/SLAM-Hive/slam_hive_results/mapping_results/3321/1915_vins-mono+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/a488f50c-9d51-11ef-89da-0242ac110002/roslaunch-8070f3473a13-118.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://8070f3473a13:38373/[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 a488f50c-9d51-11ef-89da-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] [1731015948.150807109]: init begins[0m
[0m[ INFO] [1731015948.155633925]: 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] [1731015948.156106407]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731015948.156126636]:  fix extrinsic param [0m
[0m[ INFO] [1731015948.156278590]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731015948.156313463]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731015948.156340565]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731015948.156387799]: 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_03_medium.bag  --clock 
[0m[ INFO] [1731015955.137602482]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 327378824.82 
[0m[ INFO] [1731015956.799424423]: IMU excitation not enouth![0m
[0m[ INFO] [1731015956.799947576]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731015956.994500336]: IMU excitation not enouth![0m
[0m[ INFO] [1731015956.994771015]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731015957.205860285]: IMU excitation not enouth![0m
[0m[ INFO] [1731015957.207004268]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731015957.303873267]: IMU excitation not enouth![0m
[0m[ INFO] [1731015957.304700414]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731015957.507785100]: IMU excitation not enouth![0m
[0m[ INFO] [1731015957.508804069]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731015957.731603233]: IMU excitation not enouth![0m
[0m[ INFO] [1731015957.732185644]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731015957.798099236]: IMU excitation not enouth![0m
[0m[ INFO] [1731015957.798521875]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731015958.009910081]: IMU excitation not enouth![0m
[0m[ INFO] [1731015958.010186177]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731015958.228461056]: IMU excitation not enouth![0m
[0m[ INFO] [1731015958.228921665]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731015958.316653010]: IMU excitation not enouth![0m
[0m[ INFO] [1731015958.532797198]: IMU excitation not enouth![0m
[33m[ WARN] [1731015958.686689734]: gyroscope bias initial calibration -0.00257781   0.0201556   0.0775422[0m
[0m[ INFO] [1731015958.803291713]: Initialization finish![0m
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position: 0.335043optimize pose graph 
optimize pose graph 
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pooptimize pose graph 
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optimize pose graph 
534
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position: optimize pose graph 
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position:optimize pose graph 
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19660
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position:optimize pose graph 
optimize pose graph 
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position: -3.272676, -6.062047, -0.157452optimize pose graph 

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position: -0.580135, -6.838495, 0optimize pose graph 
.607940
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positoptimize pose graph 
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positioptimize pose graph 
optimize pose graph 
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position: 2.921929, -2.293929optimize pose graph 
, 0.224063
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position: 1.8optimize pose graph 
15713, -1.704949, 0.463732
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position: 0.617652, -0.540731, 0.3756optimize pose graph 
06
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position: 0.344436, -0.182711, 0.115433
position: 0.335190, -optimize pose graph 
0.170206, 0.099626
position: 0.328086, -0.154869, 0.091428
position: 0.322576, -0.139147, 0.086862
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position: 0.340811, -0.031310, 0.032700
position: 0.339294, -0.029603, 0.035592
position: 0.336351, -0.029783, 0.036762
position: 0.335327, -0.029492, 0.037419
position: 0.334982, -0.029226, 0.037717
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position: 0.334764, -0.029255, 0.037768
position: 0.334870, -0.029246, 0.037711
position: 0.335017, -0.029250, 0.037648
position: 0.335041, -0.029363, 0.037540
posit
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731016091.968569160]: Shutdown request received.[0m
[33m[ WARN] [1731016091.968629350]: Reason given for shutdown: [user request][0m
ion: 0.335118, -0.029217, 0.037564
position: 0.335055, -0.029248, 0.037633
position: 0.335038, -0.029243, 0.037655
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position: 0.335479, -0.029305, 0.037582
position: 0.335628, -0.029201, 0.037554
[33m[ WARN] [1731016091.969554252]: Shutdown request received.[0m
[33m[ WARN] [1731016091.969582632]: Reason given for shutdown: [user request][0m
killed
