/SLAM-Hive/slam_hive_results/mapping_results/2904/2112_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-12.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720481787.276563119]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720481787.278274006]: init begins[0m
[31m[ERROR] [1720481787.279354955]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e5441f1a-3d82-11ef-b49b-0242ac110005/roslaunch-9664df18204c-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;roscore
[1mstarted roslaunch server http://9664df18204c:43491/[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 [154][0m
[1mROS_MASTER_URI=http://9664df18204c:11311/[0m
]2;roscore http://9664df18204c:11311/
[1msetting /run_id to e5441f1a-3d82-11ef-b49b-0242ac110005[0m
[0m[ INFO] [1720481788.432160133]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720481788.434993522]: 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] [1720481788.441356330]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720481788.441576610]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720481788.441606318]: ROW: 480 COL: 752 [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] [1720481788.441776784]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720481788.442056465]: 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 [212][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720481797.447558127]: 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: 316843670.34 
init first imu pose
averge acc 8.957421 -0.085581 -3.955803
init R0 
   0.404061    0.019785    0.914518
          0   -0.999766   0.0216293
   0.914732 -0.00873955   -0.403967
[0m[ INFO] [1720481801.985510508]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481802.379606774]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481802.803687893]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481803.174158574]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481803.554377561]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481803.995957736]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720481804.790634308]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481805.164131808]: 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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720481807.258842086]: gyroscope bias initial calibration 0.00812015  0.0229131  0.0770675[0m
[0m[ INFO] [1720481807.302664487]: Initialization finish![0m
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time: 1403638137.445097, t: 0.006926 0.025672 -0.246945 q: -0.072206 0.828813 0.039707 0.553424 
time: 1403638137.845097, t: -0.001991 0.050194 -0.349990 q: -0.034717 0.841858 0.052241 0.536042 
time: 1403638138.245097, t: 0.008202 0.051126 -0.377282 q: -0.027400 0.844501 0.056457 0.531864 
time: 1403638138.645097, t: 0.021212 0.054710 -0.379703 q: -0.028506 0.837973 0.054067 0.542277 
time: 1403638139.045097, t: -0.010373 0.037416 -0.379116 q: -0.029809 0.837590 0.053892 0.542816 
time: 1403638139.445097, t: -0.008923 0.038876 -0.381535 q: -0.030291 0.837611 0.053716 0.542775 
time: 1403638139.845097, t: -0.008182 0.038801 -0.382950 q: -0.030580 0.837568 0.053919 0.542806 
time: 1403638140.245097, t: -0.007270 0.038663 -0.384240 q: -0.031334 0.837511 0.054111 0.542832 
time: 1403638140.645097, t: -0.006557 0.038424 -0.385093 q: -0.032016 0.837399 0.054471 0.542929 
time: 1403638141.045097, t: -0.005852 0.038134 -0.385834 q: -0.032653 0.837266 0.054972 0.543044 
time: 1403638141.445097, t: -0.005223 0.037913 -0.386348 q: -0.033436 0.837096 0.055444 0.543212 
time: 1403638141.845097, t: -0.004683 0.037796 -0.386564 q: -0.034085 0.836993 0.055930 0.543280 
time: 1403638142.245097, t: -0.004194 0.037539 -0.386702 q: -0.034285 0.836936 0.056004 0.543347 
