/SLAM-Hive/slam_hive_results/mapping_results/2778/1989_vins-mono+MH_05_difficult+Image_comb_test-14.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/e52c1ee0-3c71-11ef-bc54-0242ac110004/roslaunch-e4132e29299e-120.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://e4132e29299e:45197/[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 [131][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 e52c1ee0-3c71-11ef-bc54-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [144][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [154][0m
[1mprocess[vins_estimator-3]: started with pid [162][0m
[0m[ INFO] [1720364537.457703371]: init begins[0m
[0m[ INFO] [1720364537.466985374]: 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] [1720364537.467542577]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720364537.467573638]:  fix extrinsic param [0m
[0m[ INFO] [1720364537.467762805]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720364537.467792170]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720364537.467834750]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720364537.467885192]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [183][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] [1720364544.687151957]: 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: 316726026.76 
[0m[ INFO] [1720364547.594874054]: IMU excitation not enouth![0m
[0m[ INFO] [1720364547.785031008]: IMU excitation not enouth![0m
[0m[ INFO] [1720364547.785336649]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364548.004173364]: IMU excitation not enouth![0m
[0m[ INFO] [1720364548.193657110]: IMU excitation not enouth![0m
[0m[ INFO] [1720364548.194353458]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364548.395194551]: IMU excitation not enouth![0m
[0m[ INFO] [1720364548.594838841]: IMU excitation not enouth![0m
[0m[ INFO] [1720364548.595548195]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364548.777545064]: IMU excitation not enouth![0m
[0m[ INFO] [1720364548.777783683]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364548.977247326]: IMU excitation not enouth![0m
[0m[ INFO] [1720364548.977427498]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364549.242854124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364549.419927322]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364549.615869445]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364549.819690498]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720364550.086464123]: gyroscope bias initial calibration -0.000991577    0.0169357    0.0810142[0m
[0m[ INFO] [1720364550.139577448]: Initialization finish![0m
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position: 8.031465, 9.028592,optimize pose graph 
 3.123192
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position: 2.040963, 0.516451, 0.461917
position: 1.813888, 0.519545, 0.486475
position:optimize pose graph 
optimize pose graph 
 1.612676, 0.503496, 0.496938
position: 1.420245, 0.483066, 0.486473
position: 1.224055, 0.467996, 0.460192
position: 1.045834, 0.449785, 0.428088
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position: 0.269897, 0.424080, 0.251589
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position: 0.242678, 0.437336, 0.213038
position: 0.221149, 0.441389, 0.200253
position: 0.250308, 0.472002, 0.192255
position: 0.252858, 0.486181, 0.193778
position: 0.288763, 0.487358, 0.213716
position: 0.298196, 0.477124, 0.187970
position: 0.293768, 0.473128, 0.125414
position: 0.304613, 0.477213, 0.111530
position: 0.318276, 0.480460, 0.089380
position: 0.307891, 0.474832, 0.077657
position: 0.294584, 0.477874, 0.068750
position: 0.277503,
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720364660.436060785]: Shutdown request received.[0m
[33m[ WARN] [1720364660.436121018]: Reason given for shutdown: [user request][0m
 0.477692, 0.062535
position: 0.261572, 0.478761, 0.055239
position: 0.245355, 0.479736, 0.048329
[33m[ WARN] [1720364660.437125390]: Shutdown request received.[0m
[33m[ WARN] [1720364660.437158443]: Reason given for shutdown: [user request][0m
killed
