/SLAM-Hive/slam_hive_results/mapping_results/2908/2116_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-16.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720482349.396964907]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720482349.398770922]: init begins[0m
[31m[ERROR] [1720482349.399719703]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/34506afe-3d84-11ef-a37c-0242ac110005/roslaunch-7b4745334b79-118.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://7b4745334b79:39779/[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://7b4745334b79:11311/[0m
]2;roscore http://7b4745334b79:11311/
[1msetting /run_id to 34506afe-3d84-11ef-a37c-0242ac110005[0m
[0m[ INFO] [1720482350.556430765]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720482350.558571810]: 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] [1720482350.574723405]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720482350.574984424]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720482350.575020743]: 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] [1720482350.575310538]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720482350.575807739]: 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 [232][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720482359.539735914]: 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: 316844232.43 
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
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720482364.028649943]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482364.430215830]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482364.840682939]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720482365.227103681]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720482365.621333888]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482366.058420691]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482366.460951888]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720482366.825372762]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720482367.233547310]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482367.630006626]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720482368.034599419]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720482368.431832199]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482368.836336663]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482369.242531467]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482369.653177155]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482370.022614312]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720482370.424492996]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482370.828965686]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720482371.225114060]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482371.628640014]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482372.039566965]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482372.427365821]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482372.828501279]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482373.232052628]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720482373.630528987]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482374.037735675]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482374.425968848]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482374.849601231]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482375.238264554]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720482375.624292438]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482376.027135171]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482376.427268082]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720482376.826681825]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482377.238968648]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482377.629271351]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482378.039729810]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720482378.825813513]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482379.227915717]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720482380.038467403]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482380.437108062]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482380.841205185]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482381.228099593]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482381.626659087]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482382.029533480]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720482383.253908453]: 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!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720482384.862399572]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482385.240980572]: 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!