time: 1403638142.645097, t: -0.004120 0.037445 -0.386089 q: -0.035130 0.836907 0.056848 0.543250 
time: 1403638143.045097, t: -0.004446 0.037059 -0.384966 q: -0.034990 0.837077 0.057216 0.542959 
time: 1403638143.445097, t: -0.004552 0.037072 -0.384556 q: -0.034829 0.837077 0.057321 0.542958 
time: 1403638143.845097, t: -0.004439 0.037289 -0.384650 q: -0.034861 0.837112 0.057126 0.542923 
time: 1403638144.245097, t: -0.004303 0.037315 -0.384886 q: -0.034895 0.837073 0.057109 0.542982 
time: 1403638144.645097, t: -0.004187 0.037281 -0.385184 q: -0.035067 0.837007 0.057137 0.543070 
time: 1403638145.045097, t: -0.004149 0.037256 -0.385122 q: -0.035044 0.837022 0.057229 0.543039 
time: 1403638145.445097, t: -0.004123 0.037069 -0.385094 q: -0.034901 0.836975 0.057214 0.543122 
time: 1403638145.845097, t: -0.004104 0.036983 -0.384968 q: -0.035152 0.836967 0.057372 0.543102 
time: 1403638146.245097, t: -0.004070 0.036935 -0.384816 q: -0.035122 0.836925 0.057505 0.543154 
time: 1403638146.645097, t: -0.004130 0.036806 -0.384462 q: -0.034945 0.836980 0.057524 0.543079 
time: 1403638147.045097, t: -0.004291 0.036779 -0.383992 q: -0.034761 0.837035 0.057755 0.542981 
time: 1403638147.445097, t: -0.004230 0.037059 -0.384021 q: -0.034872 0.836969 0.057819 0.543069 
time: 1403638147.845097, t: 0.000660 0.037397 -0.381296 q: -0.035110 0.831632 0.055710 0.551409 
time: 1403638148.245097, t: 0.025663 0.000330 -0.306727 q: -0.038295 0.811992 0.053589 0.579941 
time: 1403638148.645097, t: 0.039394 0.000222 -0.193180 q: -0.038589 0.820121 0.067277 0.566909 
time: 1403638149.045097, t: 0.089059 0.024511 -0.179116 q: -0.044163 0.820454 0.073384 0.565261 
time: 1403638149.445097, t: 0.167347 0.081956 -0.059327 q: -0.048698 0.813652 0.072693 0.574731 
time: 1403638149.845097, t: 0.251157 0.139189 0.002771 q: -0.054369 0.811958 0.087395 0.574569 
time: 1403638150.245097, t: 0.340130 0.221254 0.005290 q: -0.039268 0.809327 0.107970 0.576013 
time: 1403638150.645097, t: 0.447202 0.389394 -0.005219 q: -0.061271 0.824312 0.115068 0.550923 
time: 1403638151.045097, t: 0.564561 0.596594 0.042618 q: -0.078592 0.811095 0.144641 0.561273 
time: 1403638151.445097, t: 0.688787 0.851586 0.031130 q: -0.127789 0.794826 0.215217 0.552814 
time: 1403638151.845097, t: 0.799352 1.140171 0.072991 q: -0.162566 0.781033 0.264440 0.541877 
time: 1403638152.245097, t: 0.901642 1.453186 0.166674 q: -0.161457 0.780088 0.272005 0.539822 
time: 1403638152.645097, t: 0.962908 1.800332 0.165133 q: -0.156343 0.781070 0.273447 0.539178 
time: 1403638153.045097, t: 0.990074 2.194523 0.195805 q: -0.196820 0.767173 0.300731 0.531289 
time: 1403638153.445097, t: 1.022680 2.612241 0.264515 q: -0.219084 0.756717 0.344134 0.510836 
time: 1403638153.845097, t: 1.049867 3.044094 0.337611 q: -0.250877 0.724980 0.404997 0.497435 
time: 1403638154.245097, t: 1.054870 3.521617 0.356402 q: -0.277729 0.702691 0.416887 0.505269 
time: 1403638154.645097, t: 1.017263 4.013946 0.325555 q: -0.289279 0.694643 0.412725 0.513271 
time: 1403638155.045097, t: 0.909755 4.456186 0.374140 q: -0.292455 0.683535 0.448054 0.496486 
time: 1403638155.445097, t: 0.724456 4.853746 0.447535 q: -0.319473 0.654037 0.473240 0.496202 
time: 1403638155.845097, t: 0.457866 5.208030 0.425161 q: -0.373580 0.619712 0.508301 0.466932 
time: 1403638156.245097, t: 0.162448 5.452533 0.409228 q: -0.404161 0.584327 0.580016 0.398494 
time: 1403638156.645097, t: -0.105405 5.723423 0.418771 q: -0.416185 0.565679 0.609964 0.367071 
time: 1403638157.045097, t: -0.337955 6.024539 0.371254 q: -0.411961 0.568845 0.609915 0.367024 
time: 1403638157.445097, t: -0.543516 6.415497 0.394944 q: -0.406982 0.566555 0.612779 0.371326 
time: 1403638157.845097, t: -0.769332 6.865636 0.416517 q: -0.436195 0.515507 0.639744 0.367033 
wait for imu ... 
