/SLAM-Hive/slam_hive_results/mapping_results/2791/2002_vins-mono+MH_05_difficult+Image_comb_test-27.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/8a1e089c-3c76-11ef-abf6-0242ac110004/roslaunch-bdf3f60e4802-118.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://bdf3f60e4802:36691/[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 8a1e089c-3c76-11ef-abf6-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [154][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720366532.123307602]: init begins[0m
[0m[ INFO] [1720366532.128761038]: 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] [1720366532.129290700]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720366532.129308098]:  fix extrinsic param [0m
[0m[ INFO] [1720366532.129444340]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720366532.129467443]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720366532.129505702]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720366532.129564790]: 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] [1720366539.398959665]: 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: 316728021.47 
[0m[ INFO] [1720366552.742157733]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366553.713659474]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366554.713351729]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366555.712802538]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366556.712312276]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366557.713005342]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366558.724967284]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366559.712437406]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366560.731696781]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366561.731286958]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366562.740082125]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366563.727963250]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366564.739813981]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366565.729513976]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366566.730361824]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366567.740967240]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366568.720589503]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720366574.734041128]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366575.729111194]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366576.717917220]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366577.729610786]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366578.697137166]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366579.732043757]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366580.734150900]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366581.734679012]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720366586.719743222]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366587.730026705]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366588.730528246]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366589.730187704]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366590.733734781]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366591.700238403]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720366594.730412962]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366595.727770404]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366596.733419191]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366597.729564764]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366600.732968822]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366601.727157634]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366602.733509116]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366603.710321817]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366605.701221728]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366606.732880860]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366607.715657796]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366608.705649426]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366609.735034749]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366610.718383342]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366611.727796534]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366612.728343207]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366613.730771462]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366614.718665189]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366615.708840438]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366616.724014492]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366617.721752838]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366618.724603382]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366619.729544437]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366620.728672278]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366621.742388908]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366622.731349633]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366623.740785605]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366624.719462246]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366625.730432879]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366626.716260670]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366627.730664221]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366628.704019629]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366629.708087390]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366630.735647330]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366631.709178453]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366632.721204053]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366633.705690189]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366634.727267325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366635.730373877]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366636.726889248]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366637.736026486]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366638.735418770]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366639.730361120]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366640.723847895]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366641.722995933]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366642.722103952]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366643.704468737]: 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] [1720366646.730534376]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366647.718594284]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366648.727217655]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366649.716900696]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366650.723336427]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366651.704083842]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366652.726530595]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720366655.120018517]: Shutdown request received.[0m
[33m[ WARN] [1720366655.120065410]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720366655.120946966]: Shutdown request received.[0m
[33m[ WARN] [1720366655.120976073]: Reason given for shutdown: [user request][0m
killed
