/SLAM-Hive/slam_hive_results/mapping_results/3395/1975_vins-mono+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/421c170a-9d74-11ef-9e7e-0242ac110002/roslaunch-f0505b3300c1-117.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://f0505b3300c1:34873/[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 421c170a-9d74-11ef-9e7e-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] [1731030815.178810129]: init begins[0m
[0m[ INFO] [1731030815.183417701]: 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] [1731030815.183865995]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731030815.183885920]:  fix extrinsic param [0m
[0m[ INFO] [1731030815.184038227]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731030815.184070632]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731030815.184100446]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731030815.184158177]: 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_05_difficult.bag  --clock 
[0m[ INFO] [1731030822.313161834]: 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: 327392304.40 
[0m[ INFO] [1731030823.934792148]: IMU excitation not enouth![0m
[0m[ INFO] [1731030824.117564818]: IMU excitation not enouth![0m
[0m[ INFO] [1731030824.336697958]: IMU excitation not enouth![0m
[0m[ INFO] [1731030824.424716859]: IMU excitation not enouth![0m
[0m[ INFO] [1731030824.425756818]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731030824.619598632]: IMU excitation not enouth![0m
[0m[ INFO] [1731030824.813003039]: IMU excitation not enouth![0m
[0m[ INFO] [1731030824.813328976]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731030824.923929927]: IMU excitation not enouth![0m
[0m[ INFO] [1731030824.924150034]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731030825.125109659]: IMU excitation not enouth![0m
[0m[ INFO] [1731030825.126136832]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731030825.327959404]: IMU excitation not enouth![0m
[0m[ INFO] [1731030825.328491010]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731030825.413935953]: IMU excitation not enouth![0m
[0m[ INFO] [1731030825.636880349]: IMU excitation not enouth![0m
[0m[ INFO] [1731030825.827550009]: IMU excitation not enouth![0m
[0m[ INFO] [1731030825.828784319]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731030825.912895704]: IMU excitation not enouth![0m
[0m[ INFO] [1731030825.913139813]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731030826.156222828]: IMU excitation not enouth![0m
[0m[ INFO] [1731030826.317547283]: IMU excitation not enouth![0m
[0m[ INFO] [1731030826.426441242]: IMU excitation not enouth![0m
[0m[ INFO] [1731030826.427756024]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731030826.622575796]: IMU excitation not enouth![0m
[0m[ INFO] [1731030826.622861292]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1731030827.377385762]: gyroscope bias initial calibration -0.00286411  0.00833779   0.0771268[0m
[0m[ INFO] [1731030827.514177044]: Initialization finish![0m
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position: 8.642352, 2.669427, 2.552205
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position: 8.621577, 3.190676, 2.562106
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position: 8.616558, 3.955175, 2.533606
position: 8.623057, 4.202830, 2.517189
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position: 8.685800, 5.096348, 2.451927
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position: 8.748594, 5.464430, 2.463065
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position: 8.844001, 5.774301, 2.487748
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position: 9.199540, 6.476494, 2.479730
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position: 9.583255, 7.20013optimize pose graph 
8, 2.579693
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position: 9.882093, 7.948878, 2.673803
position: 9.917709, 8.094926, 2.706216
position: 9.939064, 8.225730, 2.744069
position: 9.944656, 8.338456, 2.786515
position: 9.934126, 8.433206, 2.833264
position: 9.907399, 8.511406, 2.881778
position: 9.869550, 8.572893, 2.926516
position: 9.821927, 8.615275, 2.963568
position: 9.772346, 8.646731, 2.989208
position: 9.720082, 8.669093, 3.005808
position: 9.667977, 8.689911, 3.017643
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position: 9.566552, 8.725611, 3.031809
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position: 8.848032, 8.698923, 2.96166optimize pose graph 
0
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position: 7.714722, 8.504538, 3.045482
position: 7.608270, 8.506506, 3.046600
position: 7.500279, 8.514830, 3.059925
position: 7.382633, 8.531022, 3.076437
position: 7.261821, 8.551345, 3.094139
position: 7.129470, 8.576935, 3.101948
position: 6.994217, 8.607709, 3.106152
position: 6.848734, 8.644277, 3.098874
position: 6.699968, 8.686515, 3.087147
position: 6.551013, 8.734793, 3.070371
position: 6.406015, 8.790434, 3.049962
position: 6.265071, 8.852940, 3.025373
position: 6.129453, 8.922412, 2.998920
position: 6.001553, 9.001053, 2.976768
position: 5.881326, 9.086183, 2.964672
position: 5.766314, 9.178474, 2.960490
positionoptimize pose graph 
