/SLAM-Hive/slam_hive_results/mapping_results/2902/2110_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-10.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720481505.433346165]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720481505.434844954]: init begins[0m
[31m[ERROR] [1720481505.435792437]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/3d462862-3d82-11ef-90ec-0242ac110005/roslaunch-ad46425c6abe-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;roscore
[1mstarted roslaunch server http://ad46425c6abe:43311/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[1mROS_MASTER_URI=http://ad46425c6abe:11311/[0m
]2;roscore http://ad46425c6abe:11311/
[1msetting /run_id to 3d462862-3d82-11ef-90ec-0242ac110005[0m
[0m[ INFO] [1720481506.588861908]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720481506.590896448]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720481506.597074595]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720481506.597261103]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720481506.597290947]: ROW: 192 COL: 300 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1720481506.597490001]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720481506.597755987]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [211][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720481515.595541771]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316843388.48 
init first imu pose
averge acc 8.949590 -0.194601 -3.927257
init R0 
  0.402246  0.0453102    0.91441
         0  -0.998775  0.0494906
  0.915532 -0.0199074  -0.401753
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720481517.993614054]: IMU excitation not enouth![0m
[0m[ INFO] [1720481517.994072183]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720481518.180430892]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481518.407238881]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481518.582209869]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481518.781994240]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720481518.978193441]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720481519.193621563]: Not enough features or parallax; Move device around[0m
wait for imu ... 
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
wait for imu ... 
[0m[ INFO] [1720481520.009308815]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720481520.187746401]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481520.382446262]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481520.583104719]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481520.782679584]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720481520.989637441]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720481521.184187987]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481521.384519459]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481521.581710204]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481521.783678613]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481522.010393888]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481522.212325995]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720481522.597143859]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481522.782865183]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481522.982252127]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481523.184053857]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481523.413315292]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481523.593171061]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481523.790728370]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720481523.985173195]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481524.196927603]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481524.404652127]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720481524.582681292]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0708 23:32:04.835566   187 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 23:32:04.837098   187 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 23:32:04.838493   187 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 23:32:04.838980   187 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 23:32:04.840142   187 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 23:32:04.841569   187 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 23:32:04.842808   187 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 23:32:04.843276   187 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[33m[ WARN] [1720481524.844542010]: gyroscope bias initial calibration -0.0010729  0.0196508  0.0765278[0m
[0m[ INFO] [1720481524.864892702]: Initialization finish![0m
time: 1403638136.145097, t: 0.002949 0.162693 0.008360 q: -0.017172 0.824139 0.010536 0.566030 
time: 1403638136.345097, t: -0.037267 0.049191 0.029286 q: -0.003279 0.818890 -0.005748 0.573912 
time: 1403638136.545097, t: -0.072145 -0.007288 0.018765 q: 0.005390 0.824383 -0.013940 0.565836 
time: 1403638136.745097, t: -0.047051 0.052704 0.057485 q: -0.012855 0.824946 -0.023774 0.564565 
wait for imu ... 
time: 1403638136.945097, t: -0.056426 0.100381 0.075715 q: -0.063236 0.811524 -0.025278 0.580337 
time: 1403638137.145097, t: -0.033182 0.217763 0.028847 q: -0.072929 0.810545 -0.016626 0.580881 
time: 1403638137.345097, t: -0.032584 0.274182 -0.062803 q: -0.066199 0.824050 0.009724 0.562551 
time: 1403638137.545097, t: -0.036620 0.302651 -0.147529 q: -0.044159 0.837392 0.028924 0.544047 
time: 1403638137.745097, t: -0.039953 0.312924 -0.200610 q: -0.024930 0.840048 0.032099 0.540988 
wait for imu ... 
wait for imu ... 
time: 1403638137.945097, t: -0.044785 0.318047 -0.235865 q: -0.012234 0.850382 0.037899 0.524656 
wait for imu ... 
time: 1403638138.145097, t: -0.065903 0.284428 -0.250308 q: -0.012587 0.849104 0.041741 0.526423 
wait for imu ... 
wait for imu ... 
time: 1403638138.345097, t: -0.040377 0.316201 -0.248948 q: -0.015103 0.841499 0.032888 0.539045 
time: 1403638138.545097, t: -0.047873 0.310220 -0.244224 q: -0.016222 0.838235 0.032761 0.544083 
time: 1403638138.745097, t: -0.048470 0.309715 -0.245358 q: -0.017025 0.838251 0.032650 0.544041 
wait for imu ... 
wait for imu ... 
time: 1403638138.945097, t: -0.048524 0.310208 -0.245581 q: -0.017610 0.838365 0.032907 0.543829 
time: 1403638139.145097, t: -0.048348 0.310741 -0.245971 q: -0.018824 0.838211 0.032642 0.544042 
time: 1403638139.345097, t: -0.048493 0.310742 -0.246035 q: -0.019330 0.838188 0.032680 0.544057 
time: 1403638139.545097, t: -0.048386 0.310707 -0.246000 q: -0.019591 0.838135 0.033111 0.544105 
time: 1403638139.745097, t: -0.048326 0.310651 -0.246010 q: -0.019971 0.838116 0.033333 0.544106 
time: 1403638139.945097, t: -0.048281 0.310706 -0.245903 q: -0.020472 0.838125 0.033451 0.544067 
time: 1403638140.145097, t: -0.048229 0.310738 -0.245849 q: -0.021003 0.838133 0.033699 0.544018 
time: 1403638140.345097, t: -0.048187 0.310762 -0.245813 q: -0.021549 0.838086 0.033893 0.544058 
time: 1403638140.545097, t: -0.048148 0.310785 -0.245730 q: -0.022021 0.838069 0.034168 0.544047 
time: 1403638140.745097, t: -0.048114 0.310808 -0.245655 q: -0.022547 0.838025 0.034401 0.544080 
time: 1403638140.945097, t: -0.048080 0.310841 -0.245533 q: -0.022956 0.838036 0.034735 0.544024 
time: 1403638141.345097, t: -0.048022 0.310892 -0.245352 q: -0.023935 0.837950 0.035321 0.544077 
time: 1403638141.545097, t: -0.047983 0.310913 -0.245228 q: -0.024423 0.837943 0.035647 0.544044 
time: 1403638141.745097, t: -0.047961 0.310957 -0.245108 q: -0.024888 0.837949 0.035901 0.543997 
wait for imu ... 
wait for imu ... 
time: 1403638141.945097, t: -0.047931 0.310971 -0.245027 q: -0.025280 0.837955 0.036237 0.543948 
time: 1403638142.145097, t: -0.047939 0.311066 -0.244845 q: -0.025825 0.837971 0.036661 0.543870 
time: 1403638142.345097, t: -0.047936 0.310985 -0.244752 q: -0.025715 0.838055 0.036532 0.543753 
time: 1403638142.545097, t: -0.047948 0.311091 -0.244545 q: -0.026268 0.838164 0.036995 0.543527 
time: 1403638142.745097, t: -0.047881 0.311156 -0.244359 q: -0.026774 0.838276 0.037505 0.543296 
time: 1403638142.945097, t: -0.047859 0.311202 -0.244167 q: -0.026792 0.838443 0.037814 0.543015 
time: 1403638143.145097, t: -0.047857 0.311254 -0.244054 q: -0.027062 0.838498 0.038180 0.542892 
time: 1403638143.345097, t: -0.047822 0.311305 -0.243981 q: -0.027216 0.838623 0.038368 0.542677 
time: 1403638143.545097, t: -0.047840 0.311364 -0.243918 q: -0.027355 0.838648 0.038401 0.542629 
time: 1403638143.745097, t: -0.047832 0.311374 -0.243920 q: -0.027661 0.838717 0.038488 0.542502 
time: 1403638143.945097, t: -0.047809 0.311393 -0.243933 q: -0.027945 0.838754 0.038663 0.542417 
time: 1403638144.145097, t: -0.047796 0.311440 -0.243942 q: -0.028196 0.838828 0.038789 0.542280 
time: 1403638144.345097, t: -0.047837 0.311468 -0.243960 q: -0.028550 0.838830 0.038936 0.542248 
time: 1403638144.545097, t: -0.047859 0.311459 -0.243969 q: -0.028741 0.838863 0.039013 0.542181 
time: 1403638144.745097, t: -0.047881 0.311505 -0.243942 q: -0.028979 0.838879 0.039315 0.542123 
time: 1403638144.945097, t: -0.047869 0.311557 -0.243878 q: -0.029163 0.839000 0.039492 0.541913 
time: 1403638145.145097, t: -0.047881 0.311602 -0.243864 q: -0.029299 0.839049 0.039604 0.541820 
time: 1403638145.345097, t: -0.047891 0.311620 -0.243850 q: -0.029566 0.839060 0.039748 0.541779 
wait for imu ... 