time: 1403638158.245097, t: -1.008195 7.288244 0.472720 q: -0.467110 0.482296 0.666525 0.323948 
time: 1403638158.645097, t: -1.212974 7.686276 0.462403 q: -0.464755 0.467053 0.674380 0.333280 
time: 1403638159.045097, t: -1.433120 8.085152 0.463076 q: -0.457680 0.487197 0.674428 0.313552 
time: 1403638159.445097, t: -1.647282 8.517941 0.510914 q: -0.468434 0.488771 0.662890 0.319766 
time: 1403638159.845097, t: -1.794922 8.969898 0.603109 q: 0.514337 -0.483804 -0.629350 -0.324515 
time: 1403638160.245097, t: -1.787517 9.301187 0.824058 q: -0.476118 0.476151 0.660522 0.332117 
time: 1403638161.045097, t: -1.704895 9.904801 1.339684 q: -0.482178 0.499915 0.633409 0.341150 
time: 1403638161.445097, t: -1.584283 10.162806 1.509000 q: -0.430636 0.563166 0.595072 0.378531 
time: 1403638161.845097, t: -1.444145 10.425529 1.626721 q: -0.411190 0.593566 0.572478 0.388421 
time: 1403638162.245097, t: -1.264629 10.695286 1.711007 q: -0.402677 0.612100 0.552402 0.397539 
time: 1403638162.645097, t: -1.017722 10.946692 1.802544 q: -0.401403 0.612189 0.549911 0.402117 
time: 1403638163.045097, t: -0.709084 11.189664 1.956315 q: -0.407552 0.616505 0.533912 0.410806 
time: 1403638163.445097, t: -0.339464 11.410873 2.009728 q: -0.376378 0.638435 0.505762 0.441527 
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time: 1403638164.645097, t: 0.883152 11.811716 2.405084 q: -0.382548 0.658602 0.474284 0.441537 
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time: 1403638165.445097, t: 1.853280 11.745115 2.468779 q: -0.349984 0.683456 0.447436 0.458476 
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time: 1403638187.445097, t: 8.909654 -8.853470 0.525081 q: 0.209828 0.755594 -0.276894 0.555319 
time: 1403638187.845097, t: 9.244463 -9.049571 0.629665 q: 0.192247 0.775265 -0.250660 0.546969 
time: 1403638188.245097, t: 9.561787 -9.161733 0.666136 q: 0.219582 0.763745 -0.237828 0.558493 
time: 1403638188.645097, t: 9.804437 -9.105417 0.657861 q: 0.207424 0.731272 -0.246212 0.601329 
time: 1403638189.045097, t: 9.917383 -8.950652 0.740424 q: 0.182442 0.757850 -0.231855 0.581912 
time: 1403638189.445097, t: 9.913407 -8.686825 0.846734 q: 0.134305 0.788440 -0.188336 0.569960 
time: 1403638189.845097, t: 9.860072 -8.412316 0.949560 q: 0.103856 0.816247 -0.173898 0.541030 
time: 1403638190.245097, t: 9.847551 -8.190332 0.984759 q: 0.117552 0.802000 -0.166123 0.561588 
time: 1403638190.645097, t: 9.857412 -7.946259 0.933539 q: 0.130871 0.797016 -0.123507 0.576528 
time: 1403638191.045097, t: 9.860514 -7.614874 0.898557 q: 0.100300 0.797259 -0.128674 0.581172 
time: 1403638191.445097, t: 9.820721 -7.256013 0.960564 q: 0.096515 0.813612 -0.132311 0.557865 
time: 1403638191.845097, t: 9.827431 -6.903079 0.988566 q: 0.110712 0.815999 -0.126738 0.553015 
time: 1403638192.245097, t: 9.900412 -6.537271 1.015823 q: 0.108740 0.812587 -0.128410 0.558023 
time: 1403638192.645097, t: 9.975565 -6.121422 1.156255 q: 0.106165 0.795544 -0.129329 0.582333 
