/SLAM-Hive/slam_hive_results/mapping_results/2779/1990_vins-mono+MH_05_difficult+Image_comb_test-15.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/40c283b6-3c72-11ef-bdc1-0242ac110004/roslaunch-2d96487c73ea-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://2d96487c73ea:35439/[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 40c283b6-3c72-11ef-bdc1-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720364691.063676867]: init begins[0m
[0m[ INFO] [1720364691.068220712]: 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] [1720364691.068737858]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720364691.068763809]:  fix extrinsic param [0m
[0m[ INFO] [1720364691.068916561]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720364691.068956521]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720364691.069001866]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720364691.069051994]: 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] [1720364698.350261681]: 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: 316726180.42 
[0m[ INFO] [1720364701.252866336]: IMU excitation not enouth![0m
[0m[ INFO] [1720364701.253787109]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364701.453004189]: IMU excitation not enouth![0m
[0m[ INFO] [1720364701.453667812]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364701.649932731]: IMU excitation not enouth![0m
[0m[ INFO] [1720364701.650104215]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364701.851768412]: IMU excitation not enouth![0m
[0m[ INFO] [1720364701.852501032]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364702.052113901]: IMU excitation not enouth![0m
[0m[ INFO] [1720364702.052752498]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364702.252032823]: IMU excitation not enouth![0m
[0m[ INFO] [1720364702.252628295]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364702.453261575]: IMU excitation not enouth![0m
[0m[ INFO] [1720364702.453909617]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364702.653601106]: IMU excitation not enouth![0m
[0m[ INFO] [1720364702.654159627]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364702.878171245]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364703.079626759]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364703.268509443]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364703.481766913]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364703.657290262]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364703.862203030]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364704.060956227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364704.279303442]: 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!
[0m[ INFO] [1720364704.673955479]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364704.891357544]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364705.080756885]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364705.250812817]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364705.454791119]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364705.654561332]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364705.866749383]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364706.070811991]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364706.269174043]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364706.471502521]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364706.656235411]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364706.842527973]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364707.082654953]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364707.261782489]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364707.461667381]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720364707.869124790]: 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!
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0707 15:05:08.304075   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 15:05:08.305153   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 15:05:08.305541   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 15:05:08.306464   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 15:05:08.308068   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 15:05:08.308468   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 15:05:08.310206   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 15:05:08.310626   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[0m[ INFO] [1720364708.443979580]: 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!
[33m[ WARN] [1720364708.896749034]: gyroscope bias initial calibration -0.00607582   0.0208357   0.0770557[0m
[0m[ INFO] [1720364708.919974797]: Initialization finish![0m
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position: 0.493453, -0.278647, -0.099775
position: 0.510214, -0.281155, -0.123047
position: 0.504069, -0.
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720364814.019325001]: Shutdown request received.[0m
[33m[ WARN] [1720364814.019387495]: Reason given for shutdown: [user request][0m
286663, -0.136646
position: 0.497015, -0.283952, -0.146949
position: 0.485545, -0.283525, -0.155198
position: 0.473302, -0.283357, -0.163789
position: 0.461267, -0.283103, -0.172025
[33m[ WARN] [1720364814.020222000]: Shutdown request received.[0m
[33m[ WARN] [1720364814.020259490]: Reason given for shutdown: [user request][0m
killed