[33m[ WARN] [1720482386.104488259]: gyroscope bias initial calibration -0.00357294   0.0187661   0.0785401[0m
[0m[ INFO] [1720482386.135505256]: Initialization finish![0m
time: 1403638153.445097, t: 1.173423 2.042100 0.171063 q: -0.170753 0.782792 0.274597 0.531673 
wait for imu ... 
time: 1403638153.845097, t: 1.309708 2.483762 0.264438 q: -0.201255 0.758106 0.336532 0.521074 
time: 1403638154.245097, t: 1.444684 2.987130 0.284958 q: -0.225916 0.737445 0.349476 0.531981 
wait for imu ... 
time: 1403638154.645097, t: 1.502014 3.449100 0.259243 q: -0.236749 0.729024 0.346135 0.540985 
time: 1403638155.045097, t: 1.507531 3.879984 0.295443 q: -0.241850 0.721342 0.382445 0.524320 
time: 1403638155.445097, t: 1.382877 4.206407 0.353690 q: -0.269348 0.694139 0.410829 0.526157 
time: 1403638155.845097, t: 1.208795 4.544409 0.315180 q: -0.325766 0.663551 0.449169 0.501820 
time: 1403638156.245097, t: 1.036112 4.924277 0.298342 q: -0.362017 0.635658 0.524196 0.436006 
time: 1403638156.645097, t: 0.826595 5.256058 0.309736 q: -0.377328 0.619284 0.556371 0.405662 
time: 1403638157.045097, t: 0.660892 5.628586 0.247403 q: -0.373650 0.621826 0.556595 0.404871 
time: 1403638157.445097, t: 0.505357 6.069025 0.268728 q: -0.369174 0.618972 0.560291 0.408238 
time: 1403638157.845097, t: 0.380190 6.488174 0.281233 q: -0.398859 0.570430 0.592081 0.406155 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403638158.245097, t: 0.228796 6.936183 0.331227 q: -0.434108 0.539265 0.622244 0.365453 
time: 1403638158.645097, t: 0.081503 7.381285 0.313103 q: -0.431597 0.524028 0.631758 0.374166 
time: 1403638159.045097, t: -0.066392 7.773708 0.310111 q: -0.426784 0.543446 0.630572 0.353412 
time: 1403638159.445097, t: -0.210638 8.207343 0.352976 q: -0.437542 0.543270 0.619531 0.359994 
time: 1403638159.845097, t: -0.277451 8.644349 0.443385 q: -0.483313 0.534828 0.587284 0.368054 
time: 1403638160.245097, t: -0.231715 8.951382 0.659423 q: -0.444607 0.529366 0.619314 0.372219 
time: 1403638160.645097, t: -0.159049 9.207967 0.956570 q: -0.426331 0.539039 0.633104 0.356173 
time: 1403638161.045097, t: -0.089577 9.477250 1.197924 q: -0.449597 0.550262 0.591038 0.381770 
time: 1403638161.445097, t: 0.067068 9.704666 1.374184 q: -0.395186 0.609838 0.547622 0.414773 
time: 1403638161.845097, t: 0.258466 9.924574 1.498839 q: -0.375086 0.638170 0.522606 0.423005 
time: 1403638162.245097, t: 0.495441 10.133945 1.590638 q: -0.366250 0.654936 0.500735 0.431490 
time: 1403638162.645097, t: 0.770257 10.362479 1.703244 q: -0.364906 0.654743 0.498601 0.435377 
time: 1403638163.045097, t: 1.114296 10.544104 1.864399 q: -0.370979 0.657690 0.482191 0.444195 
time: 1403638163.445097, t: 1.520545 10.686568 1.930091 q: -0.338188 0.677120 0.451896 0.472152 
time: 1403638163.845097, t: 1.938154 10.794766 2.004607 q: -0.320740 0.691513 0.429999 0.483773 
time: 1403638164.245097, t: 2.358437 10.850027 2.200114 q: -0.335106 0.695226 0.422346 0.475381 
time: 1403638164.645097, t: 2.790698 10.880692 2.342749 q: -0.345583 0.694520 0.419289 0.471605 
wait for imu ... 
wait for imu ... 
time: 1403638165.045097, t: 3.280180 10.817737 2.412801 q: -0.322389 0.686835 0.410663 0.505648 
time: 1403638165.445097, t: 3.712383 10.613537 2.397564 q: -0.311657 0.717262 0.389770 0.486296 
time: 1403638165.845097, t: 4.212536 10.380826 2.340203 q: -0.305362 0.696721 0.385564 0.522182 
time: 1403638166.245097, t: 4.620264 10.088228 2.300115 q: -0.284866 0.711498 0.405932 0.497836 
wait for imu ... 
time: 1403638166.645097, t: 4.958859 9.788986 2.465327 q: -0.284642 0.708214 0.414020 0.495983 
time: 1403638167.045097, t: 5.321389 9.562508 2.542870 q: -0.293519 0.734437 0.410896 0.453447 
wait for imu ... 
time: 1403638167.445097, t: 5.732278 9.408026 2.649570 q: -0.282129 0.727629 0.418791 0.464299 
time: 1403638167.845097, t: 6.195917 9.318921 2.739377 q: -0.301938 0.733267 0.380241 0.475993 
wait for imu ... 
time: 1403638168.245097, t: 6.751341 9.227515 2.790346 q: -0.273359 0.752701 0.334321 0.496936 
time: 1403638168.645097, t: 7.323975 9.145949 2.897635 q: -0.211291 0.771046 0.315480 0.511191 
time: 1403638169.045097, t: 8.001206 9.082463 2.928757 q: -0.196255 0.773072 0.320060 0.511278 
time: 1403638169.445097, t: 8.631089 9.119242 2.879169 q: -0.246743 0.765017 0.274903 0.527537 
time: 1403638169.845097, t: 9.260411 9.050922 2.847106 q: -0.184153 0.779135 0.225555 0.555123 
wait for imu ... 