time: 1403638193.045097, t: 10.001329 -5.694566 1.287739 q: 0.083228 0.762604 -0.141398 0.625712 
time: 1403638193.445097, t: 9.829173 -5.269644 1.454553 q: 0.081022 0.785017 -0.108167 0.604552 
time: 1403638193.845097, t: 9.526335 -4.842261 1.626463 q: 0.074424 0.803795 -0.103304 0.581122 
time: 1403638194.245097, t: 9.180729 -4.434824 1.700912 q: 0.076866 0.798048 -0.104664 0.588435 
time: 1403638194.645097, t: 8.798154 -4.090026 1.732035 q: 0.073031 0.812080 -0.110052 0.568403 
time: 1403638195.045097, t: 8.453159 -3.765748 1.756865 q: 0.075624 0.824841 -0.111390 0.549100 
time: 1403638195.445097, t: 8.209460 -3.491174 1.694134 q: 0.070322 0.836420 -0.115238 0.531203 
time: 1403638195.845097, t: 8.080445 -3.239633 1.613731 q: 0.071161 0.822221 -0.113092 0.553262 
time: 1403638196.245097, t: 8.020058 -3.022959 1.628609 q: 0.072256 0.821732 -0.110586 0.554352 
time: 1403638196.645097, t: 8.038960 -2.849146 1.666626 q: 0.069380 0.825593 -0.114056 0.548246 
time: 1403638197.045097, t: 8.117837 -2.711002 1.632668 q: 0.070056 0.820787 -0.114713 0.555195 
time: 1403638197.445097, t: 8.258108 -2.618014 1.677772 q: 0.091353 0.809996 -0.099973 0.570585 
time: 1403638197.845097, t: 8.390145 -2.480704 1.805585 q: 0.087551 0.806410 -0.100842 0.576081 
time: 1403638198.245097, t: 8.478686 -2.298667 1.808225 q: 0.077742 0.798099 -0.106329 0.587952 
time: 1403638198.645097, t: 8.510702 -2.071320 1.654158 q: 0.108787 0.805887 -0.083629 0.575950 
time: 1403638199.045097, t: 8.520231 -1.711834 1.543163 q: 0.128395 0.802596 -0.068280 0.578526 
time: 1403638199.445097, t: 8.503026 -1.161267 1.577958 q: 0.125975 0.798368 -0.071852 0.584445 
time: 1403638199.845097, t: 8.460197 -0.422994 1.713564 q: 0.092877 0.809895 -0.066026 0.575399 
time: 1403638200.245097, t: 8.405772 0.395119 1.812689 q: 0.065102 0.808555 -0.032449 0.583907 
time: 1403638200.645097, t: 8.311571 1.273820 1.980314 q: 0.047858 0.803722 0.034720 0.592060 
time: 1403638201.045097, t: 8.151111 2.248580 2.187691 q: 0.011902 0.810681 0.052613 0.582997 
time: 1403638201.445097, t: 7.944092 3.285703 2.270932 q: 0.002753 0.810460 0.042658 0.584233 
time: 1403638201.845097, t: 7.716066 4.314491 2.232858 q: 0.004801 0.806491 0.036364 0.590107 
time: 1403638202.245097, t: 7.401859 5.328093 2.143469 q: -0.024371 0.814879 0.044857 0.577379 
time: 1403638202.645097, t: 7.085769 6.284881 2.099548 q: -0.037133 0.821283 0.047856 0.567297 
time: 1403638203.045097, t: 6.809198 7.187823 2.003560 q: -0.036512 0.818085 0.045999 0.572091 
time: 1403638203.445097, t: 6.533597 7.999884 1.971562 q: -0.036081 0.810239 0.046333 0.583150 
time: 1403638203.845097, t: 6.242203 8.740739 1.945126 q: -0.038531 0.812035 0.045251 0.580575 
time: 1403638204.245097, t: 5.953453 9.394558 1.961179 q: -0.048953 0.819461 0.042442 0.569462 
time: 1403638204.645097, t: 5.689357 9.948425 2.064645 q: -0.070236 0.827200 0.028438 0.556774 
time: 1403638205.045097, t: 5.581295 10.354207 2.080785 q: -0.078142 0.813076 0.123397 0.563538 
time: 1403638205.445097, t: 5.331402 10.807305 2.081834 q: -0.177726 0.768555 0.272745 0.550770 
