/SLAM-Hive/slam_hive_results/mapping_results/3443/1975_vins-mono+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/4af8d582-9d8a-11ef-bd7b-0242ac110002/roslaunch-d1cbfd164b80-118.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://d1cbfd164b80:37633/[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 4af8d582-9d8a-11ef-bd7b-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 [146][0m
[0m[ INFO] [1731040280.173220045]: init begins[0m
[0m[ INFO] [1731040280.179882752]: 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] [1731040280.180452246]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731040280.180505755]:  fix extrinsic param [0m
[1mprocess[pose_graph-4]: started with pid [147][0m
[0m[ INFO] [1731040280.201538734]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731040280.201582141]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731040280.201622969]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731040280.201673459]: waiting for image and imu...[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] [1731040286.154886440]: 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: 327401768.23 
[0m[ INFO] [1731040287.771619720]: IMU excitation not enouth![0m
[0m[ INFO] [1731040287.772378360]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731040287.958845783]: IMU excitation not enouth![0m
[0m[ INFO] [1731040287.959807276]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731040288.167117759]: IMU excitation not enouth![0m
[0m[ INFO] [1731040288.167735970]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731040288.269109878]: IMU excitation not enouth![0m
[0m[ INFO] [1731040288.269453939]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731040288.454694135]: IMU excitation not enouth![0m
[0m[ INFO] [1731040288.662814666]: IMU excitation not enouth![0m
[0m[ INFO] [1731040288.775368403]: IMU excitation not enouth![0m
[0m[ INFO] [1731040288.962605440]: IMU excitation not enouth![0m
[0m[ INFO] [1731040288.963819162]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731040289.174344562]: IMU excitation not enouth![0m
[0m[ INFO] [1731040289.252697595]: IMU excitation not enouth![0m
[0m[ INFO] [1731040289.468592577]: IMU excitation not enouth![0m
[0m[ INFO] [1731040289.469313001]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731040289.662649969]: IMU excitation not enouth![0m
[0m[ INFO] [1731040289.663883900]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731040289.756240160]: IMU excitation not enouth![0m
[0m[ INFO] [1731040289.973698177]: IMU excitation not enouth![0m
[0m[ INFO] [1731040289.974012651]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731040290.150567431]: IMU excitation not enouth![0m
[0m[ INFO] [1731040290.150860938]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731040290.265111819]: IMU excitation not enouth![0m
[0m[ INFO] [1731040290.266338417]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731040290.521853106]: IMU excitation not enouth![0m
[0m[ INFO] [1731040290.522478437]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1731040291.269186728]: gyroscope bias initial calibration -0.00286411  0.00833779   0.0771268[0m
[0m[ INFO] [1731040291.385387649]: Initialization finish![0m
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position: optimize pose graph 
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position: 8.658640optimize pose graph 
, 2.579682
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position: 9.881390, 7.948822, 2.673791
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position: 9.943927, 8.338401, 2.786503
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position: 9.868805, 8.572832, 2.926505
position: 9.821176, 8.615210, 2.963557
position: 9.771594, 8.646665, 2.989198
position: 9.719329, 8.669022, 3.005798
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position: 8.956448, 8.714640, 2.953137
position: 8.847289, 8.698796, 2.961648optimize pose graph 

position: 8.735789, 8.679932, 2.965780
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position: 8.515012, 8.634885, 2.963525
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position: 8.297671, 8.583497, 2.977254
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position: 7.381962, 8.530814, 3.076424
position: 7.261149, 8.551128, 3.094128
position: 7.128802, 8.576708, 3.101930
position: 6.993538, 8.607472, 3.106136
position: 6.848064, 8.644032, 3.098856
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position: 6.550329, 8.734528, 3.070355
