/SLAM-Hive/slam_hive_results/mapping_results/2905/2113_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-13.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720481928.253299878]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720481928.255052472]: init begins[0m
[31m[ERROR] [1720481928.256160480]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/394a4292-3d83-11ef-98df-0242ac110005/roslaunch-e682a734cd6e-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://e682a734cd6e:34961/[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
[0m[ INFO] [1720481929.359490899]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720481929.361235940]: 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] [1720481929.366985125]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720481929.367172918]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720481929.367203593]: ROW: 384 COL: 601 [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] [1720481929.367384076]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720481929.367630773]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://e682a734cd6e:11311/[0m
]2;roscore http://e682a734cd6e:11311/
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1msetting /run_id to 394a4292-3d83-11ef-98df-0242ac110005[0m
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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720481938.372996971]: 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: 316843811.26 
init first imu pose
averge acc 8.957421 -0.085581 -3.955803
init R0 
[0m[ INFO] [1720481942.874278963]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481943.289554280]: 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] [1720481944.065003015]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720481944.460217864]: 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!
wait for imu ... 
[0m[ INFO] [1720481946.069228245]: 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!
wait for imu ... 
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720481948.166387272]: gyroscope bias initial calibration 0.00176461   0.023893  0.0775785[0m
[0m[ INFO] [1720481948.205385447]: Initialization finish![0m
time: 1403638136.645097, t: 0.028534 -0.241678 -0.114750 q: -0.013839 0.826128 -0.003432 0.563302 
time: 1403638137.045097, t: 0.024134 -0.093105 -0.101946 q: -0.090144 0.806893 -0.006201 0.583747 
time: 1403638137.445097, t: 0.009010 0.014778 -0.258785 q: -0.072283 0.828497 0.038987 0.553939 
time: 1403638137.845097, t: -0.006948 0.039223 -0.361783 q: -0.034936 0.841480 0.051625 0.536681 
time: 1403638138.245097, t: -0.009912 0.043270 -0.386466 q: -0.027505 0.844044 0.055759 0.532657 
time: 1403638138.645097, t: -0.015574 0.042130 -0.388038 q: -0.028514 0.837486 0.053172 0.543118 
time: 1403638139.045097, t: -0.004809 0.034897 -0.386087 q: -0.029733 0.837453 0.052938 0.543126 
time: 1403638139.445097, t: -0.003749 0.035033 -0.387227 q: -0.030259 0.837458 0.052808 0.543102 
time: 1403638139.845097, t: -0.002880 0.034840 -0.388456 q: -0.030538 0.837418 0.053021 0.543128 
time: 1403638140.245097, t: -0.002087 0.034598 -0.389544 q: -0.031127 0.837376 0.053114 0.543150 
time: 1403638140.645097, t: -0.001369 0.034470 -0.390202 q: -0.031641 0.837282 0.053367 0.543241 
time: 1403638141.045097, t: -0.000650 0.034307 -0.390815 q: -0.032197 0.837163 0.053819 0.543347 
time: 1403638141.445097, t: 0.000038 0.034169 -0.391178 q: -0.033068 0.836985 0.054362 0.543514 
wait for imu ... 
time: 1403638141.845097, t: 0.000464 0.034181 -0.391342 q: -0.033547 0.836917 0.054736 0.543552 
time: 1403638142.245097, t: 0.001085 0.033934 -0.391366 q: -0.034050 0.836820 0.055043 0.543639 
time: 1403638142.645097, t: 0.001162 0.033745 -0.390619 q: -0.035175 0.836756 0.056103 0.543558 
time: 1403638143.045097, t: 0.000864 0.033296 -0.389476 q: -0.035323 0.836889 0.056695 0.543282 
time: 1403638143.445097, t: 0.000723 0.033250 -0.389047 q: -0.035263 0.836876 0.056887 0.543285 
time: 1403638143.845097, t: 0.000812 0.033437 -0.389106 q: -0.035338 0.836906 0.056727 0.543251 
time: 1403638144.245097, t: 0.000918 0.033479 -0.389309 q: -0.035396 0.836878 0.056729 0.543291 
time: 1403638145.045097, t: 0.001037 0.033388 -0.389497 q: -0.035638 0.836811 0.056930 0.543357 
time: 1403638145.445097, t: 0.001029 0.033207 -0.389420 q: -0.035525 0.836760 0.056939 0.543442 
time: 1403638145.845097, t: 0.001020 0.033101 -0.389285 q: -0.035805 0.836751 0.057123 0.543418 
time: 1403638146.245097, t: 0.001012 0.033015 -0.389134 q: -0.035815 0.836715 0.057285 0.543455 
wait for imu ... 
