/SLAM-Hive/slam_hive_results/mapping_results/2782/1993_vins-mono+MH_05_difficult+Image_comb_test-18.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/53767c1e-3c73-11ef-a615-0242ac110004/roslaunch-b0167dbcbf15-119.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://b0167dbcbf15:35133/[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 [130][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 53767c1e-3c73-11ef-a615-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [143][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [157][0m
[1mprocess[vins_estimator-3]: started with pid [161][0m
[0m[ INFO] [1720365151.960253382]: init begins[0m
[0m[ INFO] [1720365151.965155668]: 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] [1720365151.965659323]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720365151.965679458]:  fix extrinsic param [0m
[0m[ INFO] [1720365151.965830433]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720365151.965865203]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720365151.965892436]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720365151.965936114]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [182][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] [1720365159.213002664]: 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: 316726641.28 
[0m[ INFO] [1720365166.069390588]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365166.543601929]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365167.057276508]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365167.515920897]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365168.030334221]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365168.549038924]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365169.053235181]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365169.533373713]: 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] [1720365171.569142733]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365172.054313944]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365172.568672815]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365173.049012099]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365173.521736506]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365174.039546904]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365174.531183745]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365175.015993368]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365175.543708701]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365176.040454883]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365176.510970066]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365177.020407871]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365177.520108519]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365178.019681525]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365178.533742555]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365179.020028304]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365179.521933062]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365180.020385753]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720365181.054196566]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365181.551521538]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365182.048849468]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365182.557471338]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365183.050178481]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720365184.026803243]: 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!
[0m[ INFO] [1720365185.557556074]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365186.049959402]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365186.511998684]: 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!
[0m[ INFO] [1720365187.568971050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365188.043783953]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365188.528686977]: 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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720365192.563957079]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365193.047691197]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365193.568255974]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365194.014698297]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365194.546181585]: 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!
[0m[ INFO] [1720365197.540319572]: 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!
[0m[ INFO] [1720365200.564230675]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365201.056772107]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720365202.049603438]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365202.525109340]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365203.058386431]: 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] [1720365204.557881534]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365205.031552391]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365205.513591054]: 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!
[0m[ INFO] [1720365207.549570941]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365208.058764627]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365208.562104729]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365209.037328329]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365209.553715769]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365210.053196470]: 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!
[0m[ INFO] [1720365212.554351864]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365213.529878934]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365214.053017739]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365214.549167580]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365215.019203624]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365215.548456999]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365216.053579437]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365216.545209498]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365217.049646032]: 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!
[0m[ INFO] [1720365219.049555589]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365219.518943718]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365220.029834782]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365220.572263037]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365221.048256801]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365221.563897054]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365222.059292285]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365222.548112545]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365223.048701062]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365223.541355876]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365224.033657873]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365224.540278665]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365225.035620911]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365225.550998496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365226.040168564]: 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!
[0m[ INFO] [1720365229.044065258]: 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!
