/SLAM-Hive/slam_hive_results/mapping_results/2780/1991_vins-mono+MH_05_difficult+Image_comb_test-16.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/9c413a5c-3c72-11ef-bdea-0242ac110004/roslaunch-77a09d15935b-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://77a09d15935b:44989/[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 9c413a5c-3c72-11ef-bdea-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] [1720364844.568258543]: init begins[0m
[0m[ INFO] [1720364844.573252145]: 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] [1720364844.573730124]: ROW: 192.000000 COL: 300.000000 [0m
[33m[ WARN] [1720364844.573749868]:  fix extrinsic param [0m
[0m[ INFO] [1720364844.573902957]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720364844.573935123]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720364844.573962851]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720364844.574007990]: 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] [1720364851.845705134]: 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: 316726333.92 
[0m[ INFO] [1720364854.744212748]: IMU excitation not enouth![0m
[0m[ INFO] [1720364854.744743187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364854.944442070]: IMU excitation not enouth![0m
[0m[ INFO] [1720364854.945034281]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364855.153508259]: IMU excitation not enouth![0m
[0m[ INFO] [1720364855.154064690]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364855.348190293]: IMU excitation not enouth![0m
[0m[ INFO] [1720364855.348757155]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364855.551268997]: IMU excitation not enouth![0m
[0m[ INFO] [1720364855.551673867]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364855.743730143]: IMU excitation not enouth![0m
[0m[ INFO] [1720364855.744220549]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364855.943568994]: IMU excitation not enouth![0m
[0m[ INFO] [1720364855.944046892]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364856.134557173]: IMU excitation not enouth![0m
[0m[ INFO] [1720364856.134696729]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364856.369030377]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364856.571838855]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364856.763792847]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364856.959861515]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364857.159924971]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364857.357467679]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364857.552061257]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364857.759895974]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364857.978885486]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364858.153500832]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364858.384611430]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364858.564722026]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364858.751640590]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364858.945537446]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364859.144163988]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364859.345039305]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364859.554496670]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364859.771512118]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364859.940496758]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364860.146557629]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364860.339110556]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364860.548869678]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364860.754552798]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364860.955268512]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364861.151286592]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364861.344280487]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364861.546454771]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364861.745421276]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364861.935037156]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364862.148585067]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364862.350269743]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364862.548988519]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364862.736433886]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364862.948182504]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364863.142268664]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364863.337877255]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364863.542515697]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364863.775361740]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364863.969620144]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364864.173155458]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364864.368628880]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364864.566443620]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364864.751331572]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364864.952105640]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364865.159255893]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364865.344204185]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364865.552057940]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364865.748304472]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364865.947598755]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364866.137458792]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364866.339751429]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364866.546635438]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364866.742181826]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364866.947211993]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364867.147506301]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364867.348999446]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364867.548678747]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364867.746755318]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364867.947093535]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364868.149224395]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364868.361049926]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364868.537935270]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364868.746308175]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364868.952994011]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364869.138443894]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364869.345787623]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364869.546073869]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364869.745904827]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364869.947810257]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364870.147242910]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364870.361774164]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364870.554657787]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364870.757567660]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364870.946371227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364871.157347715]: IMU excitation not enouth![0m
[0m[ INFO] [1720364871.338923029]: IMU excitation not enouth![0m
[0m[ INFO] [1720364871.546869602]: IMU excitation not enouth![0m
[0m[ INFO] [1720364871.547282874]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364871.745398032]: IMU excitation not enouth![0m
[0m[ INFO] [1720364871.745889567]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364871.956746458]: IMU excitation not enouth![0m
[0m[ INFO] [1720364872.146857815]: IMU excitation not enouth![0m
[0m[ INFO] [1720364872.147290985]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364872.346936032]: IMU excitation not enouth![0m
[0m[ INFO] [1720364872.537915128]: IMU excitation not enouth![0m
[0m[ INFO] [1720364872.747230813]: IMU excitation not enouth![0m
[0m[ INFO] [1720364872.747352029]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364872.936799908]: IMU excitation not enouth![0m
[0m[ INFO] [1720364873.158483339]: IMU excitation not enouth![0m
[0m[ INFO] [1720364873.358989100]: IMU excitation not enouth![0m
[0m[ INFO] [1720364873.359072248]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364873.547658984]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364873.751358380]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364873.949749614]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364874.148409734]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364874.346840908]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364874.547687213]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364874.745361613]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364874.954883614]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364875.153713281]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720364875.355146733]: 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!