time: 1403638146.645097, t: 0.000906 0.032803 -0.388689 q: -0.035692 0.836752 0.057362 0.543398 
time: 1403638147.045097, t: 0.000731 0.032740 -0.388229 q: -0.035543 0.836800 0.057616 0.543307 
time: 1403638147.445097, t: 0.000826 0.033066 -0.388248 q: -0.035690 0.836740 0.057704 0.543380 
time: 1403638147.845097, t: 0.005728 0.033250 -0.385465 q: -0.036007 0.831416 0.055659 0.551683 
time: 1403638148.245097, t: 0.029071 -0.012687 -0.311387 q: -0.039583 0.811715 0.053254 0.580272 
time: 1403638148.645097, t: 0.034060 -0.031164 -0.197195 q: -0.040274 0.819758 0.067133 0.567334 
time: 1403638149.045097, t: 0.085203 -0.039024 -0.189457 q: -0.046183 0.820145 0.073254 0.565564 
time: 1403638149.445097, t: 0.161791 0.056240 -0.074267 q: -0.050287 0.813351 0.072899 0.574994 
wait for imu ... 
time: 1403638149.845097, t: 0.240494 0.124882 -0.020162 q: -0.055969 0.811610 0.087708 0.574861 
time: 1403638150.245097, t: 0.343805 0.211069 -0.003391 q: -0.041076 0.808994 0.108342 0.576284 
time: 1403638150.645097, t: 0.459727 0.388813 0.002564 q: -0.063283 0.823872 0.115689 0.551223 
time: 1403638151.045097, t: 0.576215 0.596691 0.051482 q: -0.080822 0.810524 0.145345 0.561599 
time: 1403638151.445097, t: 0.700144 0.850353 0.040522 q: -0.129868 0.794093 0.215815 0.553149 
time: 1403638151.845097, t: 0.815782 1.140318 0.085142 q: -0.164427 0.780263 0.264904 0.542199 
time: 1403638152.245097, t: 0.917986 1.450091 0.181746 q: -0.162785 0.779579 0.272103 0.540109 
time: 1403638152.645097, t: 0.994570 1.804797 0.180147 q: -0.156254 0.781168 0.272520 0.539532 
time: 1403638153.045097, t: 1.024694 2.186269 0.213036 q: -0.195673 0.767810 0.298999 0.531771 
time: 1403638153.445097, t: 1.061650 2.605409 0.286152 q: -0.217953 0.757449 0.342464 0.511357 
time: 1403638153.845097, t: 1.084186 3.020077 0.362424 q: -0.249912 0.725663 0.403619 0.498045 
time: 1403638154.245097, t: 1.086979 3.507907 0.382954 q: -0.276961 0.703158 0.415889 0.505863 
time: 1403638154.645097, t: 1.044855 4.007572 0.351468 q: -0.288682 0.694957 0.411970 0.513788 
time: 1403638155.045097, t: 0.935680 4.447407 0.395369 q: -0.291522 0.684036 0.447205 0.497110 
time: 1403638155.445097, t: 0.767079 4.883210 0.464008 q: -0.317719 0.655137 0.471954 0.497101 
time: 1403638155.845097, t: 0.507048 5.229338 0.441244 q: -0.371930 0.621021 0.507096 0.467820 
time: 1403638156.245097, t: 0.205084 5.459104 0.422905 q: -0.403612 0.585202 0.579184 0.398975 
time: 1403638156.645097, t: -0.066682 5.704666 0.437006 q: -0.416298 0.566085 0.609275 0.367460 
time: 1403638157.045097, t: -0.303589 6.007061 0.387778 q: -0.412442 0.568913 0.609343 0.367329 
time: 1403638157.445097, t: -0.517948 6.403141 0.415550 q: -0.407712 0.566429 0.612222 0.371635 
time: 1403638157.845097, t: -0.744744 6.849516 0.440283 q: -0.437186 0.515205 0.639128 0.367352 
wait for imu ... 