[0m[ INFO] [1720365231.042484630]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720365231.583152480]: gyroscope bias initial calibration -0.00596694    0.022522   0.0783901[0m
[0m[ INFO] [1720365231.623732312]: Initialization finish![0m
position: -2.149819, 3.514647, -0.072271
position: -2.465303, 3.925612, -0.148585
position: -2.728562, 4.325581, -0.140728
position: -2.907185, 4.636182, -0.152606
position: -2.941302, 4.938225, -0.234006
position: -2.802589, 5.133833, -0.099658
position: -2.619419, 5.218547, 0.117023
position: -2.328053, 5.291491, 0.324349
position: -2.067946, 5.394188, 0.457223
position: -1.988378, 5.479334, 0.647769
position: -1.985106, 5.595416, 0.829437
position: -2.050349, 5.691798, 0.878249
position: -2.154624, 5.790447, 0.879417
position: -2.299538, 6.013726, 0.857471
position: -2.555968, 6.585325, 1.005216
position: -2.955478, 7.538379, 1.073046
position: -3.522099, 8.696559, 1.029284
position: -4.241284, 9.965512, 1.009112
position: -4.990123, 11.189326, 0.957732
position: -5.754939, 12.364416, 1.052739
position: -6.493766, 13.494032, 1.082544
position: -7.064677, 14.555559, 1.043207
position: -7.352857, 15.431031, 1.140582
position: -7.441546, 16.301929, 1.193729
position: -7.573615, 17.240511, 1.310552
position: -7.808294, 18.139943, 1.414035
position: -8.174391, 18.676968, 1.659075
[0m[ INFO] [1720365245.062202169]:  little feature 1[0m
position: -8.491061, 18.837881, 1.795409
position: -8.837286, 18.870388, 1.765425
position: -9.314320, 18.744243, 1.767886
position: -9.637477, 17.881885, 1.673804
position: -9.699332, 16.902049, 1.728663
position: -10.409322, 16.459440, 1.781974
position: -11.157116, 16.160116, 1.778911
position: -11.961662, 16.008446, 1.690730
[0m[ INFO] [1720365249.063588557]:  little feature 0[0m
position: -12.680455, 16.068081, 1.662694
position: -13.309505, 16.138617, 1.515404
position: -13.803785, 16.219916, 1.257100
position: -14.112534, 16.256202, 1.001554
position: -13.905740, 16.526928, 0.706105
position: -14.102805, 16.511096, 0.404572
position: -14.217020, 16.442796, 0.137297
position: -14.217286, 16.233246, -0.117625
position: -14.108916, 15.917113, -0.320049
position: -14.013566, 15.516492, -0.464030
position: -13.893481, 15.130767, -0.567725
position: -13.758189, 14.736479, -0.717061
position: -13.661119, 14.317142, -0.757921
position: -13.560893, 13.849398, -0.900011
position: -13.431545, 13.322688, -1.031109
position: -13.244119, 12.804829, -0.977607
[0m[ INFO] [1720365257.079124961]:  little feature 1[0m
position: -12.945994, 12.261755, -0.863532
[0m[ INFO] [1720365257.584799064]:  little feature 0[0m
position: -12.666543, 11.728626, -0.774758
position: -12.407116, 11.186554, -0.879415
position: -12.102157, 10.642187, -1.077448
position: -11.618075, 10.131416, -1.086747
position: -11.073123, 9.783004, -0.927435
position: -10.593926, 9.600844, -0.805745
position: -10.089473, 9.552377, -0.710607
position: -9.576286, 9.508826, -0.742882
position: -9.089926, 9.466739, -0.867948
position: -8.665424, 9.304466, -0.903451
position: -8.241661, 9.065259, -0.945786
position: -7.994940, 8.797083, -0.888987
position: -7.840906, 8.620192, -0.972980
position: -7.801978, 8.445646, -1.047168
position: -7.927955, 8.278350, -0.965760
position: -8.212425, 8.084938, -0.962239
position: -8.565674, 7.849810, -0.904297
position: -8.975895, 7.614315, -0.926754
position: -9.437607, 7.358336, -0.943885
position: -9.897628, 7.100648, -0.935139
position: -10.318285, 6.823635, -0.879273
position: -10.670029, 6.549820, -0.927186
position: -10.998625, 6.311349, -0.951298
position: -11.241255, 6.135014, -0.997456
position: -11.375131, 6.0
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720365274.930881863]: Shutdown request received.[0m
[33m[ WARN] [1720365274.930957386]: Reason given for shutdown: [user request][0m
42428, -1.082161
position: -11.446177, 6.038387, -1.120695
position: -11.463872, 6.046660, -1.162739
position: -11.498643, 6.059594, -1.182612
position: -11.491694, 6.074139, -1.205931
position: -11.476587, 6.088935, -1.283600
position: -11.486657, 6.081355, -1.323330
position: -11.524604, 6.067098, -1.340164
[33m[ WARN] [1720365274.931793779]: Shutdown request received.[0m
[33m[ WARN] [1720365274.931834105]: Reason given for shutdown: [user request][0m
killed