[33m[ WARN] [1720364875.797971658]: gyroscope bias initial calibration 0.000398059   0.0245769   0.0814532[0m
[0m[ INFO] [1720364875.816524526]: Initialization finish![0m
position: 0.875116, 0.443684, 0.255114
position: 0.876848, 0.536208, 0.308923
position: 0.924149, 0.663701, 0.370566
position: 1.017339, 0.832961, 0.419249
position: 1.087614, 0.999091, 0.452979
position: 1.132071, 1.159466, 0.475685
position: 1.159408, 1.325596, 0.513559
position: 1.148094, 1.479093, 0.573642
position: 1.114124, 1.613035, 0.618888
position: 1.096240, 1.766251, 0.643301
position: 1.098205, 1.953026, 0.658476
position: 1.076632, 2.126449, 0.673903
position: 1.060249, 2.330708, 0.718020
position: 1.053115, 2.548185, 0.760303
position: 1.051957, 2.762400, 0.780169
position: 1.056281, 2.970696, 0.797885
position: 1.059677, 3.164308, 0.828255
position: 1.066931, 3.331486, 0.837298
position: 1.073913, 3.518231, 0.825262
position: 1.068092, 3.643531, 0.780419
position: 1.069139, 3.839668, 0.761018
position: 1.051108, 3.971843, 0.757680
position: 1.041852, 4.120266, 0.785349
position: 1.039356, 4.266311, 0.802014
position: 1.032177, 4.428305, 0.794901
position: 1.021568, 4.606869, 0.788000
position: 1.005446, 4.800904, 0.819840
position: 0.983133, 5.013405, 0.849344
position: 0.949659, 5.237684, 0.854051
position: 0.891974, 5.444998, 0.847997
position: 0.822256, 5.632392, 0.827485
position: 0.747244, 5.796164, 0.787112
position: 0.665211, 5.973343, 0.749580
position: 0.569063, 6.169181, 0.739518
position: 0.464631, 6.384919, 0.762345
position: 0.351157, 6.633489, 0.783657
position: 0.241454, 6.876572, 0.802616
position: 0.133331, 7.115267, 0.847581
position: 0.025201, 7.364447, 0.914068
position: -0.077336, 7.604496, 0.993328
position: -0.177922, 7.844578, 1.054647
position: -0.276330, 8.089661, 1.118481
position: -0.373039, 8.349144, 1.211256
position: -0.467986, 8.620218, 1.335290
position: -0.562856, 8.902931, 1.468782
position: -0.650469, 9.186487, 1.576763
position: -0.724565, 9.468363, 1.668270
position: -0.779889, 9.723592, 1.745297
position: -0.811471, 9.942145, 1.824349
position: -0.811987, 10.127498, 1.907642
position: -0.784475, 10.307950, 1.968183
position: -0.726418, 10.487368, 2.009981
position: -0.638330, 10.655365, 2.063561
position: -0.528345, 10.802625, 2.132929
position: -0.401556, 10.935139, 2.199684
position: -0.254712, 11.037790, 2.242349
position: -0.087969, 11.108201, 2.258848
position: 0.092402, 11.146831, 2.256967
position: 0.274243, 11.164966, 2.251415
position: 0.462354, 11.158011, 2.263237
position: 0.652961, 11.109264, 2.299030
position: 0.838221, 11.015851, 2.359379
position: 1.018420, 10.894466, 2.423331
position: 1.201756, 10.760613, 2.465005
position: 1.385578, 10.632056, 2.486694
position: 1.566215, 10.511808, 2.500830
position: 1.744570, 10.394942, 2.529918
position: 1.895282, 10.253992, 2.552529
position: 2.085400, 10.138962, 2.562311
position: 2.281361, 10.035824, 2.562433
position: 2.470048, 9.938353, 2.560275
position: 2.655566, 9.832916, 2.587656
position: 2.838814, 9.730007, 2.631275
position: 3.018657, 9.627489, 2.661782
position: 3.203253, 9.534520, 2.679281
position: 3.390757, 9.463098, 2.697837
position: 3.586660, 9.406040, 2.742254
position: 3.796915, 9.361591, 2.793544
position: 4.019342, 9.319588, 2.816333
position: 4.263895, 9.275702, 2.829321
position: 4.514096, 9.234715, 2.862281
