/SLAM-Hive/slam_hive_results/mapping_results/2783/1994_vins-mono+MH_05_difficult+Image_comb_test-19.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/af127924-3c73-11ef-91ea-0242ac110004/roslaunch-ed2dc79fa08c-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://ed2dc79fa08c:41671/[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 af127924-3c73-11ef-91ea-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] [1720365305.645570105]: init begins[0m
[0m[ INFO] [1720365305.650147740]: 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] [1720365305.650596089]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720365305.650611870]:  fix extrinsic param [0m
[0m[ INFO] [1720365305.650762433]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720365305.650802369]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720365305.650841898]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720365305.650897385]: 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] [1720365312.915099992]: 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: 316726794.98 
[0m[ INFO] [1720365319.765155032]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365320.247068068]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365320.753697203]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365321.220652268]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365321.760791546]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365322.235804276]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365322.749875293]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365323.216155543]: 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] [1720365324.741302612]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365325.265720203]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365325.755265113]: 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] [1720365326.745619658]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365327.236781815]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365327.736193546]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365328.232827693]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365328.732866372]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365329.229133318]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365329.740610989]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365330.235880451]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365330.706211734]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365331.205524852]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365331.720198717]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365332.247607766]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365332.718460512]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365333.239267411]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365333.746170500]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365334.254644083]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365334.752980736]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365335.252379583]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365335.728438668]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365336.232071265]: 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] [1720365337.738213733]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365338.252984156]: 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] [1720365339.253431431]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365339.741647638]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365340.235695647]: 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] [1720365341.267499324]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365341.711047223]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365342.237317827]: 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] [1720365346.231413217]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365346.748843715]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365347.266946196]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365347.742341572]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365348.221115676]: 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] [1720365350.753671615]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365351.238616603]: 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!
[33m[ WARN] [1720365352.791552981]: gyroscope bias initial calibration -0.0170926  0.0270999  0.0778494[0m
[0m[ INFO] [1720365352.819295332]: misalign visual structure with IMU[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720365354.243831997]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365354.758057674]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365355.260659745]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365355.743263497]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365356.257957050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365356.755626045]: 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] [1720365358.255244993]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365358.738133331]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365359.209768136]: 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] [1720365360.757486936]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365361.247502786]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365361.757056534]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365362.246609050]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365362.753992669]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365363.254139360]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365363.758314845]: 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] [1720365366.251378538]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365366.749904228]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365367.254228272]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365367.753840072]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365368.250008657]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365368.736684613]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365369.249070629]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365369.749232377]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365370.216666016]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365370.749970157]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365371.236873427]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365371.731340591]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365372.228245803]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365372.745388689]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365373.243748518]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365373.742663735]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365374.261894467]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365374.716557480]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365375.254298493]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365375.761807777]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365376.246624764]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365376.741004885]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365377.728545692]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365378.228026389]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365379.247744336]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365379.731006539]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365380.253878325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365380.731384007]: 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] [1720365381.738283630]: 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] [1720365383.738470391]: 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] [1720365387.220497177]: 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!
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] [1720365392.752811128]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365393.248247519]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365393.727566373]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365394.241592124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365394.750829322]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365395.252500124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365395.751421978]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365396.244291799]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365396.752180824]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365397.262348759]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365397.748414505]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365398.248578911]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365398.753078178]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365399.243456212]: 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] [1720365401.749725118]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365402.230900853]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365402.738373183]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365403.248381658]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365403.749519920]: 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] [1720365405.760824594]: 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] [1720365408.261468846]: gyroscope bias initial calibration    0.0175715 -0.000695343  -0.00149848[0m
[0m[ INFO] [1720365408.302274512]: Initialization finish![0m
position: -1.629428, 0.914261, -2.065083
position: -2.129073, 0.828904, -2.183896
position: -2.585589, 0.756832, -2.317724
position: -3.204161, 0.645487, -2.475604
position: -3.804555, 0.492178, -2.431761
position: -4.440384, 0.230588, -2.325306
[0m[ INFO] [1720365411.281598687]:  little feature 0[0m
position: -5.117430, -0.021174, -2.249478
position: -5.881278, -0.248988, -2.378959
position: -6.657695, -0.509147, -2.598638
position: -7.397878, -0.935813, -2.643496
position: -8.058794, -1.555087, -2.521615
position: -8.098587, -2.252339, -2.356071
position: -7.229167, -2.627545, -2.131436
position: -7.265885, -3.234510, -2.212690
position: -7.326788, -3.791528, -2.358832
position: -7.498787, -4.294853, -2.383871
position: -7.776915, -4.671311, -2.417807
position: -8.075205, -4.776153, -2.408571
position: -8.280413, -4.958208, -2.508623
position: -8.483375, -5.007194, -2.582009
position: -8.661432, -4.871906, -2.494824
position: -8.850307, -4.560671, -2.483676
position: -9.070557, -4.164325, -2.418176
position: -9.284359, -3.712392, -2.435433
position: -9.513310, -3.212996, -2.444403
position: -9.743976, -2.726695, -2.422460
position: -9.974425, -2.327141, -2.349080
position: -10.210405, -1.990440, -2.386138
position: -10.401744, -1.694017, -2.405573
position: -10.536481, -1.497083, -2.446353
position: -10
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720365428.600121804]: Shutdown request received.[0m
[33m[ WARN] [1720365428.600213743]: Reason given for shutdown: [user request][0m
.613264, -1.361789, -2.527192
position: -10.620384, -1.297272, -2.560723
position: -10.634236, -1.226260, -2.612965
position: -10.630077, -1.169258, -2.636607
position: -10.616725, -1.177799, -2.660866
position: -10.595764, -1.185098, -2.738856
position: -10.604060, -1.153732, -2.781800
position: -10.613298, -1.112147, -2.793260
[33m[ WARN] [1720365428.601160645]: Shutdown request received.[0m
[33m[ WARN] [1720365428.601192341]: Reason given for shutdown: [user request][0m
killed
