/SLAM-Hive/slam_hive_results/mapping_results/3456/1885_vins-mono+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/163adb46-9d90-11ef-be7c-0242ac110002/roslaunch-f7e2816e0b16-117.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://f7e2816e0b16:36447/[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 163adb46-9d90-11ef-be7c-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] [1731042767.796175136]: init begins[0m
[0m[ INFO] [1731042767.800464342]: 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] [1731042767.804247406]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731042767.804271579]:  fix extrinsic param [0m
[0m[ INFO] [1731042767.804424171]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731042767.804466580]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731042767.804493600]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731042767.804543311]: 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] [1731042774.651663142]: 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: 327405918.03 
[33m[ WARN] [1731042778.280925314]: gyroscope bias initial calibration -0.00606468   0.0327723   0.0787178[0m
[0m[ INFO] [1731042778.387233086]: Initialization finish![0m
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18
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position: 6.22497optimize pose graph 
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position: 8.3552optimize pose graph 
96, -7.886533, -1.157011
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position: 3.optimize pose graph 
optimize pose graph 
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position: 2.111599, -3.654167, 0optimize pose graph 
.372649
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598
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optimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731042929.417449966]: Shutdown request received.[0m
[33m[ WARN] [1731042929.417527293]: Reason given for shutdown: [user request][0m
18004
position: -1.198843, -0.850338, 0.511582
position: -1.189844, -0.857130, 0.500571
position: -1.180292, -0.867728, 0.485017
position: -1.169870, -0.879589, 0.465082
position: -1.156632, -0.888453, 0.440479
position: -1.148667, -0.895672, 0.428927
position: -1.142538, -0.899040, 0.420396
position: -1.144930, -0.904295, 0.416844
position: -1.145665, -0.906594, 0.409614
position: -1.143431, -0.903701, 0.410571
position: -1.143214, -0.901232, 0.412722
position: -1.141127, -0.898428, 0.411447
position: -1.139799, -0.895876, 0.410918
position: -1.138478, -0.893109, 0.412211
position: -1.138127, -0.892739, 0.412798
position: -1.138281, -0.893149, 0.414091
position: -1.139760, -0.897356, 0.416016
[33m[ WARN] [1731042929.419067408]: Shutdown request received.[0m
[33m[ WARN] [1731042929.419114540]: Reason given for shutdown: [user request][0m
killed