time: 1403638145.545097, t: -0.047850 0.311639 -0.243769 q: -0.029677 0.839090 0.039866 0.541718 
time: 1403638145.745097, t: -0.047857 0.311686 -0.243727 q: -0.030014 0.839216 0.040040 0.541490 
time: 1403638145.945097, t: -0.047885 0.311710 -0.243728 q: -0.030140 0.839272 0.040143 0.541390 
wait for imu ... 
time: 1403638146.145097, t: -0.047849 0.311740 -0.243663 q: -0.030423 0.839323 0.040426 0.541274 
time: 1403638146.345097, t: -0.047821 0.311802 -0.243592 q: -0.030501 0.839397 0.040580 0.541143 
time: 1403638146.545097, t: -0.047830 0.311852 -0.243537 q: -0.030586 0.839483 0.040686 0.540997 
time: 1403638146.745097, t: -0.047808 0.311896 -0.243493 q: -0.030642 0.839576 0.040905 0.540833 
wait for imu ... 
time: 1403638146.945097, t: -0.047759 0.311995 -0.243424 q: -0.030784 0.839700 0.041105 0.540617 
time: 1403638147.145097, t: -0.047812 0.312237 -0.243446 q: -0.030990 0.839987 0.041274 0.540147 
time: 1403638147.345097, t: -0.047800 0.312246 -0.243421 q: -0.030986 0.839883 0.041448 0.540295 
time: 1403638147.545097, t: -0.047690 0.312123 -0.243150 q: -0.031582 0.839455 0.041464 0.540924 
wait for imu ... 
wait for imu ... 
time: 1403638147.745097, t: -0.046512 0.312504 -0.243755 q: -0.033129 0.838534 0.042708 0.542162 
time: 1403638147.945097, t: -0.035211 0.312630 -0.234245 q: -0.030976 0.826863 0.036472 0.560364 
time: 1403638148.145097, t: -0.014076 0.314632 -0.198177 q: -0.031452 0.817135 0.036764 0.574412 
time: 1403638148.345097, t: 0.004421 0.315149 -0.115589 q: -0.035068 0.814325 0.042107 0.577817 
time: 1403638148.545097, t: 0.015205 0.316017 -0.048588 q: -0.034509 0.819710 0.049138 0.569622 
time: 1403638148.745097, t: 0.026269 0.321270 -0.061387 q: -0.036067 0.826404 0.053931 0.559327 
wait for imu ... 
time: 1403638148.945097, t: 0.045509 0.331839 -0.060216 q: -0.039067 0.827220 0.056664 0.557647 
time: 1403638149.145097, t: 0.075686 0.345833 -0.008412 q: -0.041414 0.820709 0.059028 0.566778 
time: 1403638149.345097, t: 0.109661 0.365199 0.049150 q: -0.045261 0.818117 0.057202 0.570407 
wait for imu ... 
wait for imu ... 
time: 1403638149.545097, t: 0.141970 0.384961 0.087873 q: -0.044613 0.816518 0.058447 0.572618 
time: 1403638149.745097, t: 0.178371 0.408512 0.100419 q: -0.048446 0.815753 0.067389 0.572414 
time: 1403638149.945097, t: 0.210402 0.427626 0.108549 q: -0.054274 0.815406 0.075535 0.571369 
wait for imu ... 
time: 1403638150.145097, t: 0.246370 0.458649 0.102557 q: -0.044291 0.814327 0.087753 0.572022 
time: 1403638150.345097, t: 0.290112 0.510944 0.080245 q: -0.037083 0.816527 0.093165 0.568532 
time: 1403638150.545097, t: 0.334523 0.586074 0.066746 q: -0.053490 0.826721 0.095651 0.551836 
time: 1403638150.745097, t: 0.389822 0.676964 0.086708 q: -0.064264 0.826745 0.104116 0.549110 
wait for imu ... 
time: 1403638150.945097, t: 0.454457 0.775477 0.120773 q: -0.071419 0.819486 0.119817 0.555865 
time: 1403638151.145097, t: 0.527939 0.883592 0.135753 q: -0.083264 0.809934 0.143058 0.562680 
time: 1403638151.345097, t: 0.595206 0.999949 0.124570 q: -0.108621 0.803812 0.179923 0.556521 
time: 1403638151.545097, t: 0.659578 1.129129 0.119889 q: -0.137910 0.794790 0.215953 0.550140 
wait for imu ... 
time: 1403638151.945097, t: 0.766617 1.389552 0.184373 q: -0.158142 0.786136 0.250335 0.542507 
time: 1403638152.145097, t: 0.822608 1.536130 0.234374 q: -0.157008 0.786149 0.252687 0.541726 
time: 1403638152.345097, t: 0.869901 1.682590 0.261152 q: -0.152345 0.785391 0.253947 0.543565 
time: 1403638152.545097, t: 0.903094 1.833771 0.262853 q: -0.146686 0.785530 0.255062 0.544397 
wait for imu ... 
time: 1403638152.745097, t: 0.932205 2.004232 0.253549 q: -0.154529 0.787202 0.254614 0.540004 
time: 1403638152.945097, t: 0.968847 2.199682 0.274742 q: -0.176393 0.777760 0.266276 0.541361 
time: 1403638153.145097, t: 0.999989 2.388964 0.318688 q: -0.191788 0.774413 0.289485 0.528867 
time: 1403638153.345097, t: 1.035959 2.577266 0.351443 q: -0.199836 0.770875 0.306949 0.521152 
time: 1403638153.545097, t: 1.068751 2.773419 0.377748 q: -0.205365 0.759926 0.338160 0.515738 
wait for imu ... 
time: 1403638153.745097, t: 1.098210 2.987798 0.423259 q: -0.224534 0.744512 0.369214 0.508888 
time: 1403638153.945097, t: 1.127275 3.216669 0.455352 q: -0.246308 0.729893 0.386359 0.507263 
time: 1403638154.145097, t: 1.155969 3.453877 0.464498 q: -0.258372 0.721029 0.391033 0.510348 
time: 1403638154.345097, t: 1.178588 3.694518 0.454381 q: -0.262475 0.712354 0.390519 0.520724 
time: 1403638154.545097, t: 1.182109 3.930443 0.437787 q: -0.267622 0.706844 0.385245 0.529468 
wait for imu ... 
time: 1403638154.745097, t: 1.154890 4.142278 0.435893 q: -0.270459 0.709622 0.395475 0.516611 
time: 1403638154.945097, t: 1.117284 4.350246 0.461033 q: -0.267982 0.704781 0.414237 0.509781 
time: 1403638155.145097, t: 1.059412 4.567154 0.515573 q: -0.279690 0.692150 0.431288 0.506648 
time: 1403638155.345097, t: 0.993975 4.804148 0.559273 q: -0.293184 0.679308 0.440935 0.508095 
time: 1403638155.545097, t: 0.897705 5.007822 0.573946 q: -0.308074 0.664348 0.456147 0.505630 
wait for imu ... 
time: 1403638155.745097, t: 0.778343 5.199698 0.563590 q: -0.340713 0.647062 0.471857 0.492520 
time: 1403638155.945097, t: 0.644065 5.354632 0.535065 q: -0.363514 0.630667 0.503864 0.465014 
time: 1403638156.145097, t: 0.503737 5.478261 0.520785 q: -0.378836 0.613975 0.544891 0.427330 
time: 1403638156.345097, t: 0.369691 5.627853 0.535866 q: -0.393034 0.597263 0.573357 0.400079 
time: 1403638156.545097, t: 0.240694 5.767731 0.541203 q: -0.400200 0.588795 0.587535 0.384659 
time: 1403638156.745097, t: 0.123942 5.925550 0.525423 q: -0.402147 0.585523 0.591478 0.381569 
wait for imu ... 