time: 1403638158.245097, t: -0.964320 7.265306 0.496124 q: -0.468032 0.482093 0.665877 0.324252 
time: 1403638158.645097, t: -1.177493 7.690931 0.484457 q: -0.465469 0.467147 0.673487 0.333958 
time: 1403638159.045097, t: -1.409517 8.101474 0.487289 q: -0.458490 0.487313 0.673476 0.314233 
time: 1403638159.445097, t: -1.621967 8.529945 0.540211 q: -0.469216 0.488915 0.661922 0.320404 
time: 1403638159.845097, t: -1.764474 8.971775 0.633679 q: 0.515215 -0.483681 -0.628460 -0.325031 
time: 1403638160.245097, t: -1.744075 9.286619 0.855337 q: -0.477005 0.476050 0.659650 0.332722 
time: 1403638160.645097, t: -1.725074 9.618970 1.142540 q: -0.457316 0.485081 0.673762 0.318752 
time: 1403638161.045097, t: -1.657477 9.925301 1.374822 q: -0.482721 0.500108 0.632451 0.341873 
time: 1403638161.445097, t: -1.536993 10.176400 1.550643 q: -0.431243 0.563369 0.594076 0.379103 
time: 1403638161.845097, t: -1.396037 10.424389 1.670653 q: -0.411811 0.593763 0.571503 0.388898 
time: 1403638162.245097, t: -1.216986 10.678862 1.758030 q: -0.403406 0.612212 0.551504 0.397873 
time: 1403638162.645097, t: -0.974972 10.935061 1.841982 q: -0.401904 0.612415 0.549166 0.402290 
time: 1403638163.045097, t: -0.667667 11.185576 1.994850 q: -0.407997 0.616758 0.533186 0.410927 
time: 1403638163.445097, t: -0.298243 11.410451 2.042803 q: -0.376777 0.638793 0.504986 0.441556 
time: 1403638163.845097, t: 0.090769 11.591402 2.106772 q: -0.359527 0.655151 0.484134 0.455118 
time: 1403638164.245097, t: 0.491689 11.733492 2.286708 q: -0.372697 0.659465 0.476849 0.445890 
time: 1403638164.645097, t: 0.933861 11.822457 2.431274 q: -0.382684 0.659073 0.473084 0.442004 
time: 1403638165.045097, t: 1.424694 11.822870 2.500075 q: -0.362013 0.652063 0.463705 0.478267 
time: 1403638165.445097, t: 1.893670 11.744767 2.486789 q: -0.349939 0.683934 0.445979 0.459216 
time: 1403638165.845097, t: 2.379634 11.624759 2.413679 q: -0.345982 0.663910 0.440331 0.495609 
time: 1403638166.245097, t: 2.807136 11.387548 2.376512 q: -0.323579 0.676935 0.461434 0.473428 
time: 1403638166.645097, t: 3.217344 11.180357 2.550370 q: -0.323514 0.672928 0.469453 0.471296 
time: 1403638167.045097, t: 3.590475 11.008267 2.637035 q: -0.328665 0.699427 0.468226 0.428423 
time: 1403638167.445097, t: 4.005595 10.980507 2.738390 q: -0.317916 0.692055 0.475713 0.440099 
time: 1403638167.845097, t: 4.500505 10.995435 2.818786 q: -0.338915 0.700611 0.437710 0.450212 
time: 1403638168.245097, t: 5.069823 11.009146 2.862198 q: -0.312222 0.723573 0.393403 0.473491 
time: 1403638168.645097, t: 5.689338 10.987454 2.970992 q: -0.252029 0.743075 0.375996 0.492898 
time: 1403638169.045097, t: 6.292000 11.027158 2.993286 q: -0.236421 0.744929 0.380115 0.494670 
time: 1403638169.445097, t: 6.888718 11.126928 2.944670 q: -0.288079 0.740348 0.334180 0.507167 
time: 1403638169.845097, t: 7.489989 11.162468 2.905960 q: -0.227674 0.758312 0.286054 0.539723 
time: 1403638170.245097, t: 8.023437 11.097076 2.959522 q: -0.167077 0.770460 0.208480 0.578803 
time: 1403638170.645097, t: 8.463177 10.983990 2.950687 q: -0.135967 0.794136 0.112374 0.581578 
wait for imu ... 