time: 1403638170.245097, t: 9.812059 8.904766 2.913285 q: -0.120652 0.785176 0.147404 0.589249 
time: 1403638170.645097, t: 10.252873 8.700363 2.923664 q: -0.089309 0.801122 0.049559 0.589721 
time: 1403638171.045097, t: 10.598811 8.396602 2.986963 q: -0.037417 0.800759 -0.021449 0.597432 
wait for imu ... 
time: 1403638171.445097, t: 10.746236 8.010078 2.981157 q: -0.015141 0.794361 -0.061143 0.604171 
time: 1403638171.845097, t: 10.778708 7.501036 2.955721 q: -0.007243 0.783871 -0.098569 0.613007 
time: 1403638172.245097, t: 10.698117 6.884199 2.970329 q: 0.015025 0.778753 -0.110163 0.617399 
time: 1403638172.645097, t: 10.284315 6.247657 2.862517 q: 0.011032 0.773879 -0.109947 0.623620 
wait for imu ... 
wait for imu ... 
time: 1403638173.045097, t: 9.885803 5.444232 2.657610 q: -0.007246 0.779992 -0.106587 0.616603 
wait for imu ... 
wait for imu ... 
time: 1403638173.445097, t: 9.324088 4.545534 2.361732 q: 0.013157 0.795428 -0.084131 0.600036 
time: 1403638173.845097, t: 8.695515 3.680816 1.955008 q: 0.029981 0.800449 -0.076186 0.593783 
time: 1403638174.245097, t: 8.025348 2.785272 1.606264 q: 0.033059 0.806450 -0.075020 0.585591 
time: 1403638174.645097, t: 7.339497 1.994642 1.234673 q: 0.033505 0.822294 -0.071913 0.563505 
time: 1403638175.045097, t: 6.774528 1.235522 0.950637 q: 0.040423 0.830234 -0.067404 0.551846 
time: 1403638175.445097, t: 6.234191 0.719773 0.762657 q: 0.052098 0.839857 -0.067598 0.536056 
time: 1403638175.845097, t: 5.928695 0.065919 0.686757 q: 0.053856 0.863013 -0.064271 0.498173 
wait for imu ... 
time: 1403638176.245097, t: 5.845681 -0.488877 0.568928 q: 0.065760 0.830122 -0.049204 0.551500 
time: 1403638176.645097, t: 5.871544 -0.906892 0.545956 q: 0.068890 0.820283 -0.049155 0.565663 
time: 1403638177.045097, t: 5.968883 -1.202463 0.575855 q: 0.064631 0.822531 -0.052484 0.562593 
time: 1403638177.445097, t: 6.029582 -1.397559 0.575563 q: 0.071192 0.823356 -0.049386 0.560872 
time: 1403638177.845097, t: 6.166545 -1.509325 0.476796 q: 0.034782 0.814376 -0.083720 0.573212 
time: 1403638178.245097, t: 6.281129 -1.666152 0.407493 q: 0.054910 0.796642 -0.105023 0.592720 
time: 1403638178.645097, t: 6.293830 -1.835590 0.420583 q: 0.098580 0.790053 -0.189420 0.574646 
time: 1403638179.045097, t: 6.232472 -2.018677 0.378691 q: 0.141035 0.787353 -0.253769 0.543862 
time: 1403638179.445097, t: 6.186360 -2.255543 0.276039 q: 0.179639 0.782285 -0.285025 0.523947 
time: 1403638179.845097, t: 6.155547 -2.530041 0.164611 q: 0.231391 0.737577 -0.354938 0.525792 
time: 1403638180.245097, t: 6.098470 -2.824496 0.146858 q: 0.253837 0.724162 -0.403158 0.498618 
time: 1403638180.645097, t: 6.073742 -3.171822 0.093445 q: 0.262237 0.728882 -0.400899 0.489125 