position: 6.405317, 8.790159, 3.049946
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position: 6.128737, 8.922120, 2.998906
position: 6.000842, 9.000752, 2.976753
position: 5.880610, 9.085874, 2.964657
position: 5.765597, 9.178158, 2.960475
position:optimize pose graph 
 5.655246, 9.274450, 2.956634
position: 5.548472, 9.371046, 2.943974
position: 5.445179, 9.466387, 2.921940
position: 5.348126, 9.558370, 2.892664
position: 5.258507, 9.647886, 2.860570
position: 5.174678, 9.736663, 2.825838
position: 5.095119, 9.824348, 2.787179
position: 5.020398, 9.908304, 2.744982
position: 4.953298, 9.991331, 2.698423
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position: 4.775360, 10.216460, 2.529736
position: 4.716721, 10.284718, 2.463780
position: 4.661726, 10.346199, 2.391867
position: 4.603254, 10.405634, 2.324283
position: 4.544685, 10.456450, 2.259730
position: 4.486637, 10.500260, 2.200591
position: 4.430635, 10.537812, 2.150327
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position: 4.148717, 10.692169, 1.875772
position: 4.112010, 10.710929, 1.811266
position: 4.077609, 10.720841, 1.746915
pooptimize pose graph 
sition: 4.045870, 10.737081, 1.688087
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position: 3.913413, 10.721358, 1.421332
position: 3.894960, 10.701322, 1.364441
position: 3.874794, 10.673296, 1.307163
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position: 3.757180, 10.383272, 1.030029
position: 3.739490, 10.312028, 0.985212
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position: 4.386007, 0.108434, 0.388172
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position: 2.439563, 0.298018, 0.380204
position: 2.333842, 0.304116, 0.381826
posioptimize pose graph 
tion: 2.221654, 0.312915, 0.388284
position: 2.111810, 0.319062, 0.402157
position: 2.002239, 0.322330, 0.418608
position: 1.891299, 0.327493, 0.428575
position: 1.784576, 0.328638, 0.435663
position: 1.679100, 0.329614, 0.436257
position: 1.581582, 0.327299, 0.431694
position: 1.481714, 0.323850, 0.423197
position: 1.385602, 0.319659, 0.411235
position: 1.291629, 0.315728, 0.396666
position: 1.198042, 0.312485, 0.380359
position: 1.108242, 0.310149, 0.365153
position: 1.022184, 0.309580, 0.353451
position: 0.941432, 0.307601, 0.350158
position: 0.867794, 0.306513, 0.352879
position: 0.798518, 0.304568, 0.354423
position: 0.736093, 0.302608, 0.350109
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position: 0.578930, 0.291721, 0.324145
position: 0.537724, 0.288318, 0.310626
position: 0.511533, 0.285974, 0.291993
position: 0.477371, 0.284417, 0.276788
position: 0.447965, 0.285114, 0.259769
position: 0.436121, 0.287347, 0.236994
position: 0.408861, 0.289782, 0.221692
position: 0.38optimize pose graph 
optimize pose graph 
7984, 0.294961, 0.208033
position: 0.382598, 0.302786, 0.191592
position: 0.367490, 0.311134, 0.183529
position: 0.358267, 0.320060, 0.178014
position: 0.353171, 0.328805, 0.176769
position: 0.346812, 0.336836, 0.177021
position: 0.348065, 0.343403, 0.172425
position: 0.337325, 0.346097, 0.162633
position: 0.329738, 0.348118, 0.150579
position: 0.330636, 0.355581, 0.146740
position: 0.316706, 0.359849, 0.137548
position: 0.302475, 0.366036, 0.130697
position: 0.293111, 0.372733, 0.128336
position: 0.292841, 0.378344, 0.129541
position: 0.294227, 0.385844, 0.131410
position: 0.300453, 0.391709, 0.134866
position: 0.313383, 0.392477, 0.145643
position: 0.318761, 0.394508, 0.146682
position: 0.324059, 0.392098, 0.139011
position: 0.326118, 0.388034, 0.119649
position: 0.324799, 0.387416, 0.090158
position: 0.320602, 0.386603, 0.057530
position: 0.320180, 0.389844, 0.032246
position: 0.330224, 0.392166, 0.043435
position: 0.339138, 0.394624, 0.042121
position: 0.345235, 0.396865, 0.019822
position: 0.345459, 0.39
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731040401.657023771]: Shutdown request received.[0m
[33m[ WARN] [1731040401.657093773]: Reason given for shutdown: [user request][0m
0764, 0.014361
position: 0.340039, 0.391060, 0.008944
position: 0.334435, 0.392880, 0.004824
position: 0.326361, 0.394908, -0.000065
position: 0.318600, 0.396735, -0.004701
position: 0.310418, 0.398853, -0.008967
position: 0.302353, 0.400872, -0.012845
position: 0.294448, 0.402879, -0.016421
position: 0.286301, 0.405081, -0.020086
position: 0.278491, 0.407160, -0.023446
[33m[ WARN] [1731040401.658006914]: Shutdown request received.[0m
[33m[ WARN] [1731040401.658037480]: Reason given for shutdown: [user request][0m
killed