position: 4.764884, 9.194564, 2.903766
position: 5.009393, 9.159400, 2.919636
position: 5.234302, 9.140152, 2.921884
position: 5.468342, 9.152571, 2.958417
position: 5.696158, 9.206619, 3.023903
position: 5.925683, 9.290737, 3.087361
position: 6.170313, 9.393660, 3.126700
position: 6.424786, 9.507212, 3.140057
position: 6.673297, 9.621184, 3.129057
position: 6.899399, 9.733960, 3.096547
position: 7.111962, 9.845170, 3.072858
position: 7.314827, 9.963512, 3.049675
position: 7.505138, 10.091352, 2.999633
position: 7.687840, 10.214040, 2.941132
position: 7.860438, 10.319031, 2.866997
position: 8.032037, 10.401618, 2.803923
position: 8.202065, 10.451129, 2.773368
position: 8.369658, 10.469877, 2.772834
position: 8.516845, 10.448733, 2.778605
position: 8.648449, 10.401004, 2.762580
position: 8.762766, 10.337690, 2.727597
position: 8.849783, 10.250474, 2.684084
position: 8.941391, 10.179479, 2.660930
position: 9.028734, 10.114785, 2.656347
position: 9.105958, 10.043808, 2.674618
position: 9.177691, 9.959439, 2.695295
position: 9.241029, 9.858357, 2.693668
position: 9.298336, 9.736043, 2.672613
position: 9.339618, 9.592325, 2.636324
position: 9.352430, 9.424231, 2.600257
position: 9.336058, 9.233498, 2.592347
position: 9.293425, 9.018709, 2.601830
position: 9.251899, 8.785339, 2.596183
position: 9.179773, 8.522080, 2.605623
position: 9.080891, 8.243457, 2.628929
position: 8.967377, 7.937541, 2.629724
position: 8.847071, 7.604731, 2.572527
position: 8.722393, 7.248808, 2.461943
position: 8.585984, 6.866821, 2.340603
position: 8.442628, 6.461458, 2.242187
position: 8.281287, 6.044853, 2.176320
position: 8.100971, 5.639706, 2.120092
position: 7.910588, 5.250097, 2.034419
position: 7.715257, 4.876595, 1.918967
position: 7.519208, 4.527740, 1.779060
position: 7.332138, 4.186772, 1.619692
position: 7.170652, 3.869389, 1.454484
position: 7.035387, 3.586717, 1.281362
position: 6.882090, 3.327413, 1.096852
position: 6.749222, 3.073699, 0.935032
position: 6.616555, 2.828815, 0.805451
position: 6.512026, 2.598092, 0.703569
position: 6.408861, 2.388561, 0.633846
position: 6.331280, 2.170097, 0.567898
position: 6.257442, 1.977506, 0.488782
position: 6.187240, 1.815132, 0.418406
position: 6.126635, 1.679210, 0.375315
position: 6.067401, 1.549611, 0.349585
position: 6.030866, 1.456062, 0.313508
position: 6.027735, 1.416949, 0.281007
position: 6.013567, 1.395393, 0.271689
position: 6.014070, 1.392710, 0.273372
position: 6.006988, 1.409540, 0.256544
position: 6.006101, 1.433703, 0.219467
position: 6.020360, 1.441430, 0.162928
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position: 0.749577, -0.543722, 0.202182
position: 0.722946, -0.549543, 0.193750
position: 0.745117, -0.520353, 
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720364967.411909170]: Shutdown request received.[0m
[33m[ WARN] [1720364967.411980593]: Reason given for shutdown: [user request][0m
0.183567
position: 0.728621, -0.517420, 0.185839
position: 0.757775, -0.501304, 0.184215
position: 0.844907, -0.475698, 0.165348
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position: 0.856365, -0.474127, 0.037731
position: 0.840704, -0.482458, 0.031066
position: 0.826598, -0.489292, 0.023802
[33m[ WARN] [1720364967.412870553]: Shutdown request received.[0m
[33m[ WARN] [1720364967.412904997]: Reason given for shutdown: [user request][0m
killed