time: 1403638181.045097, t: 6.148702 -3.561133 0.066577 q: 0.249661 0.736393 -0.395664 0.488717 
time: 1403638181.445097, t: 6.176831 -4.006342 0.011875 q: 0.248729 0.709686 -0.412094 0.514450 
time: 1403638181.845097, t: 6.120298 -4.449261 -0.068262 q: 0.308468 0.663583 -0.466261 0.497097 
time: 1403638182.245097, t: 6.008485 -4.875558 -0.040823 q: 0.325661 0.652431 -0.513095 0.452784 
time: 1403638182.645097, t: 5.878286 -5.336856 0.010098 q: 0.328921 0.663270 -0.513629 0.433669 
time: 1403638183.045097, t: 5.773028 -5.804197 0.122946 q: 0.332280 0.659642 -0.501548 0.450458 
time: 1403638183.445097, t: 5.673398 -6.309983 0.142794 q: 0.332823 0.671451 -0.496257 0.438305 
time: 1403638183.845097, t: 5.658291 -6.870081 0.128250 q: 0.347961 0.665303 -0.484804 0.448620 
time: 1403638184.245097, t: 5.683380 -7.380049 0.194293 q: 0.339261 0.669994 -0.493252 0.438990 
time: 1403638184.645097, t: 5.763095 -7.841794 0.228269 q: 0.347304 0.662537 -0.489897 0.447689 
time: 1403638185.045097, t: 5.860683 -8.361308 0.264297 q: 0.347876 0.660462 -0.490437 0.449715 
time: 1403638185.445097, t: 6.010374 -8.853531 0.334038 q: 0.357612 0.666822 -0.477646 0.446448 
time: 1403638185.845097, t: 6.253032 -9.340792 0.396319 q: 0.325611 0.679058 -0.452844 0.477274 
time: 1403638186.245097, t: 6.499490 -9.821684 0.428970 q: 0.305390 0.689354 -0.453473 0.475278 
wait for imu ... 
time: 1403638186.645097, t: 6.735261 -10.265600 0.488503 q: 0.315513 0.693049 -0.448337 0.468112 
time: 1403638187.045097, t: 7.017082 -10.657130 0.493986 q: 0.308452 0.713935 -0.412368 0.474453 
time: 1403638187.445097, t: 7.368681 -11.013869 0.573164 q: 0.251934 0.732171 -0.333846 0.537589 
time: 1403638187.845097, t: 7.667726 -11.269912 0.681408 q: 0.233586 0.753897 -0.309184 0.530549 
time: 1403638188.245097, t: 7.957962 -11.458793 0.732335 q: 0.261467 0.743501 -0.295530 0.539911 
time: 1403638188.645097, t: 8.210772 -11.477573 0.707221 q: 0.252483 0.710604 -0.301429 0.583468 
time: 1403638189.045097, t: 8.350653 -11.345317 0.772686 q: 0.226218 0.738225 -0.289117 0.565916 
time: 1403638189.445097, t: 8.406138 -11.131768 0.886338 q: 0.177220 0.772122 -0.248147 0.557534 
time: 1403638189.845097, t: 8.363703 -10.825307 0.986503 q: 0.144513 0.800927 -0.235596 0.531156 
wait for imu ... 
time: 1403638190.245097, t: 8.378606 -10.594796 1.037008 q: 0.159706 0.787354 -0.226674 0.550624 
time: 1403638190.645097, t: 8.433894 -10.371442 1.003086 q: 0.174106 0.785685 -0.183815 0.564446 
time: 1403638191.045097, t: 8.479455 -10.062497 0.968524 q: 0.143922 0.785581 -0.188875 0.571380 
time: 1403638191.445097, t: 8.509594 -9.730469 1.029798 q: 0.138456 0.801660 -0.193777 0.548290 
time: 1403638191.845097, t: 8.585013 -9.400466 1.051834 q: 0.152333 0.804414 -0.188374 0.542428 
wait for imu ... 
