/SLAM-Hive/slam_hive_results/mapping_results/2786/1997_vins-mono+MH_05_difficult+Image_comb_test-22.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/c0bec3a2-3c74-11ef-860f-0242ac110004/roslaunch-1284e27d4125-118.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://1284e27d4125:40295/[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 c0bec3a2-3c74-11ef-860f-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [153][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720365764.820164673]: init begins[0m
[0m[ INFO] [1720365764.824862010]: 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] [1720365764.825441541]: ROW: 192.000000 COL: 300.000000 [0m
[33m[ WARN] [1720365764.825464717]:  fix extrinsic param [0m
[0m[ INFO] [1720365764.825597220]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720365764.825622663]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720365764.825651937]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720365764.825696519]: 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] [1720365772.105151104]: 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: 316727254.18 
[0m[ INFO] [1720365778.919352107]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720365865.403246571]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720365868.911742509]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720365870.921449605]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365871.425650105]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365871.927767398]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365872.416229199]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365872.908065335]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365873.400321591]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365873.922557578]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365874.407636903]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365874.907511838]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365875.406361093]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365875.902865589]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365876.405814411]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365876.902310393]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720365878.404838217]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365878.904489492]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365879.420652968]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365879.899835987]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720365880.902296542]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365881.418249016]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365881.906901083]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365882.417633172]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365882.926054407]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365883.422691582]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365883.927548317]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720365884.915556211]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365885.429215801]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720365885.903712881]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720365887.810273911]: Shutdown request received.[0m
[33m[ WARN] [1720365887.810357778]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720365887.811301138]: Shutdown request received.[0m
[33m[ WARN] [1720365887.811325953]: Reason given for shutdown: [user request][0m
killed
