/SLAM-Hive/slam_hive_results/mapping_results/2793/2004_vins-mono+MH_05_difficult+Image_comb_test-29.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/40ad3fe2-3c77-11ef-862c-0242ac110004/roslaunch-ef8af13e8d4f-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://ef8af13e8d4f:46379/[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 40ad3fe2-3c77-11ef-862c-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [157][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720366838.408964917]: init begins[0m
[0m[ INFO] [1720366838.413593449]: 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] [1720366838.414029654]: ROW: 96.000000 COL: 150.000000 [0m
[33m[ WARN] [1720366838.414049576]:  fix extrinsic param [0m
[0m[ INFO] [1720366838.414214321]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720366838.414254777]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720366838.414286943]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720366838.414340629]: 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] [1720366845.678523910]: 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: 316728327.75 
[0m[ INFO] [1720366858.990908091]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366859.989020117]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366860.984360570]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366861.982966362]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366862.982617066]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366863.982812512]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366865.982428314]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366867.992460899]: IMU excitation not enouth![0m
[0m[ INFO] [1720366867.992594192]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366868.997618837]: IMU excitation not enouth![0m
[0m[ INFO] [1720366868.997762307]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366869.996066755]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366871.007302651]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720366875.970753391]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366876.983320678]: IMU excitation not enouth![0m
[0m[ INFO] [1720366876.983467556]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366877.967993589]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366879.005759587]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720366902.981483309]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720366905.980505638]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720366907.989310534]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366908.990160881]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366909.979479990]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720366916.979127495]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366918.005027598]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366918.978339144]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366920.004747214]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720366926.995485813]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366927.977344700]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366928.980933276]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366929.984607963]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366930.980151292]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366931.989890616]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366932.992792926]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366933.989394998]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366934.979286200]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366936.007975675]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366936.994848503]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366937.991181185]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366938.994887085]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366939.975610000]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720366941.989424281]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720366943.989784068]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366944.984739980]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720366946.987982192]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720366948.967659472]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366949.993303916]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366950.983365502]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366951.979478266]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720366957.990623807]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720366958.978935504]: Not enough features or parallax; Move device around[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720366961.398062969]: Shutdown request received.[0m
[33m[ WARN] [1720366961.398123283]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720366961.398998411]: Shutdown request received.[0m
[33m[ WARN] [1720366961.399037549]: Reason given for shutdown: [user request][0m
killed