time: 1403638192.245097, t: 8.702908 -9.043032 1.062050 q: 0.150902 0.800759 -0.189677 0.547756 
time: 1403638192.645097, t: 8.875747 -8.698549 1.215039 q: 0.150291 0.783865 -0.189721 0.571816 
time: 1403638193.045097, t: 8.964918 -8.295910 1.338262 q: 0.130522 0.750124 -0.199010 0.616987 
time: 1403638193.445097, t: 8.867505 -7.866910 1.507038 q: 0.126521 0.774995 -0.167453 0.596099 
time: 1403638193.845097, t: 8.646198 -7.427684 1.673786 q: 0.118106 0.794108 -0.163925 0.573212 
wait for imu ... 
time: 1403638194.245097, t: 8.398182 -7.030342 1.742350 q: 0.120984 0.788396 -0.164862 0.580186 
time: 1403638195.045097, t: 7.857127 -6.302734 1.800027 q: 0.117142 0.814617 -0.173658 0.540851 
time: 1403638195.445097, t: 7.679155 -6.002587 1.741120 q: 0.110635 0.825815 -0.178349 0.523433 
time: 1403638195.845097, t: 7.600943 -5.741338 1.658553 q: 0.113215 0.811758 -0.175069 0.545511 
time: 1403638196.245097, t: 7.571338 -5.522611 1.673869 q: 0.114248 0.811374 -0.172464 0.546696 
time: 1403638196.645097, t: 7.572339 -5.321187 1.712810 q: 0.110621 0.814768 -0.176071 0.541217 
wait for imu ... 
time: 1403638197.045097, t: 7.661765 -5.198494 1.677549 q: 0.111701 0.809910 -0.176229 0.548190 
wait for imu ... 
time: 1403638197.445097, t: 7.806703 -5.129567 1.721092 q: 0.134073 0.800216 -0.160696 0.562010 
time: 1403638197.845097, t: 7.933280 -4.993934 1.847841 q: 0.130681 0.796465 -0.161255 0.567946 
time: 1403638198.245097, t: 8.031436 -4.809668 1.850042 q: 0.121876 0.787666 -0.166158 0.580621 
time: 1403638198.645097, t: 8.082221 -4.604004 1.692142 q: 0.151874 0.797021 -0.144093 0.566506 
time: 1403638199.045097, t: 8.119223 -4.265822 1.579893 q: 0.171479 0.794804 -0.128429 0.567792 
time: 1403638199.445097, t: 8.176936 -3.706690 1.625644 q: 0.169631 0.790375 -0.131559 0.573781 
time: 1403638199.845097, t: 8.208092 -2.965886 1.761925 q: 0.135840 0.802252 -0.126503 0.567394 
time: 1403638200.245097, t: 8.251970 -2.148082 1.864916 q: 0.108822 0.803430 -0.092792 0.577968 
time: 1403638200.645097, t: 8.314574 -1.259211 2.027108 q: 0.092481 0.803835 -0.025424 0.587069 
time: 1403638201.045097, t: 8.293549 -0.253546 2.235055 q: 0.056100 0.812253 -0.007987 0.580546 
time: 1403638201.445097, t: 8.229730 0.817300 2.322423 q: 0.047099 0.811373 -0.017799 0.582356 
wait for imu ... 
time: 1403638201.845097, t: 8.168967 1.898656 2.296629 q: 0.049781 0.807005 -0.023744 0.587964 
time: 1403638202.245097, t: 8.088609 2.985309 2.228277 q: 0.020011 0.816331 -0.016171 0.577011 
time: 1403638202.645097, t: 8.000415 4.015165 2.205252 q: 0.006727 0.823140 -0.013732 0.567633 
wait for imu ... 