wait for imu ... 
time: 1403638156.945097, t: 0.014952 6.099494 0.495317 q: -0.399523 0.587118 0.591310 0.382134 
time: 1403638157.145097, t: -0.098444 6.292583 0.486020 q: -0.394531 0.592570 0.590230 0.380571 
time: 1403638157.345097, t: -0.187937 6.498473 0.497484 q: -0.393171 0.592186 0.590853 0.381607 
time: 1403638157.545097, t: -0.283880 6.731062 0.513829 q: -0.397639 0.579673 0.595862 0.388344 
time: 1403638157.745097, t: -0.384161 6.972073 0.514530 q: -0.412491 0.551658 0.610884 0.390314 
time: 1403638157.945097, t: -0.494496 7.204491 0.539645 q: -0.433537 0.522876 0.632788 0.371787 
time: 1403638158.145097, t: -0.608085 7.428836 0.569117 q: -0.449379 0.507764 0.647314 0.348166 
time: 1403638158.345097, t: -0.709290 7.650581 0.579765 q: -0.455541 0.498634 0.654676 0.339478 
time: 1403638158.545097, t: -0.804596 7.873301 0.573791 q: -0.453427 0.489987 0.659043 0.346379 
wait for imu ... 
wait for imu ... 
time: 1403638158.745097, t: -0.902529 8.088744 0.560169 q: -0.454718 0.491298 0.656917 0.346868 
time: 1403638158.945097, t: -1.001054 8.287619 0.557719 q: -0.452640 0.502978 0.655869 0.334614 
time: 1403638159.145097, t: -1.097731 8.495562 0.585400 q: -0.437591 0.514876 0.663388 0.321456 
time: 1403638159.345097, t: -1.192517 8.725917 0.607838 q: -0.440044 0.516073 0.659695 0.323778 
time: 1403638159.545097, t: -1.280640 8.974733 0.629327 q: -0.478232 0.504930 0.632178 0.341602 
wait for imu ... 
time: 1403638159.745097, t: -1.346394 9.214576 0.675784 q: 0.504439 -0.507861 -0.612933 -0.334562 
wait for imu ... 
time: 1403638159.945097, t: -1.361079 9.410530 0.753684 q: -0.493422 0.495291 0.622142 0.352364 
time: 1403638160.145097, t: -1.338556 9.547936 0.863833 q: -0.478986 0.490517 0.634877 0.356226 
time: 1403638160.345097, t: -1.306481 9.647610 1.006393 q: -0.454731 0.500035 0.654233 0.339359 
wait for imu ... 
time: 1403638160.545097, t: -1.278810 9.758720 1.158099 q: -0.447452 0.503314 0.659514 0.333920 
time: 1403638160.745097, t: -1.259960 9.880638 1.290897 q: -0.451217 0.503913 0.656875 0.333152 
time: 1403638160.945097, t: -1.235635 10.016992 1.406923 q: -0.471830 0.510159 0.630832 0.345202 
time: 1403638161.145097, t: -1.194329 10.133735 1.506239 q: -0.464265 0.529653 0.607592 0.367092 
time: 1403638161.345097, t: -1.136724 10.231819 1.593303 q: -0.435743 0.563240 0.585013 0.388134 
time: 1403638161.545097, t: -1.073503 10.319972 1.676559 q: -0.405886 0.591938 0.573631 0.394732 
time: 1403638161.745097, t: -1.006915 10.408072 1.745296 q: -0.399268 0.606906 0.561360 0.396390 
wait for imu ... 
time: 1403638161.945097, t: -0.931118 10.512181 1.796298 q: -0.398289 0.613017 0.545775 0.409518 
wait for imu ... 
time: 1403638162.145097, t: -0.839541 10.623218 1.845533 q: -0.392562 0.622094 0.536229 0.413948 
time: 1403638162.345097, t: -0.737902 10.731012 1.906286 q: -0.391165 0.631587 0.530876 0.407748 
time: 1403638162.545097, t: -0.619590 10.843548 1.954309 q: -0.393184 0.630197 0.528060 0.411596 
time: 1403638162.745097, t: -0.485445 10.954499 2.006796 q: -0.385170 0.625747 0.535838 0.415888 
wait for imu ... 
wait for imu ... 
time: 1403638162.945097, t: -0.336348 11.060508 2.086923 q: -0.389860 0.633170 0.524776 0.414386 
time: 1403638163.145097, t: -0.178291 11.155987 2.163909 q: -0.396047 0.633566 0.507559 0.429097 
time: 1403638163.345097, t: -0.002811 11.242236 2.176321 q: -0.374657 0.645283 0.496610 0.443419 
time: 1403638163.545097, t: 0.181620 11.322441 2.175250 q: -0.355933 0.659260 0.478152 0.458322 
wait for imu ... 
wait for imu ... 
time: 1403638163.745097, t: 0.361509 11.388115 2.201289 q: -0.346533 0.667174 0.469102 0.463397 
time: 1403638163.945097, t: 0.543509 11.441636 2.263494 q: -0.347431 0.669968 0.464081 0.463749 
time: 1403638164.145097, t: 0.727463 11.497050 2.351284 q: -0.355458 0.673371 0.460205 0.456545 
time: 1403638164.345097, t: 0.920916 11.538387 2.440746 q: -0.364088 0.670809 0.457781 0.455951 
time: 1403638164.545097, t: 1.130982 11.562054 2.507770 q: -0.368984 0.669760 0.457672 0.453661 
wait for imu ... 
time: 1403638164.745097, t: 1.363385 11.577082 2.558535 q: -0.364889 0.672925 0.452836 0.457129 
time: 1403638164.945097, t: 1.604804 11.554738 2.594032 q: -0.343696 0.663667 0.456256 0.482958 
time: 1403638165.145097, t: 1.843210 11.531013 2.614212 q: -0.351834 0.671628 0.435752 0.485025 
time: 1403638165.345097, t: 2.064470 11.468726 2.604157 q: -0.338264 0.692264 0.432088 0.468667 
time: 1403638165.545097, t: 2.316371 11.413244 2.586527 q: -0.338180 0.690144 0.423695 0.479395 
time: 1403638165.745097, t: 2.559328 11.330524 2.549211 q: -0.338395 0.673712 0.419082 0.505936 
wait for imu ... 
time: 1403638165.945097, t: 2.776023 11.218027 2.495072 q: -0.326652 0.681077 0.427768 0.496434 
time: 1403638166.145097, t: 3.004727 11.100630 2.477859 q: -0.313867 0.689309 0.439674 0.482729 
wait for imu ... 
time: 1403638166.345097, t: 3.215392 10.993927 2.523347 q: -0.309781 0.687491 0.447915 0.480379 
wait for imu ... 
time: 1403638166.545097, t: 3.406118 10.879895 2.616849 q: -0.309913 0.685899 0.451712 0.479012 
wait for imu ... 
time: 1403638166.745097, t: 3.591126 10.780652 2.686054 q: -0.316274 0.687414 0.450293 0.473993 
wait for imu ... 
time: 1403638166.945097, t: 3.764714 10.684553 2.722177 q: -0.323475 0.706656 0.446575 0.443365 
time: 1403638167.145097, t: 3.951805 10.606643 2.754997 q: -0.311622 0.711349 0.454982 0.435736 
wait for imu ... 
time: 1403638167.345097, t: 4.167978 10.559124 2.813819 q: -0.305565 0.705460 0.459633 0.444627 
wait for imu ... 
time: 1403638167.545097, t: 4.399725 10.547051 2.877634 q: -0.311773 0.701885 0.454069 0.451637 
time: 1403638167.745097, t: 4.648613 10.526823 2.921106 q: -0.326336 0.704993 0.433620 0.456578 
time: 1403638167.945097, t: 4.909823 10.518281 2.941917 q: -0.324129 0.718149 0.406158 0.462859 
wait for imu ... 
time: 1403638168.145097, t: 5.191545 10.509715 2.961741 q: -0.310707 0.729021 0.383924 0.473912 
time: 1403638168.345097, t: 5.489938 10.486223 3.008374 q: -0.288141 0.738754 0.364927 0.487899 
time: 1403638168.545097, t: 5.804074 10.449441 3.073971 q: -0.257163 0.747997 0.354564 0.498651 
wait for imu ... 
