/SLAM-Hive/slam_hive_results/mapping_results/2792/2003_vins-mono+MH_05_difficult+Image_comb_test-28.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/e5413e06-3c76-11ef-9310-0242ac110004/roslaunch-b2eb8f11938e-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://b2eb8f11938e:32811/[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 e5413e06-3c76-11ef-9310-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [158][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720366685.036700309]: init begins[0m
[0m[ INFO] [1720366685.041518493]: 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] [1720366685.042049156]: ROW: 192.000000 COL: 300.000000 [0m
[33m[ WARN] [1720366685.042089112]:  fix extrinsic param [0m
[0m[ INFO] [1720366685.042234869]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720366685.042279066]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720366685.042314431]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720366685.042372410]: 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] [1720366692.299040358]: 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: 316728174.37 
[0m[ INFO] [1720366705.612126162]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366706.591756302]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366707.598433089]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366708.609702937]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366709.612134324]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366710.609478565]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366711.611560444]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366713.616772414]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366714.629913943]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366715.600466306]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366716.622797774]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366717.609871982]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366718.619879403]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366719.621132950]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366720.602913311]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366721.624173330]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366722.621165140]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366723.605255133]: IMU excitation not enouth![0m
[0m[ INFO] [1720366723.605318784]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366724.630187015]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366725.609723304]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366726.643195475]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366727.627835086]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366728.593231754]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366729.618167831]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366730.595907449]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366731.625412982]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366732.624863051]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366733.631388178]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366734.604685540]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366735.602548371]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366736.593229740]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366737.630949364]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366738.616710648]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366739.595972126]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366740.589811130]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366741.616308663]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366742.623638486]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366743.626134136]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366744.622912907]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366745.598314157]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366746.600838917]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366747.628261867]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366748.627437373]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366749.628256742]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366750.597162916]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366751.638950568]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366752.615672089]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366753.630484555]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366754.627479982]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366756.618127058]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366757.607339268]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366758.626075763]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366759.632850233]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366760.589041596]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366761.587481028]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366762.630178715]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366763.607048926]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366764.631716536]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366765.596311142]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366766.628095182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366767.609149530]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366769.624028640]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366770.599749879]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366771.627314568]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366772.629468804]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366773.627947921]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366774.605407630]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366775.597970568]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366776.627076616]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366777.629533504]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366778.624447793]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366779.625507927]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366780.596746278]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366781.625669247]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366782.632827831]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366783.597667924]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366784.601355008]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366785.592762883]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366786.620318556]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366787.626127409]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366788.629990085]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366789.629907331]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366790.603596268]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366791.634689329]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366792.623441508]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366793.624941953]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366794.616722945]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366795.588125139]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366796.609053744]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720366798.626676622]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366799.625711721]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366800.597323664]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366801.627578629]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366802.609804380]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366803.620901578]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366804.616333783]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366805.595021627]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720366807.985870867]: Shutdown request received.[0m
[33m[ WARN] [1720366807.985949512]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720366807.986818560]: Shutdown request received.[0m
[33m[ WARN] [1720366807.986858209]: Reason given for shutdown: [user request][0m
killed