time: 1403638171.045097, t: 8.820113 10.753203 3.000623 q: -0.084646 0.799457 0.041443 0.593285 
time: 1403638171.445097, t: 9.047530 10.413876 2.985395 q: -0.063068 0.796308 0.001629 0.601593 
time: 1403638171.845097, t: 9.159816 9.962682 2.948415 q: -0.055787 0.788899 -0.036474 0.610898 
time: 1403638172.245097, t: 9.152966 9.368701 2.951828 q: -0.033871 0.784732 -0.048549 0.617002 
time: 1403638172.645097, t: 8.948664 8.687972 2.845232 q: -0.038966 0.780113 -0.048289 0.622554 
time: 1403638173.045097, t: 8.605580 7.906234 2.633552 q: -0.056154 0.785772 -0.044733 0.614335 
time: 1403638173.445097, t: 8.162426 6.984760 2.330581 q: -0.034232 0.799403 -0.021261 0.599443 
time: 1403638173.845097, t: 7.672438 6.022794 1.935129 q: -0.017201 0.803721 -0.013003 0.594616 
time: 1403638174.245097, t: 7.127676 5.113098 1.575376 q: -0.013029 0.809682 -0.011596 0.586609 
time: 1403638174.645097, t: 6.586146 4.218189 1.221402 q: -0.011200 0.825185 -0.007086 0.564707 
time: 1403638175.045097, t: 6.127618 3.393221 0.958995 q: -0.003404 0.832658 -0.001915 0.553774 
time: 1403638175.445097, t: 5.727858 2.694647 0.790426 q: 0.008747 0.842079 -0.000820 0.539283 
time: 1403638175.845097, t: 5.524297 2.029049 0.724684 q: 0.013588 0.864935 0.004253 0.501682 
time: 1403638176.245097, t: 5.538677 1.478366 0.617932 q: 0.021283 0.830912 0.016565 0.555750 
time: 1403638176.645097, t: 5.666250 1.085158 0.582979 q: 0.023299 0.821195 0.015664 0.569957 
time: 1403638177.045097, t: 5.779725 0.787053 0.629541 q: 0.018976 0.823676 0.012527 0.566605 
time: 1403638177.445097, t: 5.912095 0.588862 0.609732 q: 0.025449 0.824352 0.015614 0.565290 
time: 1403638177.845097, t: 6.071404 0.486768 0.509650 q: -0.012028 0.818184 -0.019257 0.574508 
time: 1403638178.245097, t: 6.215657 0.379552 0.447623 q: 0.006575 0.802278 -0.041922 0.595440 
time: 1403638178.645097, t: 6.265456 0.221211 0.460956 q: 0.051651 0.802574 -0.126520 0.580689 
time: 1403638179.045097, t: 6.239011 0.017830 0.413003 q: 0.096368 0.805047 -0.190942 0.553311 
time: 1403638179.445097, t: 6.232540 -0.249535 0.319063 q: 0.136198 0.802599 -0.222473 0.536462 
time: 1403638179.845097, t: 6.250455 -0.540745 0.214998 q: 0.187537 0.763688 -0.295860 0.542289 
time: 1403638180.245097, t: 6.262599 -0.847422 0.174938 q: 0.212123 0.754168 -0.345040 0.516897 
time: 1403638180.645097, t: 6.357517 -1.205444 0.103351 q: 0.221385 0.758914 -0.342375 0.507758 
time: 1403638181.045097, t: 6.445196 -1.605405 0.074891 q: 0.209426 0.765204 -0.337406 0.506716 
time: 1403638181.445097, t: 6.557589 -2.056946 0.009903 q: 0.206912 0.739626 -0.356340 0.532129 
time: 1403638181.845097, t: 6.585540 -2.533247 -0.075503 q: 0.268017 0.697854 -0.414187 0.519245 
time: 1403638182.245097, t: 6.528426 -2.994222 -0.049413 q: 0.288909 0.690026 -0.462120 0.476278 
time: 1403638182.645097, t: 6.470383 -3.488227 0.000372 q: 0.293948 0.700662 -0.462010 0.457399 
