/SLAM-Hive/slam_hive_results/mapping_results/3310/1885_vins-mono+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/c63d8870-9d4c-11ef-a8bc-0242ac110002/roslaunch-149bc3cb74a0-118.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://149bc3cb74a0:43191/[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 c63d8870-9d4c-11ef-a8bc-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] [1731013857.319474634]: init begins[0m
[0m[ INFO] [1731013857.324351984]: 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] [1731013857.325216119]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731013857.325248468]:  fix extrinsic param [0m
[0m[ INFO] [1731013857.325493532]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731013857.325541790]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731013857.325580486]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731013857.325648525]: 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_02_easy.bag  --clock 
[0m[ INFO] [1731013864.014297898]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 327377007.40 
[33m[ WARN] [1731013867.650237330]: gyroscope bias initial calibration -0.00606468   0.0327723   0.0787178[0m
[0m[ INFO] [1731013867.721295474]: Initialization finish![0m
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optimize pose graph 
296908
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optimize pose graph 
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position: 3optimize pose graph 
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position: 2.108690, -3.655271, optimize pose graph 
0.372267
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position: 1.183optimize pose graph 
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3223
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position: -1.058993, -0.995318, 0.6optimize pose graph 
62779
position: -1.072328, -0.984278, 0.662081
position: -1.081675, -0.975588, 0.661065
position: -1.090440, -0.967914, 0.661627
position: -1.096418, -0.962952, 0.656798
position: -1.102808, -0.959175, 0.649032
position: -1.110260, -0.955577, 0.639751
position: -1.118171, -0.953965, 0.631509
position: -1.126983, -0.953933, 0.621639
position: -1.134671, -0.955989, 0.611443
position: -1.141384, -0.957272, 0.600676
position: -1.150376, -0.957193, 0.588655
position: -1.161406, -0.955645, 0.576004
position: -1.173696, -0.952329, 0.561901
position: -1.185170, -0.947227, 0.548675
position: -1.193066, -0.940400, 0.538629
position: -1.197948, -0.931612, 0.531369
position: -1.204652, -0.923526, 0.524699
position: -1.213366, -0.916346, 0.515686
position: -1.220832, -0.908661, 0.507907
position: -1.225800, -0.900022, 0.503759
position: -1.225814, -0.889535, 0.505850
position: -1.221420, -0.878228, 0.512593
position: -1.216211, -0.867428, 0.517871
position: -1.212056, -0.856734, 0.519365
position: -1.207151, -0.849822, 0.optimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731014018.765937155]: Shutdown request received.[0m
[33m[ WARN] [1731014018.766021075]: Reason given for shutdown: [user request][0m
517603
position: -1.199937, -0.849412, 0.511169
position: -1.190942, -0.856197, 0.500169
position: -1.181395, -0.866801, 0.484617
position: -1.170979, -0.878670, 0.464683
position: -1.157747, -0.887544, 0.440079
position: -1.149787, -0.894768, 0.428525
position: -1.143661, -0.898141, 0.419995
position: -1.146056, -0.903395, 0.416442
position: -1.146792, -0.905695, 0.409211
position: -1.144555, -0.902804, 0.410166
position: -1.144337, -0.900337, 0.412317
position: -1.142249, -0.897536, 0.411041
position: -1.140920, -0.894986, 0.410512
position: -1.139604, -0.892228, 0.411790
position: -1.139242, -0.891848, 0.412400
position: -1.139399, -0.892256, 0.413691
position: -1.140877, -0.896457, 0.415611
[33m[ WARN] [1731014018.766846525]: Shutdown request received.[0m
[33m[ WARN] [1731014018.766880191]: Reason given for shutdown: [user request][0m
killed
