request received.[0m
[33m[ WARN] [1720364506.925920400]: Reason given for shutdown: [user request][0m
219
position: 0.851745, 0.564074, 0.491544
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position: 0.227416, 0.652766, 0.133903
position: 0.211868, 0.653815, 0.126207
[33m[ WARN] [1720364506.926804150]: Shutdown request received.[0m
[33m[ WARN] [1720364506.926859179]: Reason given for shutdown: [user request][0m
killed
