/SLAM-Hive/slam_hive_results/mapping_results/3360/1885_vins-mono+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/e883039e-9d63-11ef-98d2-0242ac110002/roslaunch-39d4902ae75a-117.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://39d4902ae75a:46563/[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 [128][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 e883039e-9d63-11ef-98d2-0242ac110002[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [144][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1731023793.394751607]: init begins[0m
[0m[ INFO] [1731023793.403842314]: 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] [1731023793.404331213]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731023793.404351008]:  fix extrinsic param [0m
[0m[ INFO] [1731023793.409497392]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731023793.409529576]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731023793.409569394]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731023793.410620429]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [180][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] [1731023800.127739181]: 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: 327386943.71 
[33m[ WARN] [1731023803.994528829]: gyroscope bias initial calibration -0.00606468   0.0327723   0.0787178[0m
[0m[ INFO] [1731023804.083894375]: Initialization finish![0m
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position: 8.3487optimize pose graph 
optimize pose graph 
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position: 3.optimize pose graph 
optimize pose graph 
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position: 1.1834optimize pose graph 
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491
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position: -1.025224, -1.019024, 0.659662
position: -1.041952, -1.006591, 0.662806
position: -1.058829, -0.994123, 0.66optimize pose graph 
3055
position: -1.072256, -0.983119, 0.662237
position: -1.081511, -0.974391, 0.661345
position: -1.090292, -0.966720, 0.661880
position: -1.096267, -0.961757, 0.657051
position: -1.102658, -0.957979, 0.649286
position: -1.109906, -0.954426, 0.640003
position: -1.117996, -0.952770, 0.631771
position: -1.126486, -0.952619, 0.621952
position: -1.134475, -0.954754, 0.611759
position: -1.141221, -0.956077, 0.600952
position: -1.150217, -0.956001, 0.588926
position: -1.161285, -0.954465, 0.576271
position: -1.173549, -0.951140, 0.562171
position: -1.185012, -0.946032, 0.548947
position: -1.192905, -0.939203, 0.538900
position: -1.197784, -0.930415, 0.531639
position: -1.204486, -0.922328, 0.524968
position: -1.213198, -0.915147, 0.515955
position: -1.220663, -0.907461, 0.508176
position: -1.225631, -0.898821, 0.504027
position: -1.225651, -0.888334, 0.506117
position: -1.221246, -0.877027, 0.512859
position: -1.216038, -0.866228, 0.518137
position: -1.211881, -0.855536, 0.519630
position: -1.206976, -0.848626, 0.5optimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731023955.337197110]: Shutdown request received.[0m
[33m[ WARN] [1731023955.337300855]: Reason given for shutdown: [user request][0m
17869
position: -1.199762, -0.848218, 0.511435
position: -1.190768, -0.855005, 0.500436
position: -1.181176, -0.865600, 0.484988
position: -1.170762, -0.877485, 0.465093
position: -1.157578, -0.886367, 0.440399
position: -1.149641, -0.893577, 0.428814
position: -1.143519, -0.896947, 0.420282
position: -1.145918, -0.902199, 0.416731
position: -1.146659, -0.904498, 0.409503
position: -1.144423, -0.901607, 0.410462
position: -1.144207, -0.899140, 0.412616
position: -1.142122, -0.896340, 0.411345
position: -1.140793, -0.893791, 0.410819
position: -1.139461, -0.891018, 0.412136
position: -1.139130, -0.890666, 0.412694
position: -1.139280, -0.891093, 0.413999
position: -1.140756, -0.895328, 0.415942
[33m[ WARN] [1731023955.338999600]: Shutdown request received.[0m
[33m[ WARN] [1731023955.339058881]: Reason given for shutdown: [user request][0m
killed
optimize pose graph 