time: 1403638203.045097, t: 7.894089 4.960662 2.138585 q: 0.007611 0.819839 -0.015311 0.572339 
time: 1403638203.445097, t: 7.786511 5.827805 2.136376 q: 0.008834 0.812090 -0.014362 0.583289 
time: 1403638203.845097, t: 7.650148 6.609208 2.111177 q: 0.005994 0.813815 -0.015467 0.580888 
time: 1403638204.245097, t: 7.486840 7.301066 2.136338 q: -0.005509 0.820893 -0.018603 0.570753 
time: 1403638204.645097, t: 7.350246 7.954027 2.311272 q: -0.027286 0.827530 -0.033294 0.559769 
time: 1403638205.045097, t: 6.980682 8.443598 2.367230 q: -0.034424 0.819743 0.062241 0.568298 
time: 1403638205.445097, t: 6.903703 8.943008 2.351112 q: -0.134967 0.787035 0.214633 0.562398 
time: 1403638205.845097, t: 6.713157 9.411520 2.505136 q: -0.164106 0.741284 0.310975 0.571718 
time: 1403638206.245097, t: 6.392499 9.966667 2.719702 q: -0.227692 0.714146 0.375288 0.545262 
time: 1403638206.645097, t: 5.932214 10.541152 2.848704 q: -0.281201 0.697412 0.392310 0.529751 
wait for imu ... 
time: 1403638207.045097, t: 5.457498 10.869662 2.877863 q: -0.304973 0.683803 0.408011 0.522429 
wait for imu ... 
time: 1403638207.445097, t: 5.084655 10.669456 2.740965 q: -0.331634 0.661927 0.428640 0.517821 
time: 1403638207.845097, t: 4.592301 10.749698 2.689385 q: -0.355928 0.653025 0.475085 0.470286 
time: 1403638208.245097, t: 4.123838 10.764816 2.729724 q: -0.360641 0.651554 0.477238 0.466539 
time: 1403638208.645097, t: 3.756566 10.729208 2.688028 q: -0.360276 0.649306 0.492590 0.453826 
time: 1403638209.045097, t: 3.396556 10.676851 2.692819 q: -0.377883 0.630480 0.512363 0.444053 
wait for imu ... 
time: 1403638209.445097, t: 3.000788 10.577358 2.634893 q: -0.382771 0.629428 0.515038 0.438226 
time: 1403638209.845097, t: 2.622289 10.472255 2.386594 q: -0.381287 0.627379 0.512791 0.445041 
time: 1403638210.245097, t: 2.239792 10.255542 2.011088 q: -0.391653 0.615343 0.503596 0.462982 
time: 1403638210.645097, t: 1.925853 9.939819 1.649579 q: -0.392171 0.615486 0.501688 0.464423 
wait for imu ... 
time: 1403638211.045097, t: 1.685290 9.529768 1.298190 q: -0.389244 0.624258 0.503865 0.452671 
time: 1403638211.445097, t: 1.497581 9.052050 1.060695 q: -0.379916 0.636598 0.499456 0.448275 
time: 1403638211.845097, t: 1.361638 8.469764 0.802280 q: -0.350158 0.683887 0.433964 0.470492 
time: 1403638212.245097, t: 1.287714 7.897574 0.579562 q: -0.292769 0.729128 0.356153 0.505780 
wait for imu ... 
time: 1403638212.645097, t: 1.292595 7.274695 0.505211 q: -0.235450 0.763202 0.277552 0.533902 
time: 1403638213.045097, t: 1.305408 6.605861 0.545351 q: -0.169743 0.793498 0.187190 0.553631 
time: 1403638213.445097, t: 1.332484 5.890330 0.570704 q: -0.120044 0.832088 0.069604 0.537005 
time: 1403638213.845097, t: 1.453476 5.133144 0.558515 q: -0.049732 0.816352 0.025355 0.574851 
time: 1403638214.245097, t: 1.596072 4.412680 0.644782 q: -0.038494 0.830830 0.032137 0.554263 
time: 1403638214.645097, t: 1.828231 3.719171 0.671585 q: -0.045199 0.824441 0.047406 0.562144 
time: 1403638215.045097, t: 2.027888 3.038598 0.612914 q: -0.051298 0.810047 0.056565 0.581371 
time: 1403638215.445097, t: 2.216978 2.404806 0.496996 q: -0.039376 0.812719 0.066611 0.577495 
time: 1403638215.845097, t: 2.392936 1.791382 0.445395 q: -0.044365 0.811216 0.058461 0.580123 
wait for imu ... 