time: 1403638183.045097, t: 6.432986 -4.028653 0.096660 q: 0.295802 0.696099 -0.450262 0.474564 
time: 1403638183.445097, t: 6.410597 -4.559278 0.131894 q: 0.297522 0.707298 -0.444335 0.462360 
time: 1403638183.845097, t: 6.448842 -5.128461 0.129163 q: 0.311846 0.700104 -0.433559 0.473954 
time: 1403638184.245097, t: 6.545973 -5.677341 0.202828 q: 0.303775 0.705523 -0.441605 0.463620 
time: 1403638184.645097, t: 6.702706 -6.194415 0.245116 q: 0.310923 0.698070 -0.438720 0.472810 
time: 1403638185.045097, t: 6.916923 -6.716097 0.276633 q: 0.311620 0.696057 -0.439531 0.474563 
time: 1403638185.445097, t: 7.179180 -7.214962 0.335654 q: 0.321924 0.701342 -0.426536 0.471754 
time: 1403638185.845097, t: 7.500399 -7.612720 0.399975 q: 0.288120 0.711368 -0.401115 0.500049 
time: 1403638186.245097, t: 7.816169 -7.975598 0.421495 q: 0.268486 0.721411 -0.400992 0.496675 
time: 1403638186.645097, t: 8.104406 -8.333473 0.471182 q: 0.279313 0.724500 -0.395621 0.490477 
time: 1403638187.045097, t: 8.443691 -8.676533 0.477594 q: 0.272010 0.742557 -0.358222 0.496282 
time: 1403638187.445097, t: 8.838777 -8.954559 0.553236 q: 0.211184 0.754795 -0.278583 0.555047 
time: 1403638187.845097, t: 9.182018 -9.167570 0.657702 q: 0.193590 0.774582 -0.252457 0.546636 
time: 1403638188.245097, t: 9.501383 -9.288297 0.704098 q: 0.220916 0.763129 -0.239635 0.558037 
time: 1403638188.645097, t: 9.767414 -9.271548 0.689524 q: 0.208815 0.730651 -0.248061 0.600843 
time: 1403638189.045097, t: 9.869944 -9.098221 0.766899 q: 0.183855 0.757159 -0.233775 0.581598 
time: 1403638189.445097, t: 9.851436 -8.822286 0.876036 q: 0.135647 0.787809 -0.190273 0.569871 
time: 1403638189.845097, t: 9.792269 -8.541699 0.987420 q: 0.105135 0.815659 -0.175887 0.541027 
time: 1403638190.245097, t: 9.790503 -8.319195 1.027245 q: 0.118919 0.801470 -0.168068 0.561477 
time: 1403638190.645097, t: 9.808516 -8.082146 0.988256 q: 0.132258 0.796644 -0.125469 0.576302 
time: 1403638191.045097, t: 9.788668 -7.749534 0.960364 q: 0.101560 0.796853 -0.130521 0.581099 
time: 1403638191.445097, t: 9.743123 -7.390236 1.026239 q: 0.097763 0.813233 -0.134187 0.557754 
time: 1403638191.845097, t: 9.745220 -7.030669 1.063414 q: 0.112046 0.815668 -0.128699 0.552782 
time: 1403638192.245097, t: 9.763486 -6.637459 1.076030 q: 0.110070 0.812076 -0.130144 0.558103 
time: 1403638192.645097, t: 9.848164 -6.228014 1.223357 q: 0.107643 0.795104 -0.131262 0.582231 
time: 1403638193.045097, t: 9.873289 -5.814382 1.359039 q: 0.084735 0.762170 -0.143269 0.625612 
time: 1403638193.445097, t: 9.698072 -5.405647 1.531486 q: 0.082292 0.784699 -0.110077 0.604449 
time: 1403638193.845097, t: 9.399796 -4.995799 1.707325 q: 0.075544 0.803521 -0.105297 0.580999 
time: 1403638194.245097, t: 9.056047 -4.588584 1.776472 q: 0.078069 0.797743 -0.106713 0.588323 