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position: 5.549184, 9.371379, 2.943989
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position: 5.348835, 9.558715, 2.892681
position: 5.259223, 9.648244, 2.860589
position: 5.175432, 9.737052, 2.825867
position: 5.095863, 9.824746, 2.787201
position: 5.021150, 9.908689, 2.745007
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position: 4.832522, 10.146199, 2.590635
position: 4.776134, 10.216856, 2.529754
position: 4.717500, 10.285119, 2.463797
position: 4.662514, 10.346596, 2.391886
position: 4.604046, 10.406036, 2.324301
position: 4.545476, 10.456855, 2.259748
position: 4.487425, 10.500671, 2.200614
position: 4.431425, 10.538233, 2.150341
position: 4.376992, 10.572439, 2.106524
position: 4.324805, 10.604624, 2.069414
position: 4.275393, 10.633638, 2.031703
position: 4.230188, 10.656799, 1.986641
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position: 4.149512, 10.692591, 1.875790
position: 4.112808, 10.711355, 1.811289
position: 4.078406, 10.721266, 1.746935
poptimize pose graph 
optimize pose graph 
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position: 3.895755, 10.701759, 1.364462
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position: 3.757958, 10.383715, 1.030051
position: 3.740265, 10.312462, 0.985234
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position: 4.690034, 0.120042, 0.optimize pose graph 
349274
position: 4.644939, 0.110191, 0.369066
position: 4.589260, 0.104894, 0.381246
position: 4.526115, 0.104224, 0.388282
position: 4.458622, 0.107277, 0.390417
position: 4.386147, 0.108745, 0.388152
position: 4.310975, 0.113066, 0.381354
position: 4.232446, 0.117036, 0.377016
position: 4.151368, 0.119952, 0.380204
position: 4.065132, 0.124729, 0.390239
position: 3.974511, 0.132066, 0.405621
position: 3.882133, 0.138863, 0.418672
position: 3.786893, 0.149328, 0.427440
position: 3.691938, 0.158980, 0.431500
position: 3.593137, 0.171935, 0.429800
position: 3.495427, 0.184091, 0.425059
position: 3.400104, 0.193037, 0.419871
position: 3.298124, 0.204248, 0.406728
position: 3.194423, 0.214003, 0.392426
position: 3.092100, 0.221888, 0.384401
position: 2.979202, 0.235204, 0.378839
position: 2.876330, 0.247658, 0.384090
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position: 2.657732, 0.276057, 0.388609
position: 2.553072, 0.286355, 0.385621
position: 2.439668, 0.298467, 0.380170
position: 2.333946, 0.304576, 0.381807
posoptimize pose graph 
ition: 2.221764, 0.313369, 0.388257
position: 2.111905, 0.319526, 0.402125
position: 2.002340, 0.322797, 0.418577
position: 1.891402, 0.327965, 0.428548
position: 1.784682, 0.329116, 0.435637
position: 1.679202, 0.330098, 0.436231
position: 1.581687, 0.327841, 0.431661
position: 1.481815, 0.324355, 0.423169
position: 1.385707, 0.320164, 0.411209
position: 1.291731, 0.316238, 0.396640
position: 1.198142, 0.312999, 0.380336
position: 1.108342, 0.310671, 0.365127
position: 1.022283, 0.310106, 0.353424
position: 0.941533, 0.308131, 0.350132
position: 0.867893, 0.307041, 0.352860
position: 0.798624, 0.305104, 0.354399
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position: 0.625302, 0.296019, 0.335897
position: 0.579039, 0.292271, 0.324119
position: 0.537834, 0.288871, 0.310600
position: 0.511648, 0.286529, 0.291967
position: 0.477486, 0.284975, 0.276762
position: 0.448057, 0.285654, 0.259756
position: 0.436237, 0.287907, 0.236969
position: 0.408971, 0.290349, 0.221663
position: 0.3optimize pose graph 
optimize pose graph 
88102, 0.295526, 0.208007
position: 0.382719, 0.303352, 0.191566
position: 0.367614, 0.311673, 0.183499
position: 0.358388, 0.320622, 0.177989
position: 0.353293, 0.329372, 0.176743
position: 0.346934, 0.337404, 0.176995
position: 0.348190, 0.343971, 0.172400
position: 0.337450, 0.346665, 0.162608
position: 0.329863, 0.348686, 0.150554
position: 0.330762, 0.356151, 0.146715
position: 0.316832, 0.360419, 0.137523
position: 0.302605, 0.366606, 0.130673
position: 0.293241, 0.373303, 0.128312
position: 0.292972, 0.378914, 0.129518
position: 0.294358, 0.386415, 0.131386
position: 0.300562, 0.392282, 0.134819
position: 0.313427, 0.393047, 0.145227
position: 0.318859, 0.395075, 0.146660
position: 0.324155, 0.392666, 0.138990
position: 0.326210, 0.388707, 0.119413
position: 0.324898, 0.388013, 0.090079
position: 0.320694, 0.387217, 0.057418
position: 0.320272, 0.390463, 0.032131
position: 0.330314, 0.392789, 0.043323
position: 0.339226, 0.395248, 0.042018
position: 0.345321, 0.397486, 0.019731
position: 0.345535, 0.3
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731030938.016515318]: Shutdown request received.[0m
[33m[ WARN] [1731030938.016578023]: Reason given for shutdown: [user request][0m
91390, 0.014272
position: 0.340103, 0.391682, 0.008840
position: 0.334490, 0.393502, 0.004719
position: 0.326414, 0.395532, -0.000172
position: 0.318654, 0.397362, -0.004811
position: 0.310471, 0.399484, -0.009081
position: 0.302405, 0.401508, -0.012963
position: 0.294498, 0.403518, -0.016543
position: 0.286350, 0.405725, -0.020213
position: 0.278537, 0.407809, -0.023579
[33m[ WARN] [1731030938.017635380]: Shutdown request received.[0m
[33m[ WARN] [1731030938.017669386]: Reason given for shutdown: [user request][0m
killed