time: 1403638168.745097, t: 6.112310 10.429445 3.111726 q: -0.228646 0.755440 0.358706 0.498358 
wait for imu ... 
time: 1403638168.945097, t: 6.421033 10.421232 3.124581 q: -0.222217 0.758157 0.360078 0.496147 
time: 1403638169.145097, t: 6.726129 10.444430 3.119926 q: -0.235358 0.749584 0.357277 0.505059 
time: 1403638169.345097, t: 7.031416 10.479135 3.096103 q: -0.264949 0.748039 0.334905 0.508015 
wait for imu ... 
time: 1403638169.545097, t: 7.341166 10.512978 3.055899 q: -0.275153 0.750914 0.298777 0.520721 
wait for imu ... 
wait for imu ... 
time: 1403638169.745097, t: 7.653689 10.501775 3.038770 q: -0.242633 0.761109 0.275178 0.534901 
wait for imu ... 
time: 1403638169.945097, t: 7.966010 10.463045 3.050526 q: -0.188516 0.767471 0.255637 0.556866 
time: 1403638170.145097, t: 8.243599 10.417646 3.084071 q: -0.161658 0.769754 0.214072 0.579239 
time: 1403638170.345097, t: 8.495607 10.358508 3.097132 q: -0.145069 0.783855 0.164046 0.581047 
wait for imu ... 
time: 1403638170.545097, t: 8.714289 10.282492 3.090854 q: -0.128461 0.797069 0.115868 0.578578 
time: 1403638170.745097, t: 8.933364 10.195654 3.104621 q: -0.111139 0.798044 0.072474 0.587811 
time: 1403638170.945097, t: 9.096065 10.050129 3.136910 q: -0.083355 0.801017 0.038063 0.591587 
time: 1403638171.145097, t: 9.220350 9.880205 3.146981 q: -0.060198 0.799872 0.006711 0.597107 
wait for imu ... 
time: 1403638171.345097, t: 9.329589 9.701086 3.144455 q: -0.051282 0.797983 -0.012001 0.600374 
time: 1403638171.545097, t: 9.387456 9.496400 3.136722 q: -0.047201 0.794264 -0.026865 0.605141 
wait for imu ... 
time: 1403638171.745097, t: 9.446961 9.256676 3.120989 q: -0.042553 0.790199 -0.046261 0.609618 
time: 1403638171.945097, t: 9.452235 8.984121 3.110224 q: -0.036093 0.783527 -0.064773 0.616918 
time: 1403638172.145097, t: 9.407687 8.676133 3.122720 q: -0.021351 0.782147 -0.068483 0.618950 
wait for imu ... 
time: 1403638172.345097, t: 9.318915 8.345961 3.109812 q: -0.015201 0.783614 -0.068562 0.617266 
wait for imu ... 
wait for imu ... 
time: 1403638172.745097, t: 9.066508 7.619552 2.966349 q: -0.026229 0.779195 -0.067121 0.622625 
time: 1403638172.945097, t: 8.877682 7.223124 2.857324 q: -0.035500 0.780660 -0.065489 0.620501 
wait for imu ... 
time: 1403638173.145097, t: 8.652459 6.803627 2.727162 q: -0.045756 0.789606 -0.064076 0.608542 
time: 1403638173.345097, t: 8.404908 6.340403 2.573025 q: -0.035412 0.797191 -0.052310 0.600413 
wait for imu ... 
time: 1403638173.545097, t: 8.147658 5.853575 2.391459 q: -0.008153 0.801067 -0.033837 0.597562 
wait for imu ... 
time: 1403638173.745097, t: 7.879838 5.373206 2.191425 q: -0.002649 0.802139 -0.031288 0.596311 
wait for imu ... 
wait for imu ... 
time: 1403638173.945097, t: 7.593756 4.912341 1.994749 q: -0.001228 0.803009 -0.032780 0.595063 
time: 1403638174.145097, t: 7.287708 4.462560 1.821510 q: 0.000360 0.804741 -0.032644 0.592728 
time: 1403638174.345097, t: 6.971428 4.035907 1.646104 q: 0.001702 0.814160 -0.031301 0.579794 
time: 1403638174.545097, t: 6.673355 3.614132 1.459583 q: -0.000551 0.820721 -0.031223 0.570476 
time: 1403638174.745097, t: 6.383574 3.209346 1.295761 q: 0.006453 0.828899 -0.025672 0.558771 
time: 1403638174.945097, t: 6.127616 2.816706 1.159115 q: 0.009683 0.833208 -0.023624 0.552370 
wait for imu ... 
time: 1403638175.145097, t: 5.914917 2.449226 1.044202 q: 0.013621 0.832020 -0.023774 0.554069 
time: 1403638175.345097, t: 5.750418 2.104608 0.955597 q: 0.017995 0.836828 -0.024400 0.546625 
time: 1403638175.545097, t: 5.593789 1.760398 0.892060 q: 0.028005 0.849003 -0.019023 0.527302 
time: 1403638175.745097, t: 5.480979 1.444530 0.863128 q: 0.025840 0.861797 -0.019688 0.506212 
time: 1403638175.945097, t: 5.430956 1.142842 0.818671 q: 0.031097 0.865099 -0.013361 0.500458 
time: 1403638176.145097, t: 5.431278 0.853693 0.755407 q: 0.042521 0.846358 -0.000569 0.530914 
time: 1403638176.345097, t: 5.500603 0.635282 0.720618 q: 0.034358 0.822671 -0.005430 0.567453 
time: 1403638176.545097, t: 5.546368 0.433875 0.702970 q: 0.036926 0.820352 -0.005267 0.570641 
time: 1403638176.745097, t: 5.585370 0.257968 0.703189 q: 0.038251 0.821990 -0.005153 0.568192 
time: 1403638176.945097, t: 5.625128 0.117491 0.734851 q: 0.031961 0.822906 -0.009727 0.567194 
time: 1403638177.145097, t: 5.682992 0.006706 0.749282 q: 0.037428 0.824194 -0.006373 0.565033 
time: 1403638177.345097, t: 5.743181 -0.077107 0.738708 q: 0.040842 0.824024 -0.004119 0.565066 
wait for imu ... 
time: 1403638177.545097, t: 5.806171 -0.132996 0.711588 q: 0.031561 0.824369 -0.012377 0.565036 
time: 1403638177.745097, t: 5.874892 -0.182184 0.667747 q: 0.009941 0.823167 -0.031216 0.566853 
time: 1403638178.145097, t: 6.011640 -0.297963 0.592666 q: 0.013813 0.804172 -0.049838 0.592143 
time: 1403638178.345097, t: 6.056912 -0.368779 0.592433 q: 0.031991 0.798075 -0.078037 0.596627 
time: 1403638178.545097, t: 6.072496 -0.451188 0.599772 q: 0.055941 0.798048 -0.121681 0.587523 
time: 1403638178.745097, t: 6.067375 -0.539979 0.590532 q: 0.078231 0.796812 -0.168133 0.575067 
time: 1403638178.945097, t: 6.044502 -0.638786 0.569900 q: 0.102174 0.796584 -0.201005 0.560902 
time: 1403638179.145097, t: 6.026866 -0.750240 0.531367 q: 0.118682 0.802938 -0.215448 0.542943 
time: 1403638179.545097, t: 6.033240 -1.025615 0.425043 q: 0.160017 0.784635 -0.258215 0.540433 
time: 1403638179.745097, t: 6.049765 -1.174066 0.367655 q: 0.186299 0.765379 -0.295242 0.540666 
time: 1403638179.945097, t: 6.063108 -1.324928 0.334211 q: 0.211233 0.751965 -0.331561 0.529147 
time: 1403638180.145097, t: 6.068832 -1.475691 0.317979 q: 0.220053 0.748213 -0.357747 0.513587 
time: 1403638180.345097, t: 6.090734 -1.636728 0.300178 q: 0.225246 0.745807 -0.366538 0.508612 
time: 1403638180.545097, t: 6.086989 -1.808861 0.265141 q: 0.232395 0.747645 -0.363086 0.505162 
wait for imu ... 
