/SLAM-Hive/slam_hive_results/mapping_results/3409/1885_vins-mono+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/8efb5922-9d7a-11ef-8789-0242ac110002/roslaunch-6be339c63190-118.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://6be339c63190:34699/[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 8efb5922-9d7a-11ef-8789-0242ac110002[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] [1731033521.547715871]: init begins[0m
[0m[ INFO] [1731033521.552755563]: 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] [1731033521.553291084]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731033521.553307180]:  fix extrinsic param [0m
[0m[ INFO] [1731033521.556297991]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731033521.556338891]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731033521.556375565]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731033521.556436624]: 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_02_easy.bag  --clock 
[0m[ INFO] [1731033528.296663889]: 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: 327396671.68 
[33m[ WARN] [1731033532.256111697]: gyroscope bias initial calibration -0.00181019   0.0409417    0.084252[0m
[0m[ INFO] [1731033532.313710542]: Initialization finish![0m
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optimize pose graph 
optimize pose graph 

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optimize pose graph 
8693
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position: 1.105114, -2.643066, 0.60optimize pose graph 
1058
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position: -0.optimize pose graph 
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position: -1optimize pose graph 
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position: -1.226514, -0.823111, 0.486581
position: -1.219295, -0.822713, 0.480148
position: -optimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731033683.212815019]: Shutdown request received.[0m
[33m[ WARN] [1731033683.212910048]: Reason given for shutdown: [user request][0m
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position: -1.158674, -0.864797, 0.382973
position: -1.159315, -0.867153, 0.382735
position: -1.160494, -0.870015, 0.385407
[33m[ WARN] [1731033683.213861798]: Shutdown request received.[0m
[33m[ WARN] [1731033683.213900161]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/8efb5922-9d7a-11ef-8789-0242ac110002/rosout-1*.log[0m
[rosout-1] restarting process