time: 1403638194.645097, t: 8.688912 -4.228187 1.803225 q: 0.074383 0.811778 -0.112295 0.568220 
time: 1403638195.045097, t: 8.359252 -3.912583 1.828671 q: 0.076906 0.824553 -0.113714 0.548878 
time: 1403638195.445097, t: 8.123353 -3.629459 1.769962 q: 0.071661 0.836102 -0.117657 0.530994 
time: 1403638195.845097, t: 7.995631 -3.385150 1.686471 q: 0.072541 0.821883 -0.115431 0.553101 
time: 1403638196.245097, t: 7.934831 -3.172837 1.698026 q: 0.073573 0.821375 -0.112891 0.554244 
time: 1403638196.645097, t: 7.948713 -2.993775 1.731590 q: 0.070716 0.825198 -0.116304 0.548198 
time: 1403638197.045097, t: 8.026475 -2.857089 1.695306 q: 0.071427 0.820397 -0.116797 0.555163 
time: 1403638197.445097, t: 8.161882 -2.758853 1.739904 q: 0.092764 0.809608 -0.102007 0.570548 
time: 1403638197.845097, t: 8.286858 -2.617741 1.866979 q: 0.088914 0.805973 -0.102846 0.576129 
time: 1403638198.245097, t: 8.369388 -2.432150 1.870065 q: 0.079132 0.797595 -0.108302 0.588091 
time: 1403638198.645097, t: 8.398441 -2.200992 1.718905 q: 0.110226 0.805397 -0.085600 0.576072 
time: 1403638199.045097, t: 8.400623 -1.846686 1.606814 q: 0.129781 0.802098 -0.070172 0.578681 
time: 1403638199.445097, t: 8.387276 -1.283113 1.645651 q: 0.127459 0.797888 -0.073684 0.584550 
time: 1403638199.845097, t: 8.346564 -0.551980 1.780114 q: 0.094307 0.809434 -0.067813 0.575608 
time: 1403638200.245097, t: 8.292371 0.263724 1.884325 q: 0.066576 0.808143 -0.034234 0.584210 
time: 1403638200.645097, t: 8.213502 1.149873 2.046906 q: 0.049473 0.803523 0.032951 0.592298 
time: 1403638201.045097, t: 8.068099 2.137737 2.247705 q: 0.013600 0.810583 0.050889 0.583250 
time: 1403638201.445097, t: 7.871917 3.184053 2.330740 q: 0.004375 0.810366 0.040968 0.584473 
time: 1403638201.845097, t: 7.646491 4.216268 2.299318 q: 0.006374 0.806365 0.034680 0.590366 
time: 1403638202.245097, t: 7.336231 5.223260 2.219566 q: -0.022993 0.814783 0.043223 0.577696 
time: 1403638202.645097, t: 7.026902 6.169549 2.184067 q: -0.035921 0.821207 0.046262 0.567617 
time: 1403638203.045097, t: 6.768408 7.065725 2.104345 q: -0.035319 0.818027 0.044377 0.572376 
time: 1403638203.445097, t: 6.510053 7.877246 2.090540 q: -0.034841 0.810210 0.044704 0.583393 
time: 1403638203.845097, t: 6.222482 8.608205 2.071051 q: -0.037366 0.811975 0.043659 0.580856 
time: 1403638204.245097, t: 5.906454 9.227738 2.075432 q: -0.048092 0.819259 0.040993 0.569932 
time: 1403638204.645097, t: 5.618451 9.785716 2.169773 q: -0.069250 0.826945 0.026882 0.557354 
time: 1403638205.045097, t: 5.577547 10.203337 2.188334 q: -0.076927 0.813235 0.121879 0.563805 
time: 1403638205.445097, t: 5.299230 10.641308 2.196512 q: -0.176571 0.768925 0.271347 0.551314 
time: 1403638205.845097, t: 5.082045 11.078164 2.319534 q: -0.206023 0.716391 0.363882 0.558505 
time: 1403638206.245097, t: 4.695558 11.553674 2.506477 q: -0.267326 0.684652 0.425994 0.527558 