time: 1403638180.745097, t: 6.105320 -1.994454 0.234247 q: 0.232489 0.755019 -0.358776 0.497167 
time: 1403638180.945097, t: 6.123646 -2.193986 0.228731 q: 0.225201 0.758256 -0.356433 0.497281 
time: 1403638181.145097, t: 6.160752 -2.410901 0.220233 q: 0.217863 0.755932 -0.355200 0.504911 
time: 1403638181.345097, t: 6.204253 -2.640640 0.193347 q: 0.217265 0.741985 -0.360239 0.521999 
time: 1403638181.545097, t: 6.230816 -2.877094 0.153746 q: 0.227984 0.713939 -0.388841 0.535834 
time: 1403638181.745097, t: 6.226307 -3.116260 0.117703 q: 0.262151 0.692565 -0.416197 0.527646 
wait for imu ... 
time: 1403638181.945097, t: 6.187436 -3.330681 0.114577 q: 0.294341 0.684887 -0.443964 0.497181 
time: 1403638182.145097, t: 6.148319 -3.541027 0.139341 q: 0.302030 0.681346 -0.468161 0.474732 
time: 1403638182.345097, t: 6.109610 -3.762602 0.162493 q: 0.295692 0.677189 -0.485248 0.467456 
time: 1403638182.545097, t: 6.071980 -4.032887 0.178977 q: 0.300186 0.685201 -0.482733 0.455365 
time: 1403638182.745097, t: 6.025190 -4.293488 0.231459 q: 0.303716 0.692190 -0.475062 0.450495 
time: 1403638182.945097, t: 5.989501 -4.549340 0.287434 q: 0.303579 0.689895 -0.470066 0.459263 
time: 1403638183.145097, t: 5.964120 -4.814676 0.320638 q: 0.312971 0.684913 -0.459368 0.471088 
time: 1403638183.345097, t: 5.941056 -5.076372 0.336815 q: 0.312059 0.692013 -0.457653 0.462916 
time: 1403638183.545097, t: 5.928752 -5.348932 0.334469 q: 0.307467 0.701696 -0.459840 0.449036 
time: 1403638183.745097, t: 5.942002 -5.647302 0.326423 q: 0.314059 0.695185 -0.455301 0.459114 
time: 1403638183.945097, t: 5.961863 -5.917130 0.350833 q: 0.325746 0.687112 -0.447327 0.470813 
time: 1403638184.145097, t: 5.992338 -6.187485 0.399540 q: 0.319837 0.692260 -0.452511 0.462292 
time: 1403638184.345097, t: 6.043626 -6.439029 0.431768 q: 0.315109 0.695514 -0.457566 0.455632 
time: 1403638184.545097, t: 6.111622 -6.699972 0.447895 q: 0.320725 0.690211 -0.454543 0.462748 
wait for imu ... 
time: 1403638184.745097, t: 6.198011 -6.947835 0.458939 q: 0.321310 0.687654 -0.455068 0.465623 
time: 1403638184.945097, t: 6.291403 -7.197012 0.472420 q: 0.324149 0.686800 -0.453757 0.466195 
time: 1403638185.145097, t: 6.394022 -7.441141 0.493244 q: 0.323299 0.687968 -0.454211 0.464618 
time: 1403638185.345097, t: 6.502812 -7.687748 0.521741 q: 0.329590 0.690845 -0.448878 0.461099 
time: 1403638185.545097, t: 6.630231 -7.921471 0.551669 q: 0.332911 0.695553 -0.429686 0.469835 
time: 1403638185.745097, t: 6.780014 -8.129611 0.584937 q: 0.320385 0.702075 -0.410877 0.485411 
time: 1403638185.945097, t: 6.939528 -8.332390 0.613538 q: 0.277812 0.703026 -0.423998 0.498799 
wait for imu ... 
time: 1403638186.145097, t: 7.085944 -8.513817 0.624511 q: 0.275638 0.709886 -0.419457 0.494107 
time: 1403638186.345097, t: 7.224400 -8.709609 0.636920 q: 0.282898 0.714631 -0.413165 0.488432 
time: 1403638186.545097, t: 7.359725 -8.898531 0.671417 q: 0.286868 0.715009 -0.411669 0.486824 
wait for imu ... 
time: 1403638186.745097, t: 7.499556 -9.084465 0.694934 q: 0.296048 0.718022 -0.405667 0.481907 
time: 1403638186.945097, t: 7.653459 -9.252724 0.697158 q: 0.295706 0.729003 -0.385981 0.481800 
time: 1403638187.145097, t: 7.835844 -9.413352 0.708121 q: 0.265532 0.739131 -0.355939 0.506445 
time: 1403638187.345097, t: 8.029402 -9.560204 0.749864 q: 0.232788 0.746809 -0.313058 0.538592 
time: 1403638187.545097, t: 8.211334 -9.691653 0.812031 q: 0.213438 0.754199 -0.281934 0.553301 
time: 1403638187.745097, t: 8.376731 -9.803134 0.867505 q: 0.202703 0.767251 -0.272055 0.544264 
time: 1403638187.945097, t: 8.533577 -9.889718 0.903885 q: 0.211685 0.769778 -0.263109 0.541668 
time: 1403638188.145097, t: 8.691020 -9.953264 0.933697 q: 0.229697 0.764765 -0.254600 0.545483 
time: 1403638188.345097, t: 8.850718 -9.989417 0.945016 q: 0.228396 0.745613 -0.258802 0.570015 
time: 1403638188.545097, t: 8.990228 -9.988548 0.940295 q: 0.224506 0.725769 -0.263722 0.594396 
time: 1403638188.745097, t: 9.090752 -9.944305 0.939132 q: 0.214061 0.732195 -0.259471 0.592236 
time: 1403638188.945097, t: 9.150352 -9.864815 0.974212 q: 0.201626 0.747733 -0.252814 0.579937 
time: 1403638189.145097, t: 9.177024 -9.751893 1.041764 q: 0.187084 0.755991 -0.240999 0.579134 
time: 1403638189.345097, t: 9.173941 -9.615833 1.094192 q: 0.159756 0.769927 -0.216940 0.578471 
time: 1403638189.545097, t: 9.140540 -9.467289 1.133151 q: 0.136572 0.795011 -0.197462 0.557058 
time: 1403638189.745097, t: 9.105543 -9.324344 1.192992 q: 0.120285 0.807184 -0.191512 0.545260 
time: 1403638189.945097, t: 9.086166 -9.198228 1.231055 q: 0.114833 0.816569 -0.190895 0.532529 
wait for imu ... 
time: 1403638190.145097, t: 9.076799 -9.087550 1.245108 q: 0.121556 0.806616 -0.187656 0.547156 
time: 1403638190.345097, t: 9.094308 -8.986344 1.238004 q: 0.142771 0.792587 -0.169100 0.568179 
time: 1403638190.545097, t: 9.106118 -8.869090 1.210288 q: 0.149422 0.791812 -0.144392 0.574333 
wait for imu ... 
time: 1403638190.745097, t: 9.117962 -8.720124 1.174757 q: 0.136941 0.795222 -0.138708 0.574133 
time: 1403638190.945097, t: 9.120815 -8.549546 1.156242 q: 0.117174 0.796975 -0.144898 0.574549 
time: 1403638191.145097, t: 9.113435 -8.364838 1.170030 q: 0.111696 0.794441 -0.146206 0.578802 
time: 1403638191.345097, t: 9.092271 -8.177068 1.209856 q: 0.108202 0.807586 -0.149227 0.560204 
time: 1403638191.545097, t: 9.070086 -7.992003 1.247231 q: 0.109368 0.811187 -0.151202 0.554213 
time: 1403638191.745097, t: 9.068338 -7.806185 1.267894 q: 0.118258 0.812298 -0.147351 0.551793 
time: 1403638191.945097, t: 9.089070 -7.622939 1.267744 q: 0.123723 0.812998 -0.145073 0.550164 
time: 1403638192.145097, t: 9.138312 -7.440987 1.282742 q: 0.123592 0.812452 -0.145233 0.550957 
time: 1403638192.345097, t: 9.200201 -7.261140 1.337133 q: 0.118865 0.804480 -0.147430 0.562981 
time: 1403638192.545097, t: 9.270721 -7.076448 1.417741 q: 0.117478 0.799406 -0.147685 0.570383 
wait for imu ... 
