/SLAM-Hive/slam_hive_results/mapping_results/2781/1992_vins-mono+MH_05_difficult+Image_comb_test-17.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/f84965c2-3c72-11ef-86f5-0242ac110004/roslaunch-a1a70c80b3fc-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://a1a70c80b3fc:46165/[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 f84965c2-3c72-11ef-86f5-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [159][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720364999.046549583]: init begins[0m
[0m[ INFO] [1720364999.051250207]: 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] [1720364999.051794527]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720364999.051815784]:  fix extrinsic param [0m
[0m[ INFO] [1720364999.051996597]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720364999.052041768]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720364999.052068987]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720364999.052112668]: 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] [1720365006.241295094]: 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: 316726488.31 
[0m[ INFO] [1720365009.144254226]: IMU excitation not enouth![0m
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[0m[ INFO] [1720365020.747245529]: IMU excitation not enouth![0m
[0m[ INFO] [1720365020.747395098]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365020.948570246]: IMU excitation not enouth![0m
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[0m[ INFO] [1720365021.548428182]: IMU excitation not enouth![0m
[0m[ INFO] [1720365021.548661496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365021.748104374]: IMU excitation not enouth![0m
[0m[ INFO] [1720365021.748323615]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365021.933748519]: IMU excitation not enouth![0m
[0m[ INFO] [1720365021.933802264]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365022.147789374]: IMU excitation not enouth![0m
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[0m[ INFO] [1720365095.945718847]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365096.143381250]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365096.343883859]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365096.744139720]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365096.943471508]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365097.142980160]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365097.339554563]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365097.534467961]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365097.744923619]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365098.151307806]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365098.331442681]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365098.533179735]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365098.730315197]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365098.929315399]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365099.157440005]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365099.352606094]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365099.528709196]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365099.753963574]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365099.942430439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365100.142996116]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365100.344881655]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365100.529307905]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365100.742386058]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365100.950813462]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365101.331902169]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365101.531447376]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365101.754393185]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365101.965015533]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365102.141827711]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365102.343504742]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365102.544699117]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365102.741776867]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365102.946231833]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365103.153647116]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365103.353468918]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365103.544325376]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365103.746225474]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365103.944105895]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720365104.352956495]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365104.552955400]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365104.745010084]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720365105.742911219]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365105.941569371]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720365106.344577261]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365106.544818950]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365106.757004106]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720365107.142579917]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365107.327481170]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365107.533984423]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365107.742128843]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365107.944237873]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365108.144082088]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365108.346476924]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365108.547107970]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365108.744417666]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365108.949892588]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365109.155157903]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365109.345313641]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720365109.744349815]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365109.931673820]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365110.150164515]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365110.342695260]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365110.548089886]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365110.750803971]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365110.932440585]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365111.142295915]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365111.343232502]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365111.528714921]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365111.756162466]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365111.945300037]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365112.143707790]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365112.543390873]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365112.754846636]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365112.931013846]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365113.141066717]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365113.338613350]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365113.760643134]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365113.955501784]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365114.142872632]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365114.343745220]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365114.528075739]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365114.735007577]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365114.944955128]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365115.341795164]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365115.552241686]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365115.953687222]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365116.144199119]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365116.327436247]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365116.544008147]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365116.756154046]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365116.942022400]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365117.126356440]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365117.352990831]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365117.543391064]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365117.728261546]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365117.943872569]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365118.133818960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365118.343029998]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365118.544622723]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365118.742680380]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365118.945321396]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365119.128952587]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365119.350968470]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365119.545238969]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365119.745561752]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365119.929677060]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365120.129916224]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720365121.959010849]: Shutdown request received.[0m
[33m[ WARN] [1720365121.959073571]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720365121.959944808]: Shutdown request received.[0m
[33m[ WARN] [1720365121.959975140]: Reason given for shutdown: [user request][0m
killed