time: 1403638206.645097, t: 4.211462 11.941487 2.639106 q: -0.319890 0.666698 0.441764 0.507965 
time: 1403638207.045097, t: 3.683058 12.107694 2.692381 q: -0.343266 0.651736 0.456491 0.499023 
time: 1403638207.445097, t: 3.191194 12.201529 2.610649 q: -0.367503 0.629542 0.474540 0.493386 
time: 1403638207.845097, t: 2.657371 12.229740 2.557272 q: -0.388191 0.617442 0.520166 0.444409 
time: 1403638208.245097, t: 2.142999 12.180867 2.595766 q: -0.392567 0.615760 0.522253 0.440433 
time: 1403638208.645097, t: 1.722532 12.079174 2.552003 q: -0.391307 0.612259 0.537504 0.427910 
time: 1403638209.045097, t: 1.336651 11.939727 2.558400 q: -0.408301 0.591914 0.555921 0.416989 
time: 1403638209.445097, t: 0.988546 11.788645 2.484536 q: -0.412796 0.590770 0.558495 0.410699 
time: 1403638209.845097, t: 0.678906 11.602292 2.242975 q: -0.412205 0.588632 0.556333 0.417244 
time: 1403638210.245097, t: 0.384505 11.346806 1.857533 q: -0.424212 0.577076 0.546446 0.434079 
time: 1403638210.645097, t: 0.154617 10.986839 1.494898 q: -0.425210 0.577173 0.544649 0.435229 
time: 1403638211.045097, t: -0.037475 10.525622 1.141358 q: -0.421426 0.585828 0.547378 0.423773 
time: 1403638211.445097, t: -0.175890 10.008580 0.902197 q: -0.411712 0.598579 0.543763 0.420141 
time: 1403638211.845097, t: -0.241366 9.472794 0.638676 q: -0.383390 0.650729 0.481731 0.444409 
optimize pose graph 
time: 1403638212.245097, t: -0.214202 8.894200 0.434848 q: -0.328803 0.701456 0.407264 0.483719 
time: 1403638212.645097, t: -0.132426 8.289411 0.353886 q: -0.273404 0.741245 0.331201 0.515861 
time: 1403638213.045097, t: -0.024530 7.629794 0.385343 q: -0.209264 0.777994 0.243178 0.540184 
time: 1403638213.445097, t: 0.119943 6.922978 0.427066 q: -0.158591 0.824933 0.128613 0.527061 
time: 1403638213.845097, t: 0.360477 6.178354 0.424223 q: -0.091186 0.812468 0.083269 0.569779 
time: 1403638214.245097, t: 0.631019 5.434905 0.495005 q: -0.078814 0.826499 0.091226 0.549878 
time: 1403638214.645097, t: 0.964252 4.739568 0.527322 q: -0.086003 0.819009 0.105768 0.557352 
time: 1403638215.045097, t: 1.270769 4.052957 0.463848 q: -0.093417 0.803972 0.113633 0.576186 
time: 1403638215.445097, t: 1.565549 3.445789 0.345670 q: -0.081085 0.806004 0.123927 0.573083 
time: 1403638215.845097, t: 1.834127 2.891546 0.292031 q: -0.085853 0.805112 0.115552 0.575388 
time: 1403638216.245097, t: 2.037012 2.379462 0.216821 q: -0.075973 0.805229 0.104455 0.578726 
time: 1403638216.645097, t: 2.178355 1.905998 0.201388 q: -0.068289 0.804917 0.104723 0.580067 
time: 1403638217.045097, t: 2.262686 1.503810 0.118543 q: -0.055601 0.803633 0.084072 0.586527 
time: 1403638217.445097, t: 2.294268 1.139295 0.017048 q: -0.031017 0.814804 0.045254 0.577134 
time: 1403638217.845097, t: 2.285491 0.843638 0.038109 q: -0.003313 0.817114 0.055907 0.573749 
time: 1403638218.245097, t: 2.258987 0.644575 0.071365 q: -0.007107 0.808712 0.061518 0.584935 
