/SLAM-Hive/slam_hive_results/mapping_results/3296/1975_vins-mono+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/8b7985a0-9d46-11ef-a9cb-0242ac110002/roslaunch-bf65ba60d213-118.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://bf65ba60d213:35561/[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 8b7985a0-9d46-11ef-a9cb-0242ac110002[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [145][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1731011181.789371411]: init begins[0m
[0m[ INFO] [1731011181.794027480]: 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] [1731011181.794496466]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731011181.794517423]:  fix extrinsic param [0m
[0m[ INFO] [1731011181.794670452]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731011181.794708890]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731011181.794739924]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731011181.794801133]: 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] [1731011188.498678759]: 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: 327372670.59 
[0m[ INFO] [1731011190.131072613]: IMU excitation not enouth![0m
[0m[ INFO] [1731011190.325966747]: IMU excitation not enouth![0m
[0m[ INFO] [1731011190.533315026]: IMU excitation not enouth![0m
[0m[ INFO] [1731011190.621148502]: IMU excitation not enouth![0m
[0m[ INFO] [1731011190.622037922]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731011190.816263440]: IMU excitation not enouth![0m
[0m[ INFO] [1731011191.020546108]: IMU excitation not enouth![0m
[0m[ INFO] [1731011191.132595640]: IMU excitation not enouth![0m
[0m[ INFO] [1731011191.328715727]: IMU excitation not enouth![0m
[0m[ INFO] [1731011191.329583510]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731011191.530749029]: IMU excitation not enouth![0m
[0m[ INFO] [1731011191.621067805]: IMU excitation not enouth![0m
[0m[ INFO] [1731011191.621946845]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731011191.830934422]: IMU excitation not enouth![0m
[0m[ INFO] [1731011192.010289402]: IMU excitation not enouth![0m
[0m[ INFO] [1731011192.120367540]: IMU excitation not enouth![0m
[0m[ INFO] [1731011192.121505051]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731011192.331900875]: IMU excitation not enouth![0m
[0m[ INFO] [1731011192.332299317]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731011192.508974139]: IMU excitation not enouth![0m
[0m[ INFO] [1731011192.509245637]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731011192.620927526]: IMU excitation not enouth![0m
[0m[ INFO] [1731011192.621845118]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731011192.838979962]: IMU excitation not enouth![0m
[33m[ WARN] [1731011193.530679609]: gyroscope bias initial calibration -0.00286411  0.00833779   0.0771268[0m
[0m[ INFO] [1731011193.637805947]: Initialization finish![0m
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position: optimize pose graph 
optimize pose graph 
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position: 5.350109, 9.560406, 2.893181
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position: 4.663776, 10.348317, 2.392386
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position: 4.488704, 10.502395, 2.201106
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position: 4.150795, 10.694333, 1.876282
position: 4.114093, 10.713102, 1.811775
position: 4.079689, 10.723014, 1.747422
posoptimize pose graph 
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position: 4.690894, 0.121896, 0.34optimize pose graph 
9777
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position: 2.440603, 0.300378, 0.380685
position: 2.334879, 0.306489, 0.382309
positoptimize pose graph 
ion: 2.222695, 0.315300, 0.388767
position: 2.112850, 0.321459, 0.402639
position: 2.003270, 0.324742, 0.419090
position: 1.892339, 0.329912, 0.429065
position: 1.785608, 0.331072, 0.436152
position: 1.680134, 0.332059, 0.436746
position: 1.582606, 0.329756, 0.432182
position: 1.482738, 0.326318, 0.423686
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position: 1.292649, 0.318217, 0.397155
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position: 0.942446, 0.310128, 0.350647
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position: 0.579914, 0.294286, 0.324643
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position: 0.512514, 0.288544, 0.292489
position: 0.478351, 0.286992, 0.277283
position: 0.448943, 0.287692, 0.260265
position: 0.437104, 0.289924, 0.237488
position: 0.409842, 0.292363, 0.222187
position: 0.388optimize pose graph 
964, 0.297545, 0.208527
position: 0.383580, 0.305371, 0.192086
position: 0.368471, 0.313721, 0.184023
position: 0.359250, 0.322649, 0.178507
position: 0.354155, 0.331396, 0.177262
position: 0.347797, 0.339428, 0.177515
position: 0.349052, 0.345994, 0.172918
position: 0.338312, 0.348690, 0.163127
position: 0.330725, 0.350712, 0.151073
position: 0.331626, 0.358170, 0.147232
position: 0.317814, 0.362377, 0.138061
position: 0.303479, 0.368624, 0.131190
position: 0.294112, 0.375323, 0.128829
position: 0.293843, 0.380934, 0.130034
position: 0.295228, 0.388434, 0.131902
position: 0.301457, 0.394298, 0.135359
position: 0.314386, 0.395065, 0.146136
position: 0.319765, 0.397095, 0.147175
position: 0.325063, 0.394685, 0.139504
position: 0.327111, 0.390823, 0.119741
position: 0.325811, 0.390057, 0.090542
position: 0.321508, 0.389380, 0.057727
position: 0.321155, 0.392592, 0.032491
position: 0.331199, 0.394925, 0.043689
position: 0.340108, 0.397387, 0.042398
position: 0.346198, 0.399621, 0.020128
position: 0.346391, 0.393
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731011304.287678025]: Shutdown request received.[0m
[33m[ WARN] [1731011304.287750628]: Reason given for shutdown: [user request][0m
542, 0.014679
position: 0.340943, 0.393813, 0.009208
position: 0.335310, 0.395631, 0.005087
position: 0.327231, 0.397665, 0.000193
position: 0.319470, 0.399500, -0.004450
position: 0.311285, 0.401628, -0.008726
position: 0.303218, 0.403660, -0.012615
position: 0.295307, 0.405678, -0.016203
position: 0.287154, 0.407893, -0.019881
position: 0.279336, 0.409986, -0.023255
[33m[ WARN] [1731011304.288598399]: Shutdown request received.[0m
[33m[ WARN] [1731011304.288634541]: Reason given for shutdown: [user request][0m
killed