time: 1403638192.745097, t: 9.326070 -6.888844 1.507894 q: 0.118411 0.786511 -0.147401 0.587922 
time: 1403638192.945097, t: 9.358783 -6.683644 1.576566 q: 0.107425 0.768274 -0.154115 0.611934 
wait for imu ... 
wait for imu ... 
time: 1403638193.145097, t: 9.345921 -6.467870 1.633839 q: 0.090761 0.764670 -0.152503 0.619504 
time: 1403638193.545097, t: 9.162928 -6.059915 1.817676 q: 0.093812 0.782714 -0.120272 0.603401 
time: 1403638193.745097, t: 9.016948 -5.860595 1.890884 q: 0.087677 0.795920 -0.119990 0.586879 
time: 1403638193.945097, t: 8.859298 -5.654807 1.938863 q: 0.085943 0.805500 -0.121299 0.573646 
time: 1403638194.145097, t: 8.695368 -5.464214 1.964317 q: 0.087107 0.801252 -0.121865 0.579272 
time: 1403638194.345097, t: 8.534910 -5.264719 1.971060 q: 0.088169 0.797154 -0.122827 0.584539 
time: 1403638194.545097, t: 8.364317 -5.078090 1.979273 q: 0.085772 0.805359 -0.126258 0.572799 
wait for imu ... 
wait for imu ... 
time: 1403638194.745097, t: 8.194511 -4.893441 2.004059 q: 0.084965 0.815046 -0.128730 0.558488 
wait for imu ... 
time: 1403638194.945097, t: 8.036782 -4.714470 2.019151 q: 0.087467 0.821122 -0.128818 0.549104 
wait for imu ... 
time: 1403638195.145097, t: 7.900286 -4.541243 2.014379 q: 0.087729 0.824154 -0.129167 0.544417 
time: 1403638195.345097, t: 7.791251 -4.382158 1.984723 q: 0.081396 0.837419 -0.133876 0.523623 
time: 1403638195.545097, t: 7.720920 -4.245417 1.945244 q: 0.083348 0.823340 -0.132313 0.545579 
time: 1403638195.745097, t: 7.668391 -4.116472 1.899070 q: 0.084726 0.816334 -0.130309 0.556273 
time: 1403638195.945097, t: 7.618103 -3.993742 1.872665 q: 0.082425 0.825025 -0.130482 0.543612 
time: 1403638196.145097, t: 7.597297 -3.878449 1.879825 q: 0.083153 0.825411 -0.129525 0.543144 
wait for imu ... 
time: 1403638196.345097, t: 7.603406 -3.778110 1.911855 q: 0.086374 0.815219 -0.126498 0.558529 
time: 1403638196.545097, t: 7.612440 -3.679258 1.924305 q: 0.082827 0.816933 -0.129695 0.555823 
time: 1403638196.745097, t: 7.636447 -3.600199 1.912174 q: 0.079299 0.827387 -0.133420 0.539760 
wait for imu ... 
time: 1403638196.945097, t: 7.681496 -3.531571 1.885443 q: 0.080945 0.823223 -0.132530 0.546065 
time: 1403638197.145097, t: 7.746580 -3.483010 1.879415 q: 0.083627 0.815422 -0.130546 0.557719 
time: 1403638197.345097, t: 7.815706 -3.438305 1.901882 q: 0.097340 0.810338 -0.120458 0.565126 
time: 1403638197.545097, t: 7.880582 -3.380820 1.953241 q: 0.102362 0.805552 -0.116475 0.571875 
time: 1403638197.745097, t: 7.941182 -3.314555 2.023495 q: 0.102540 0.805401 -0.115174 0.572320 
wait for imu ... 
time: 1403638197.945097, t: 7.998559 -3.234775 2.078489 q: 0.095146 0.797474 -0.118774 0.583845 
time: 1403638198.145097, t: 8.046635 -3.146915 2.080243 q: 0.090810 0.791593 -0.121251 0.591974 
wait for imu ... 
time: 1403638198.345097, t: 8.075438 -3.047425 2.022989 q: 0.090704 0.797845 -0.121197 0.583548 
wait for imu ... 
time: 1403638198.545097, t: 8.094741 -2.937967 1.944583 q: 0.103155 0.804872 -0.111812 0.573618 
time: 1403638198.745097, t: 8.112070 -2.808542 1.862247 q: 0.136586 0.801170 -0.087691 0.576005 
wait for imu ... 
time: 1403638198.945097, t: 8.126305 -2.629459 1.804474 q: 0.143600 0.799307 -0.081804 0.577751 
time: 1403638199.145097, t: 8.136054 -2.395740 1.783585 q: 0.138039 0.800735 -0.086767 0.576403 
time: 1403638199.345097, t: 8.141753 -2.115669 1.800699 q: 0.133423 0.795891 -0.090358 0.583601 
time: 1403638199.545097, t: 8.137559 -1.790016 1.844301 q: 0.142809 0.799938 -0.084518 0.576681 
time: 1403638199.745097, t: 8.130578 -1.415150 1.912720 q: 0.123951 0.804425 -0.078100 0.575705 
wait for imu ... 
time: 1403638199.945097, t: 8.120969 -1.010013 1.971966 q: 0.092361 0.810155 -0.083008 0.572912 
time: 1403638200.145097, t: 8.110789 -0.599476 2.015552 q: 0.082101 0.811620 -0.064756 0.574751 
wait for imu ... 
time: 1403638200.345097, t: 8.099041 -0.174406 2.069894 q: 0.067759 0.803391 -0.031966 0.590720 
time: 1403638200.545097, t: 8.074904 0.260110 2.157618 q: 0.062722 0.803041 0.002612 0.592608 
wait for imu ... 
time: 1403638200.745097, t: 8.036642 0.727906 2.265242 q: 0.057788 0.805430 0.035819 0.588778 
time: 1403638200.945097, t: 7.980732 1.227675 2.367879 q: 0.039299 0.810749 0.043493 0.582452 
time: 1403638201.145097, t: 7.915051 1.749373 2.443296 q: 0.016441 0.811891 0.033851 0.582596 
time: 1403638201.345097, t: 7.836880 2.270353 2.492736 q: 0.012148 0.811592 0.028196 0.583418 
time: 1403638201.545097, t: 7.746190 2.792769 2.504881 q: 0.016068 0.809547 0.026405 0.586241 
time: 1403638201.745097, t: 7.650397 3.311346 2.485716 q: 0.017400 0.807454 0.023327 0.589212 
time: 1403638201.945097, t: 7.554374 3.833517 2.441402 q: 0.015835 0.807907 0.023527 0.588627 
time: 1403638202.145097, t: 7.427133 4.359330 2.401975 q: -0.002609 0.811601 0.029953 0.583437 
time: 1403638202.345097, t: 7.288730 4.870230 2.388129 q: -0.019326 0.818420 0.031195 0.573448 
time: 1403638202.545097, t: 7.145192 5.356712 2.373769 q: -0.024006 0.820494 0.033738 0.570153 
time: 1403638202.745097, t: 7.018084 5.830243 2.338905 q: -0.026132 0.821952 0.032690 0.568017 
time: 1403638202.945097, t: 6.884570 6.259417 2.280706 q: -0.024609 0.819867 0.032570 0.571098 
time: 1403638203.145097, t: 6.765296 6.674465 2.236422 q: -0.024472 0.817499 0.032063 0.574516 
time: 1403638203.345097, t: 6.656820 7.091342 2.221859 q: -0.023073 0.812394 0.032972 0.581718 
time: 1403638203.545097, t: 6.542851 7.485924 2.198055 q: -0.026889 0.811714 0.030772 0.582623 
time: 1403638203.745097, t: 6.425757 7.859640 2.171412 q: -0.028953 0.812911 0.029521 0.580919 
time: 1403638203.945097, t: 6.292871 8.215048 2.183236 q: -0.027812 0.812921 0.031860 0.580837 
wait for imu ... 