time: 1403638205.845097, t: 5.075285 11.245248 2.195151 q: -0.207165 0.715767 0.365184 0.558033 
time: 1403638206.245097, t: 4.682324 11.703024 2.381582 q: -0.268549 0.683860 0.427256 0.526943 
time: 1403638206.645097, t: 4.293471 12.078636 2.532547 q: -0.321168 0.666128 0.442857 0.506954 
time: 1403638207.045097, t: 3.773130 12.280103 2.574478 q: -0.344352 0.651275 0.457441 0.498006 
time: 1403638207.445097, t: 3.256483 12.398333 2.498697 q: -0.368426 0.629079 0.475406 0.492454 
time: 1403638207.845097, t: 2.700977 12.427576 2.451448 q: -0.388984 0.616846 0.521051 0.443508 
time: 1403638208.245097, t: 2.180684 12.387575 2.495825 q: -0.393269 0.615200 0.523104 0.439581 
time: 1403638209.045097, t: 1.449393 12.177240 2.454827 q: -0.408973 0.591460 0.556587 0.416086 
time: 1403638209.445097, t: 1.077226 12.003767 2.381424 q: -0.413522 0.590109 0.559179 0.409987 
time: 1403638209.845097, t: 0.732025 11.807855 2.138347 q: -0.412772 0.588050 0.556863 0.416796 
optimize pose graph 
time: 1403638210.245097, t: 0.413837 11.544685 1.754175 q: -0.424718 0.576545 0.546892 0.433727 
time: 1403638210.645097, t: 0.167358 11.177584 1.389837 q: -0.425547 0.576760 0.545041 0.434957 
time: 1403638211.045097, t: -0.027567 10.703997 1.034176 q: -0.421950 0.585319 0.547798 0.423411 
time: 1403638211.445097, t: -0.163524 10.192368 0.798713 q: -0.412219 0.598061 0.544258 0.419740 
time: 1403638211.845097, t: -0.223210 9.653102 0.535109 q: -0.383933 0.650220 0.482390 0.443970 
time: 1403638212.245097, t: -0.191331 9.086357 0.326190 q: -0.329230 0.701147 0.407990 0.483265 
optimize pose graph 
time: 1403638212.645097, t: -0.102568 8.473613 0.251810 q: -0.273871 0.741021 0.331886 0.515495 
time: 1403638213.045097, t: 0.009891 7.814476 0.281651 q: -0.209666 0.777860 0.243977 0.539861 
time: 1403638213.445097, t: 0.158231 7.122034 0.321454 q: -0.158834 0.824924 0.129462 0.526794 
time: 1403638213.845097, t: 0.405056 6.378366 0.316648 q: -0.091469 0.812493 0.084177 0.569563 
time: 1403638214.245097, t: 0.675613 5.644237 0.387528 q: -0.079027 0.826483 0.092104 0.549724 
time: 1403638214.645097, t: 0.993917 4.952632 0.422269 q: -0.086043 0.818968 0.106443 0.557277 
time: 1403638215.045097, t: 1.310530 4.279718 0.359977 q: -0.093523 0.803993 0.114424 0.575983 
time: 1403638215.445097, t: 1.596576 3.648639 0.243887 q: -0.081279 0.805978 0.124544 0.572959 
time: 1403638215.845097, t: 1.862107 3.052847 0.192181 q: -0.086268 0.805096 0.116168 0.575224 
time: 1403638216.245097, t: 2.060482 2.519152 0.120183 q: -0.076464 0.805206 0.105048 0.578586 
time: 1403638216.645097, t: 2.200783 2.042745 0.109172 q: -0.068713 0.804947 0.105336 0.579865 
time: 1403638217.045097, t: 2.279860 1.626467 0.027567 q: -0.056053 0.803698 0.084622 0.586316 
time: 1403638217.445097, t: 2.301150 1.255162 -0.068647 q: -0.031480 0.814898 0.045725 0.576940 
time: 1403638217.845097, t: 2.294358 0.957724 -0.045733 q: -0.003742 0.817290 0.056326 0.573454 