time: 1403638218.645097, t: 2.199877 0.552840 0.088269 q: -0.024317 0.808048 0.057783 0.585772 
time: 1403638219.045097, t: 2.095946 0.539251 0.113486 q: -0.030597 0.820203 0.022651 0.570805 
time: 1403638219.445097, t: 1.981214 0.544624 0.090095 q: -0.015775 0.800019 0.019555 0.599448 
time: 1403638219.845097, t: 1.809217 0.549497 0.090958 q: -0.032864 0.808206 0.008806 0.587916 
optimize pose graph 
time: 1403638220.645097, t: 1.381270 0.422031 0.082849 q: -0.008127 0.816756 0.023773 0.576436 
time: 1403638221.045097, t: 1.159321 0.369587 0.063418 q: -0.008574 0.818169 0.018159 0.574627 
time: 1403638221.445097, t: 0.945126 0.342851 0.034863 q: -0.012194 0.823318 0.012404 0.567314 
time: 1403638221.845097, t: 0.760016 0.317920 0.004562 q: -0.018396 0.819147 0.007458 0.573240 
time: 1403638222.245097, t: 0.598944 0.289176 0.033013 q: -0.008760 0.823990 0.014828 0.566343 
optimize pose graph 
time: 1403638222.645097, t: 0.472164 0.275658 0.010832 q: -0.010737 0.824352 0.013322 0.565820 
time: 1403638223.045097, t: 0.385860 0.275071 -0.050834 q: -0.012872 0.810046 0.012744 0.586087 
time: 1403638223.445097, t: 0.274944 0.278134 -0.079777 q: -0.024842 0.826097 0.003157 0.562971 
time: 1403638223.845097, t: 0.200724 0.240194 -0.122692 q: -0.008094 0.820360 0.014377 0.571609 
time: 1403638224.245097, t: 0.143411 0.209834 -0.181471 q: -0.003523 0.831360 0.017991 0.555431 
optimize pose graph 
time: 1403638224.645097, t: 0.130772 0.218420 -0.240318 q: -0.011364 0.816495 0.012419 0.577107 
time: 1403638225.045097, t: 0.133057 0.252088 -0.267483 q: -0.025978 0.817115 0.003291 0.575879 
time: 1403638225.445097, t: 0.160283 0.261890 -0.231940 q: -0.011749 0.821128 0.015555 0.570411 
time: 1403638225.845097, t: 0.169834 0.270992 -0.300650 q: -0.008977 0.813603 0.017837 0.581077 
time: 1403638226.245097, t: 0.172753 0.303869 -0.354261 q: -0.006794 0.836563 0.021782 0.547396 
optimize pose graph 
time: 1403638226.645097, t: 0.176239 0.303120 -0.327311 q: -0.010726 0.831946 0.020281 0.554382 
time: 1403638227.045097, t: 0.168018 0.300412 -0.321663 q: -0.009756 0.832153 0.020686 0.554075 
time: 1403638227.445097, t: 0.155622 0.290138 -0.285533 q: -0.010652 0.832433 0.020015 0.553661 
time: 1403638227.845097, t: 0.120303 0.296096 -0.303844 q: -0.010484 0.832506 0.020168 0.553550 
time: 1403638228.245097, t: 0.102625 0.304717 -0.340407 q: -0.010469 0.832618 0.020063 0.553385 
time: 1403638228.645097, t: 0.095805 0.297526 -0.318305 q: -0.010721 0.832786 0.020056 0.553128 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720482041.887161681]: Shutdown request received.[0m
[33m[ WARN] [1720482041.887198737]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720482041.888075549]: Shutdown request received.[0m
[33m[ WARN] [1720482041.888157224]: Reason given for shutdown: [user request][0m
killed