time: 1403638204.145097, t: 6.146713 8.564109 2.213981 q: -0.032184 0.816700 0.031564 0.575299 
time: 1403638204.345097, t: 6.020556 8.889292 2.270730 q: -0.049091 0.824926 0.019495 0.562768 
time: 1403638204.545097, t: 5.920441 9.184328 2.342788 q: -0.057420 0.829318 0.010795 0.555714 
time: 1403638204.745097, t: 5.831922 9.434590 2.374576 q: -0.057939 0.826681 0.026359 0.559059 
time: 1403638204.945097, t: 5.754674 9.654848 2.381159 q: -0.056358 0.819816 0.076901 0.564634 
time: 1403638205.145097, t: 5.681396 9.843179 2.364326 q: -0.087380 0.809509 0.144266 0.562358 
time: 1403638205.345097, t: 5.610685 10.061128 2.365066 q: -0.142702 0.788397 0.221403 0.555921 
time: 1403638205.545097, t: 5.545453 10.275964 2.398793 q: -0.179417 0.757852 0.293978 0.554118 
wait for imu ... 
time: 1403638205.745097, t: 5.461565 10.478438 2.452956 q: -0.187912 0.729821 0.337857 0.563829 
time: 1403638205.945097, t: 5.327923 10.687850 2.524773 q: -0.210705 0.715942 0.369210 0.553818 
time: 1403638206.145097, t: 5.144823 10.915595 2.619841 q: -0.244603 0.700639 0.400865 0.537198 
time: 1403638206.345097, t: 4.931712 11.118017 2.714675 q: -0.280011 0.683806 0.424986 0.522867 
time: 1403638206.545097, t: 4.705506 11.344887 2.786857 q: -0.306272 0.676320 0.430514 0.513270 
time: 1403638206.745097, t: 4.470063 11.521476 2.830017 q: -0.318425 0.669683 0.437579 0.508582 
wait for imu ... 
time: 1403638206.945097, t: 4.235010 11.653869 2.844170 q: -0.330050 0.662113 0.446182 0.503582 
time: 1403638207.145097, t: 3.995723 11.726395 2.822738 q: -0.338686 0.655801 0.447992 0.504500 
time: 1403638207.345097, t: 3.736601 11.818788 2.779347 q: -0.350206 0.646614 0.455616 0.501657 
time: 1403638207.545097, t: 3.469350 11.886830 2.731922 q: -0.370454 0.627168 0.478862 0.490015 
time: 1403638207.745097, t: 3.209742 11.891125 2.708449 q: -0.379721 0.623878 0.503908 0.461156 
time: 1403638207.945097, t: 2.957799 11.874641 2.718244 q: -0.380169 0.627915 0.517059 0.440278 
time: 1403638208.145097, t: 2.704216 11.858353 2.744482 q: -0.383170 0.626527 0.516165 0.440703 
time: 1403638208.345097, t: 2.466875 11.838659 2.739954 q: -0.382961 0.625228 0.513173 0.446188 
time: 1403638208.545097, t: 2.250501 11.780710 2.714589 q: -0.380489 0.626659 0.519642 0.438747 
time: 1403638208.745097, t: 2.040259 11.718964 2.712557 q: -0.391266 0.615199 0.533911 0.428230 
time: 1403638208.945097, t: 1.843973 11.647900 2.728214 q: -0.399323 0.603629 0.543749 0.424864 
time: 1403638209.145097, t: 1.654848 11.579819 2.718569 q: -0.402850 0.599035 0.548461 0.421971 
time: 1403638209.345097, t: 1.479202 11.507812 2.682661 q: -0.404479 0.599487 0.549298 0.418669 
time: 1403638209.545097, t: 1.321431 11.421393 2.622242 q: -0.408551 0.597919 0.546790 0.420238 
time: 1403638209.745097, t: 1.180224 11.336961 2.501653 q: -0.407979 0.599796 0.545298 0.420057 
time: 1403638209.945097, t: 1.047066 11.242498 2.318293 q: -0.405904 0.594614 0.545576 0.428979 
time: 1403638210.145097, t: 0.918816 11.134089 2.120718 q: -0.413686 0.587756 0.539266 0.438860 
time: 1403638210.345097, t: 0.791074 10.990825 1.946040 q: -0.415365 0.585733 0.537675 0.441921 
time: 1403638210.545097, t: 0.670304 10.819629 1.768511 q: -0.416168 0.586986 0.536396 0.441057 
time: 1403638210.745097, t: 0.559455 10.623691 1.575860 q: -0.418550 0.587303 0.533594 0.441779 
time: 1403638210.945097, t: 0.455815 10.398347 1.399548 q: -0.415179 0.592097 0.536021 0.435580 
time: 1403638211.145097, t: 0.364103 10.150544 1.255800 q: -0.411585 0.597759 0.539491 0.426886 
time: 1403638211.345097, t: 0.290289 9.901141 1.144207 q: -0.408522 0.601968 0.539461 0.423941 
time: 1403638211.545097, t: 0.237839 9.636338 1.038481 q: -0.398356 0.616048 0.524564 0.432007 
time: 1403638211.745097, t: 0.197257 9.371955 0.909124 q: -0.384692 0.641605 0.492216 0.445061 
wait for imu ... 
time: 1403638211.945097, t: 0.176495 9.099889 0.774963 q: -0.364063 0.673775 0.450220 0.459116 
time: 1403638212.145097, t: 0.178051 8.818128 0.668717 q: -0.336006 0.698394 0.413302 0.478045 
time: 1403638212.345097, t: 0.200821 8.524693 0.599423 q: -0.305284 0.718658 0.377871 0.497540 
time: 1403638212.545097, t: 0.227543 8.221239 0.556838 q: -0.277793 0.736929 0.339089 0.514573 
time: 1403638212.745097, t: 0.263599 7.908415 0.546261 q: -0.246852 0.756235 0.300376 0.526258 
time: 1403638212.945097, t: 0.293524 7.573364 0.552750 q: -0.216754 0.773216 0.254367 0.538936 
time: 1403638213.145097, t: 0.342173 7.246708 0.588822 q: -0.184253 0.791235 0.203459 0.546445 
time: 1403638213.345097, t: 0.394573 6.919849 0.603729 q: -0.158544 0.816572 0.145716 0.535575 
wait for imu ... 
time: 1403638213.545097, t: 0.473144 6.582572 0.600800 q: -0.136858 0.831803 0.087138 0.530830 
time: 1403638213.745097, t: 0.579113 6.224727 0.591990 q: -0.095549 0.818383 0.070506 0.562270 
time: 1403638213.945097, t: 0.696742 5.866134 0.615539 q: -0.072254 0.812754 0.070137 0.573838 
time: 1403638214.145097, t: 0.808243 5.506225 0.650379 q: -0.068626 0.821650 0.073462 0.561057 
time: 1403638214.345097, t: 0.932966 5.164390 0.689054 q: -0.069814 0.832045 0.081312 0.544257 
time: 1403638214.545097, t: 1.083283 4.830065 0.696463 q: -0.073133 0.827340 0.089540 0.549675 
time: 1403638214.745097, t: 1.237575 4.502916 0.690166 q: -0.078097 0.813728 0.095193 0.568054 
time: 1403638214.945097, t: 1.387508 4.186826 0.663682 q: -0.081771 0.806566 0.099839 0.576885 
wait for imu ... 
wait for imu ... 
time: 1403638215.145097, t: 1.503227 3.866545 0.620286 q: -0.082500 0.805496 0.102889 0.577740 
time: 1403638215.345097, t: 1.627471 3.552475 0.559755 q: -0.076406 0.808564 0.107583 0.573422 
time: 1403638215.545097, t: 1.746348 3.250492 0.511671 q: -0.070330 0.807712 0.112024 0.574548 
time: 1403638215.745097, t: 1.854140 2.967956 0.493005 q: -0.075657 0.805609 0.108818 0.577433 
time: 1403638215.945097, t: 1.947581 2.684861 0.471871 q: -0.074534 0.806736 0.098914 0.577787 
time: 1403638216.145097, t: 2.022672 2.439982 0.431883 q: -0.069759 0.807357 0.093316 0.578447 
time: 1403638216.345097, t: 2.099128 2.203691 0.414190 q: -0.065081 0.805448 0.091741 0.581895 
time: 1403638216.545097, t: 2.158532 1.963519 0.415342 q: -0.063260 0.804755 0.091224 0.583134 
wait for imu ... 
