/SLAM-Hive/slam_hive_results/mapping_results/3346/1975_vins-mono+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/6e3f7c12-9d5d-11ef-b895-0242ac110002/roslaunch-57ab07629733-118.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://57ab07629733:45443/[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 6e3f7c12-9d5d-11ef-b895-0242ac110002[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] [1731021010.938197278]: init begins[0m
[0m[ INFO] [1731021010.943082051]: 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] [1731021010.943655893]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731021010.943677281]:  fix extrinsic param [0m
[0m[ INFO] [1731021010.943836105]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731021010.943871733]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731021010.943904100]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731021010.943957841]: 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] [1731021017.992608020]: 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: 327382500.08 
[0m[ INFO] [1731021019.615084502]: IMU excitation not enouth![0m
[0m[ INFO] [1731021019.796403638]: IMU excitation not enouth![0m
[0m[ INFO] [1731021020.024919593]: IMU excitation not enouth![0m
[0m[ INFO] [1731021020.026573403]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731021020.098862683]: IMU excitation not enouth![0m
[0m[ INFO] [1731021020.297973594]: IMU excitation not enouth![0m
[0m[ INFO] [1731021020.504015303]: IMU excitation not enouth![0m
[0m[ INFO] [1731021020.615908773]: IMU excitation not enouth![0m
[0m[ INFO] [1731021020.807593905]: IMU excitation not enouth![0m
[0m[ INFO] [1731021020.808656390]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731021021.018137405]: IMU excitation not enouth![0m
[0m[ INFO] [1731021021.108290512]: IMU excitation not enouth![0m
[0m[ INFO] [1731021021.109586792]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731021021.318387381]: IMU excitation not enouth![0m
[0m[ INFO] [1731021021.504093482]: IMU excitation not enouth![0m
[0m[ INFO] [1731021021.505231474]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731021021.604871955]: IMU excitation not enouth![0m
[0m[ INFO] [1731021021.605657150]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731021021.811272723]: IMU excitation not enouth![0m
[0m[ INFO] [1731021021.811534086]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731021022.005669853]: IMU excitation not enouth![0m
[0m[ INFO] [1731021022.006809947]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731021022.095771099]: IMU excitation not enouth![0m
[0m[ INFO] [1731021022.096099968]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731021022.309591599]: IMU excitation not enouth![0m
[0m[ INFO] [1731021022.310054966]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1731021023.070850474]: gyroscope bias initial calibration -0.00286411  0.00833779   0.0771268[0m
[0m[ INFO] [1731021023.179598764]: Initialization finish![0m
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position: optimize pose graph 
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position: 9.583023, 7.200447optimize pose graph 
, 2.579563
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position: 8.847749, 8.699117, 2.961527optimize pose graph 

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position:optimize pose graph 
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pooptimize pose graph 
optimize pose graph 
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position: 4.690485, 0.120186, 0.3optimize pose graph 
49168
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position: 2.334435, 0.304552, 0.381708
posioptimize pose graph 
tion: 2.222261, 0.313337, 0.388159
position: 2.112419, 0.319483, 0.402032
position: 2.002837, 0.322755, 0.418484
position: 1.891899, 0.327918, 0.428450
position: 1.785169, 0.329066, 0.435539
position: 1.679693, 0.330042, 0.436133
position: 1.582163, 0.327729, 0.431571
position: 1.482294, 0.324280, 0.423074
position: 1.386180, 0.320090, 0.411112
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position: 1.108816, 0.310580, 0.365030
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position: 0.942008, 0.308033, 0.350036
position: 0.868352, 0.306945, 0.352756
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position: 0.436665, 0.287774, 0.236877
position: 0.409402, 0.290209, 0.221575
position: 0.38optimize pose graph 
optimize pose graph 
8523, 0.295388, 0.207916
position: 0.383142, 0.303213, 0.191474
position: 0.368031, 0.311560, 0.183411
position: 0.358809, 0.320487, 0.177895
position: 0.353713, 0.329232, 0.176650
position: 0.347355, 0.337264, 0.176902
position: 0.348613, 0.343831, 0.172306
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position: 0.293391, 0.378771, 0.129422
position: 0.294775, 0.386272, 0.131290
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position: 0.313931, 0.392903, 0.145522
position: 0.319310, 0.394934, 0.146562
position: 0.324608, 0.392524, 0.138891
position: 0.326657, 0.388662, 0.119128
position: 0.325357, 0.387897, 0.089929
position: 0.321147, 0.387117, 0.057235
position: 0.320726, 0.390365, 0.031948
position: 0.330767, 0.392696, 0.043142
position: 0.339677, 0.395156, 0.041845
position: 0.345769, 0.397392, 0.019568
position: 0.345977, 0.39
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731021133.743183861]: Shutdown request received.[0m
[33m[ WARN] [1731021133.743244962]: Reason given for shutdown: [user request][0m
1298, 0.014112
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position: 0.302830, 0.401419, -0.013143
position: 0.294922, 0.403433, -0.016727
position: 0.286772, 0.405643, -0.020401
position: 0.278957, 0.407730, -0.023770
[33m[ WARN] [1731021133.744223458]: Shutdown request received.[0m
[33m[ WARN] [1731021133.744267990]: Reason given for shutdown: [user request][0m
killed
