/SLAM-Hive/slam_hive_results/mapping_results/2785/1996_vins-mono+MH_05_difficult+Image_comb_test-21.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/655f40cc-3c74-11ef-81b9-0242ac110004/roslaunch-4ae7be147007-117.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://4ae7be147007:46811/[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 655f40cc-3c74-11ef-81b9-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [154][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720365611.492076084]: init begins[0m
[0m[ INFO] [1720365611.496921145]: 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] [1720365611.497420712]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720365611.497440997]:  fix extrinsic param [0m
[0m[ INFO] [1720365611.497599003]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720365611.497630174]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720365611.497653547]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720365611.497694151]: 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] [1720365618.759223799]: 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: 316727100.83 
[0m[ INFO] [1720365625.584315015]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365626.070508666]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365626.585705143]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365627.062465695]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365627.587995493]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365628.080208951]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365628.565330735]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365629.080314485]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720365630.072121264]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365630.582291035]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365631.100028148]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365631.561907846]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365632.099026186]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365632.577329073]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365633.066019982]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365633.565848872]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365634.065695260]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365634.563594499]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365635.066362572]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365635.550425599]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365636.065808959]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365636.549171335]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365637.067069193]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365637.566441979]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365638.060129611]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365638.567746859]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365639.066087035]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365639.563879454]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365640.080653639]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365640.576024496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365641.082789159]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365641.583962568]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365642.074570553]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365642.580826494]: 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] [1720365643.585378484]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365644.084557456]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720365645.052456413]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365645.568201022]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365646.070981374]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720365647.100146414]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365647.569184863]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720365648.570277580]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720365649.587785143]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365650.071325634]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720365651.078051740]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365651.586840726]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365652.099370220]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365652.571933128]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365653.091493881]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365653.571760537]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365654.079308627]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365654.547607442]: 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] [1720365656.046724096]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365656.580549113]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365657.065586727]: 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] [1720365659.068692445]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720365660.085827780]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365660.578365910]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365661.066781761]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365661.583778404]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365662.092295325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365662.592388618]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365663.050243368]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720365664.092886312]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365664.565738585]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365665.059093136]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365665.549391175]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365666.075030240]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365666.593558523]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365667.049973096]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365667.592911021]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365668.085164322]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365668.570577584]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365669.588466074]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365670.054118927]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365670.565142483]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365671.075607073]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365671.603280976]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365672.084616668]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365672.574730011]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365673.063878756]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365673.586849241]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365674.080461189]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365674.574316487]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365675.087919821]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365675.574439802]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365676.075318000]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365676.558666641]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365677.075864493]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365677.576258766]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365678.064848823]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365678.569046595]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365679.066327082]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365679.547859682]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365680.083533807]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365680.562091941]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365681.084083553]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365681.589811422]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365682.574069193]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365683.061307005]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365683.562634688]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365684.062574130]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365684.561590624]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365685.075602748]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365685.557366107]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365686.085687227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365686.563240149]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365687.054827414]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365687.567090187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365688.062791200]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365688.562773235]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365689.076110849]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365689.547500687]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365690.063800185]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365690.549587956]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365691.080817795]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365691.548591290]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365692.067385193]: 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] [1720365693.079095246]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365693.574502594]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365694.066541280]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365694.568456658]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365695.065944576]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365695.562958278]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365696.079350676]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365697.075077614]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365698.086023366]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365698.587858711]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365699.086035802]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365699.595552636]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365700.055800610]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365700.580431145]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365701.096523758]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365701.559437052]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365702.086215728]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365702.586006489]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365703.099247906]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365703.582283648]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365704.087016866]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365704.587807702]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365705.077322874]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365705.570280967]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365706.076443957]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365706.574050421]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365707.064432382]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365707.582697249]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365708.082871475]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365708.586325479]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365709.093762795]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365709.582785940]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365710.051272462]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365710.564233755]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365711.048971553]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365711.566679961]: 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] [1720365713.574831630]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365714.066108343]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365714.566389669]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365715.051123676]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365716.081743037]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365716.585291720]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365717.095230829]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365717.582904017]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365718.084457243]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365718.589995872]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365719.047541475]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365719.557985744]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365720.049962592]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365720.564927758]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365721.067346407]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365721.563400425]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365722.051136878]: 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!
[33m[ WARN] [1720365726.147754454]: gyroscope bias initial calibration -0.000777528    0.0217361    0.0773204[0m
[0m[ INFO] [1720365726.182478063]: Initialization finish![0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720365734.431105897]: Shutdown request received.[0m
[33m[ WARN] [1720365734.431161764]: Reason given for shutdown: [user request][0m
position: -0.348115, -2.015310, -0.117204
position: -0.779385, -2.233202, -0.104016
position: -1.176789, -2.496968, -0.052438
position: -1.522647, -2.779137, -0.104097
position: -1.813862, -3.009802, -0.133590
position: -2.115910, -3.203332, -0.198321
position: -2.245434, -3.293188, -0.289422
position: -2.286336, -3.293304, -0.317347
position: -2.285770, -3.283725, -0.366331
position: -2.332282, -3.278846, -0.396953
position: -2.287475, -3.256975, -0.427225
position: -2.276892, -3.230138, -0.515115
position: -2.299787, -3.237079, -0.575410
position: -2.325889, -3.240810, -0.608854
[33m[ WARN] [1720365734.432112751]: Shutdown request received.[0m
[33m[ WARN] [1720365734.432153118]: Reason given for shutdown: [user request][0m
killed