time: 1403638216.745097, t: 2.204732 1.733936 0.395208 q: -0.057341 0.807009 0.095208 0.579986 
wait for imu ... 
time: 1403638216.945097, t: 2.245851 1.521447 0.355998 q: -0.050642 0.802342 0.086049 0.588454 
time: 1403638217.145097, t: 2.264135 1.327881 0.305108 q: -0.041720 0.808718 0.057862 0.583855 
time: 1403638217.345097, t: 2.269734 1.147860 0.253854 q: -0.027941 0.813661 0.039243 0.579340 
time: 1403638217.545097, t: 2.266185 0.980172 0.238235 q: -0.016542 0.816185 0.033421 0.576586 
time: 1403638217.745097, t: 2.261549 0.824914 0.248817 q: -0.001658 0.816873 0.040509 0.575391 
time: 1403638217.945097, t: 2.248250 0.701835 0.282963 q: 0.005612 0.816074 0.047460 0.575968 
time: 1403638218.145097, t: 2.232181 0.607638 0.300654 q: 0.001986 0.812551 0.049200 0.580807 
time: 1403638218.345097, t: 2.210464 0.543248 0.296439 q: -0.005531 0.806018 0.049223 0.589815 
time: 1403638218.545097, t: 2.177922 0.504172 0.303497 q: -0.014738 0.806908 0.047065 0.588615 
time: 1403638218.745097, t: 2.125017 0.488185 0.332525 q: -0.016166 0.814237 0.043441 0.578679 
time: 1403638218.945097, t: 2.072929 0.489893 0.344131 q: -0.014281 0.820581 0.025112 0.570800 
time: 1403638219.145097, t: 2.024394 0.504841 0.336265 q: -0.026330 0.819360 0.002660 0.572668 
time: 1403638219.545097, t: 1.917949 0.523786 0.312107 q: -0.007350 0.798500 0.007739 0.601901 
time: 1403638219.745097, t: 1.839487 0.534631 0.312815 q: -0.016874 0.804570 0.001951 0.593615 
time: 1403638219.945097, t: 1.743350 0.537320 0.296371 q: -0.032602 0.811604 -0.008493 0.583236 
time: 1403638220.145097, t: 1.639481 0.520455 0.268396 q: -0.034541 0.816445 -0.009573 0.576309 
time: 1403638220.345097, t: 1.542373 0.481986 0.264558 q: -0.008396 0.818024 0.008363 0.575061 
time: 1403638220.545097, t: 1.440856 0.444308 0.286985 q: -0.001671 0.817609 0.012126 0.575643 
time: 1403638220.745097, t: 1.338181 0.414804 0.307215 q: 0.000064 0.817397 0.010263 0.575984 
time: 1403638220.945097, t: 1.233685 0.391139 0.298761 q: -0.000989 0.817990 0.006801 0.575192 
time: 1403638221.145097, t: 1.130692 0.374347 0.269189 q: 0.000097 0.819492 0.005736 0.573062 
time: 1403638221.345097, t: 1.027911 0.364749 0.256399 q: -0.001908 0.822689 0.003240 0.568480 
time: 1403638221.545097, t: 0.932033 0.357457 0.253755 q: -0.006686 0.823761 -0.001130 0.566897 
time: 1403638221.745097, t: 0.847141 0.349602 0.232628 q: -0.009497 0.820391 -0.004056 0.571710 
time: 1403638221.945097, t: 0.775163 0.339116 0.226979 q: -0.006809 0.817562 -0.000747 0.575800 
time: 1403638222.145097, t: 0.707303 0.327744 0.246684 q: -0.001328 0.820568 0.003406 0.571537 
time: 1403638222.345097, t: 0.637076 0.318593 0.252788 q: -0.001025 0.827713 0.003064 0.561142 
time: 1403638222.545097, t: 0.576881 0.311712 0.238778 q: -0.001426 0.830079 0.002688 0.557638 
time: 1403638222.745097, t: 0.530206 0.308666 0.212774 q: -0.002951 0.820788 0.001809 0.571223 
time: 1403638222.945097, t: 0.483121 0.308873 0.176796 q: -0.003956 0.810480 0.001680 0.585750 
time: 1403638223.145097, t: 0.426582 0.312025 0.146699 q: -0.003008 0.815788 0.002527 0.578338 
time: 1403638223.345097, t: 0.370144 0.317072 0.132109 q: -0.009729 0.828831 -0.003080 0.559406 
time: 1403638223.745097, t: 0.286447 0.294320 0.091435 q: -0.007631 0.820108 -0.002083 0.572154 
time: 1403638223.945097, t: 0.251242 0.272095 0.061466 q: 0.005133 0.820075 0.006917 0.572191 
time: 1403638224.145097, t: 0.220764 0.254724 0.025173 q: 0.005457 0.827870 0.007750 0.560839 
time: 1403638224.345097, t: 0.198336 0.249889 -0.005218 q: 0.003500 0.827143 0.006433 0.561943 
wait for imu ... 
time: 1403638224.545097, t: 0.195199 0.256055 -0.030578 q: -0.005118 0.814341 0.000114 0.580363 
wait for imu ... 
time: 1403638224.745097, t: 0.183848 0.269209 -0.056927 q: -0.001822 0.826676 0.002261 0.562671 
time: 1403638224.945097, t: 0.186074 0.283783 -0.062316 q: -0.010519 0.822931 -0.003206 0.568035 
time: 1403638225.145097, t: 0.197820 0.292518 -0.050681 q: -0.014028 0.815756 -0.003531 0.578215 
time: 1403638225.345097, t: 0.208184 0.291560 -0.034637 q: -0.005154 0.825233 0.004206 0.564754 
time: 1403638225.545097, t: 0.219829 0.292967 -0.033958 q: -0.003417 0.810513 0.005701 0.585683 
time: 1403638225.745097, t: 0.219240 0.296005 -0.062395 q: -0.001964 0.801998 0.007083 0.597282 
time: 1403638225.945097, t: 0.202956 0.304164 -0.127987 q: -0.000738 0.823698 0.007877 0.566974 
wait for imu ... 
time: 1403638226.145097, t: 0.203380 0.323579 -0.139272 q: -0.026505 0.833777 -0.005134 0.551441 
time: 1403638226.345097, t: 0.207086 0.336486 -0.138530 q: -0.002647 0.832733 0.009857 0.553580 
wait for imu ... 
time: 1403638226.545097, t: 0.204100 0.336854 -0.122544 q: -0.002726 0.831761 0.009989 0.555038 
wait for imu ... 
time: 1403638226.745097, t: 0.181169 0.342151 -0.145987 q: -0.003025 0.832085 0.008930 0.554568 
time: 1403638226.945097, t: 0.199935 0.318933 -0.087648 q: -0.003108 0.832286 0.009728 0.554253 
time: 1403638227.145097, t: 0.193852 0.315783 -0.067352 q: -0.002695 0.832345 0.009854 0.554164 
time: 1403638227.345097, t: 0.188463 0.310773 -0.055863 q: -0.003422 0.832498 0.009455 0.553936 
time: 1403638227.545097, t: 0.184692 0.306254 -0.050021 q: -0.003344 0.832588 0.009626 0.553799 
wait for imu ... 
time: 1403638227.745097, t: 0.182066 0.301883 -0.050768 q: -0.003327 0.832698 0.009661 0.553633 
time: 1403638227.945097, t: 0.173317 0.299300 -0.031234 q: -0.003519 0.832785 0.009520 0.553504 
time: 1403638228.145097, t: 0.156693 0.299386 0.007084 q: -0.003533 0.832734 0.009424 0.553582 
time: 1403638228.345097, t: 0.147523 0.297745 0.027695 q: -0.003564 0.832763 0.009374 0.553539 
time: 1403638228.545097, t: 0.136719 0.296410 0.048454 q: -0.003676 0.832794 0.009360 0.553491 
wait for imu ... 
time: 1403638228.745097, t: 0.126170 0.294041 0.069837 q: -0.003744 0.832877 0.009353 0.553367 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720481619.009622550]: Shutdown request received.[0m
[33m[ WARN] [1720481619.009675990]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720481619.010500050]: Shutdown request received.[0m
[33m[ WARN] [1720481619.010529653]: Reason given for shutdown: [user request][0m
killed
