/SLAM-Hive/slam_hive_results/mapping_results/3371/1915_vins-mono+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/e08f5a7a-9d68-11ef-b0ae-0242ac110002/roslaunch-a12e4a0113e4-118.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://a12e4a0113e4:41347/[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 e08f5a7a-9d68-11ef-b0ae-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] [1731025927.747807526]: init begins[0m
[0m[ INFO] [1731025927.755049051]: 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] [1731025927.758756926]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731025927.758814575]:  fix extrinsic param [0m
[0m[ INFO] [1731025927.767665149]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731025927.767732098]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731025927.767762154]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731025927.767820237]: 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] [1731025934.239948950]: 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: 327388803.94 
[0m[ INFO] [1731025935.911261052]: IMU excitation not enouth![0m
[0m[ INFO] [1731025936.122448841]: IMU excitation not enouth![0m
[0m[ INFO] [1731025936.123306943]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731025936.325894725]: IMU excitation not enouth![0m
[0m[ INFO] [1731025936.414785738]: IMU excitation not enouth![0m
[0m[ INFO] [1731025936.415029721]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731025936.624153876]: IMU excitation not enouth![0m
[0m[ INFO] [1731025936.625093649]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731025936.846548352]: IMU excitation not enouth![0m
[0m[ INFO] [1731025936.847048052]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731025936.921939479]: IMU excitation not enouth![0m
[0m[ INFO] [1731025936.922726811]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731025937.144408456]: IMU excitation not enouth![0m
[0m[ INFO] [1731025937.144883908]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731025937.332999874]: IMU excitation not enouth![0m
[0m[ INFO] [1731025937.438411895]: IMU excitation not enouth![0m
[0m[ INFO] [1731025937.438714187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731025937.627091049]: IMU excitation not enouth![0m
[33m[ WARN] [1731025937.817561871]: gyroscope bias initial calibration -0.00257781   0.0201556   0.0775422[0m
[0m[ INFO] [1731025937.945139693]: Initialization finish![0m
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position: 0.335053optimize pose graph 
, -0.201713, 0.237898
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optimize pose graph 
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optimize pose graph 
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position: -2.479913, -4optimize pose graph 
.552169, 0.042693
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position: -2.883971, -4.708290, -0.033943
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position: -4.022826, -5.480830, -0.214805
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position: -4.098299, -5.616798, -0.206077
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position: -4.095708, -5.740231, -0.215700
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position: -3.939537, -5.903384, -0.188841
position: -3.856987, -5.943338, -0.168550
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position: -3.409637, -6.046098, -0.154411
position: -3.272776, -6.061754, -0.157244optimize pose graph 

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position: -1.921045, -6.143224, 0.231894
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position: -1.606367, -6.176098, 0.400079
position: -1.502608, -6.196982, 0.443131
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position: -0.580282, -6.838211, 0optimize pose graph 
.608115
position: -0.493920, -6.918361, 0.589861
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position: 0.057347, -7.283556, 0.396867
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position: 0.346954, -7.315900, 0.306337
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position: 0.847008, -7.226684, 0.171238
position: 0.949487, -7.194375, 0.131915
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positoptimize pose graph 
optimize pose graph 
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position: 2.212690, -5.326942, 0.003617
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position: 2.409976, -4.931468, -0.027047
position: 2.474514, -4.794802, -0.043735
position: 2.535006, -4.654542, -0.055390
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positioptimize pose graph 
on: 2.979588, -3.154670, -0.020633
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position: 3.028839, -3.001795, 0.053652
position: 3.051017, -2.937681, 0.103128
position: 3.073337, -2.876852, 0.148759
position: 3.094097, -2.820778, 0.187406
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position: 2.921760, -2.293666optimize pose graph 
, 0.224246
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position: 2.464965, -2.100004, 0.409077
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position: 2.384594, -2.048502, 0.399969
position: 2.341634, -2.020286, 0.398693
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position: 1.986414, -1.804540, 0.405816
position: 1.931005, -1.771068, 0.420690
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position: 1.8optimize pose graph 
15566, -1.704694, 0.463902
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position: 1.398888, -1.421641, 0.446035
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position: 1.074287, -1.171433, 0.473840
position: 1.020669, -1.130084, 0.476895
position: 0.971189, -1.083227, 0.475528
position: 0.921502, -1.037534, 0.467607
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position: 0.799017, -0.878520, 0.434270
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position: 0.641711, -0.594305, 0.394586
position: 0.617499, -0.540465, 0.3757optimize pose graph 
76
position: 0.595884, -0.490001, 0.354632
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position: 0.515932, -0.279531, 0.353378
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position: 0.431701, -0.213314, 0.316849
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position: 0.366074, -0.201873, 0.160199
position: 0.355439, -0.193050, 0.137343
position: 0.344286, -0.182478, 0.115615
position: 0.335040, -optimize pose graph 
0.169973, 0.099808
position: 0.327933, -0.154638, 0.091609
position: 0.322425, -0.138913, 0.087044
position: 0.319115, -0.123209, 0.082991
position: 0.318646, -0.106166, 0.083012
position: 0.322419, -0.087241, 0.089784
position: 0.328044, -0.067245, 0.094753
position: 0.333698, -0.048585, 0.090918
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position: 0.342791, -0.015008, 0.057241
position: 0.342250, -0.011480, 0.042659
position: 0.340265, -0.020435, 0.040056
position: 0.335974, -0.027539, 0.031340
position: 0.335565, -0.032947, 0.032138
position: 0.340301, -0.031838, 0.026535
position: 0.340661, -0.031072, 0.032882
position: 0.339142, -0.029367, 0.035774
position: 0.336200, -0.029546, 0.036945
position: 0.335178, -0.029255, 0.037601
position: 0.334833, -0.028989, 0.037899
position: 0.334722, -0.029164, 0.037915
position: 0.334753, -0.028931, 0.037852
position: 0.334615, -0.029018, 0.037949
position: 0.334721, -0.029009, 0.037893
position: 0.334868, -0.029013, 0.037829
position: 0.334892, -0.029126, 0.037721
posit
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731026071.163251979]: Shutdown request received.[0m
[33m[ WARN] [1731026071.163312948]: Reason given for shutdown: [user request][0m
ion: 0.334969, -0.028980, 0.037746
position: 0.334906, -0.029011, 0.037814
position: 0.334889, -0.029006, 0.037836
position: 0.334995, -0.028960, 0.037822
position: 0.335081, -0.028990, 0.037739
position: 0.335227, -0.028912, 0.037687
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position: 0.335288, -0.029085, 0.037685
position: 0.335351, -0.029020, 0.037723
position: 0.335337, -0.029070, 0.037758
position: 0.335376, -0.029060, 0.037722
position: 0.335362, -0.029009, 0.037727
position: 0.335342, -0.029049, 0.037750
position: 0.335479, -0.028963, 0.037736
[33m[ WARN] [1731026071.164236855]: Shutdown request received.[0m
[33m[ WARN] [1731026071.164258908]: Reason given for shutdown: [user request][0m
killed