time: 1403638218.245097, t: 2.269699 0.778104 -0.013510 q: -0.007451 0.809023 0.061689 0.584484 
optimize pose graph 
time: 1403638218.645097, t: 2.206504 0.683140 0.006541 q: -0.024473 0.808443 0.057792 0.585219 
time: 1403638219.045097, t: 2.089613 0.690896 0.033865 q: -0.030529 0.820559 0.022466 0.570304 
time: 1403638219.445097, t: 1.976870 0.700349 0.010349 q: -0.015621 0.800397 0.019300 0.598955 
time: 1403638219.845097, t: 1.804555 0.710510 0.010857 q: -0.032620 0.808534 0.008477 0.587483 
time: 1403638220.245097, t: 1.592043 0.661627 -0.031356 q: -0.028038 0.817103 0.011741 0.575690 
optimize pose graph 
time: 1403638220.645097, t: 1.378689 0.589523 -0.001094 q: -0.007749 0.817000 0.023551 0.576105 
time: 1403638221.045097, t: 1.159045 0.539749 -0.021125 q: -0.008189 0.818393 0.017987 0.574319 
time: 1403638221.445097, t: 0.943357 0.514427 -0.050350 q: -0.011821 0.823517 0.012193 0.567037 
time: 1403638221.845097, t: 0.758156 0.491824 -0.081198 q: -0.018007 0.819343 0.007241 0.572975 
time: 1403638222.245097, t: 0.600781 0.463694 -0.051196 q: -0.008463 0.824196 0.014729 0.566050 
optimize pose graph 
time: 1403638222.645097, t: 0.474755 0.450618 -0.074292 q: -0.010436 0.824554 0.013213 0.565533 
time: 1403638223.045097, t: 0.388377 0.450037 -0.135498 q: -0.012576 0.810254 0.012667 0.585808 
time: 1403638223.445097, t: 0.273453 0.450315 -0.161793 q: -0.024570 0.826298 0.003054 0.562688 
time: 1403638223.845097, t: 0.191783 0.410986 -0.203982 q: -0.007852 0.820582 0.014342 0.571296 
time: 1403638224.245097, t: 0.130430 0.386890 -0.265953 q: -0.003161 0.831553 0.017927 0.555147 
optimize pose graph 
time: 1403638224.645097, t: 0.116684 0.399695 -0.320432 q: -0.010980 0.816776 0.012364 0.576719 
time: 1403638225.045097, t: 0.117656 0.429961 -0.337334 q: -0.025707 0.817487 0.003254 0.575364 
time: 1403638225.445097, t: 0.137891 0.436773 -0.315784 q: -0.011549 0.821406 0.015607 0.570014 
time: 1403638225.845097, t: 0.138816 0.446149 -0.381963 q: -0.008739 0.813897 0.017954 0.580666 
time: 1403638226.245097, t: 0.144103 0.477548 -0.437881 q: -0.006575 0.836862 0.022030 0.546932 
optimize pose graph 
time: 1403638226.645097, t: 0.150175 0.475207 -0.410850 q: -0.010529 0.832252 0.020598 0.553914 
time: 1403638227.045097, t: 0.148933 0.467082 -0.391035 q: -0.009682 0.832561 0.021220 0.553442 
time: 1403638227.445097, t: 0.089109 0.450244 -0.465124 q: -0.010812 0.832729 0.020788 0.553185 
time: 1403638227.845097, t: 0.120809 0.452378 -0.369201 q: -0.010581 0.832961 0.020868 0.552837 
time: 1403638228.245097, t: 0.096598 0.469871 -0.402259 q: -0.010195 0.833060 0.020564 0.552706 
time: 1403638228.645097, t: 0.106343 0.457675 -0.381634 q: -0.010610 0.833249 0.020540 0.552414 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720481900.775852782]: Shutdown request received.[0m
[33m[ WARN] [1720481900.775888243]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720481900.776801563]: Shutdown request received.[0m
[33m[ WARN] [1720481900.776828896]: Reason given for shutdown: [user request][0m
killed