time: 1403638216.245097, t: 2.511751 1.232708 0.368278 q: -0.034675 0.810477 0.047537 0.582808 
time: 1403638216.645097, t: 2.573188 0.718093 0.358801 q: -0.027154 0.810207 0.048042 0.583540 
time: 1403638217.045097, t: 2.630779 0.287900 0.269331 q: -0.014363 0.807652 0.027806 0.588828 
time: 1403638217.445097, t: 2.637159 -0.059044 0.157542 q: 0.009551 0.816217 -0.011668 0.577549 
time: 1403638217.845097, t: 2.593250 -0.362354 0.179237 q: 0.036766 0.819292 -0.001039 0.572196 
time: 1403638218.245097, t: 2.539346 -0.556320 0.217925 q: 0.033740 0.811336 0.005114 0.583584 
time: 1403638218.645097, t: 2.462609 -0.645153 0.237989 q: 0.016650 0.810333 0.001393 0.585731 
time: 1403638219.045097, t: 2.357649 -0.649240 0.261252 q: 0.009144 0.819969 -0.034445 0.571298 
time: 1403638219.445097, t: 2.257892 -0.633137 0.234313 q: 0.025705 0.799669 -0.036167 0.598800 
time: 1403638219.845097, t: 2.093530 -0.603304 0.229370 q: 0.007853 0.807110 -0.047445 0.588440 
time: 1403638220.245097, t: 1.876954 -0.623217 0.189725 q: 0.011754 0.815959 -0.044865 0.576247 
time: 1403638220.645097, t: 1.655119 -0.667185 0.219972 q: 0.032046 0.816725 -0.033214 0.575178 
time: 1403638221.045097, t: 1.431467 -0.688089 0.204651 q: 0.031401 0.817760 -0.038841 0.573388 
time: 1403638221.445097, t: 1.218382 -0.682902 0.176237 q: 0.027300 0.822488 -0.044858 0.566354 
time: 1403638221.845097, t: 1.028717 -0.678739 0.147917 q: 0.021542 0.817976 -0.049539 0.572710 
time: 1403638222.245097, t: 0.851007 -0.684926 0.178298 q: 0.030669 0.823282 -0.042546 0.565204 
time: 1403638222.645097, t: 0.720679 -0.686211 0.156517 q: 0.028436 0.823479 -0.043976 0.564925 
wait for imu ... 
time: 1403638223.045097, t: 0.623417 -0.681516 0.096637 q: 0.027603 0.809174 -0.043253 0.585325 
time: 1403638223.445097, t: 0.534347 -0.663471 0.067170 q: 0.014042 0.824565 -0.053908 0.563017 
time: 1403638223.845097, t: 0.459137 -0.687134 0.020819 q: 0.031356 0.819634 -0.042191 0.570471 
time: 1403638224.245097, t: 0.398739 -0.706571 -0.050481 q: 0.034802 0.830826 -0.039198 0.554058 
time: 1403638224.645097, t: 0.383909 -0.696717 -0.109931 q: 0.028289 0.815659 -0.043502 0.576201 
time: 1403638225.045097, t: 0.373705 -0.672276 -0.141013 q: 0.013204 0.815582 -0.052327 0.576119 
time: 1403638225.445097, t: 0.403143 -0.661501 -0.125585 q: 0.027013 0.820287 -0.040188 0.569898 time: 1403638225.845097, t: 0.401193 -0.655110 -0.194105 q: 0.030476 0.812888 -0.037335 0.580422 
time: 1403638226.245097, t: 0.408698 -0.625522 -0.253009 q: 0.030276 0.836068 -0.034817 0.546682 
wait for imu ... 
time: 1403638226.645097, t: 0.405938 -0.630224 -0.223456 q: 0.026764 0.831347 -0.035997 0.553940 
wait for imu ... 
time: 1403638227.045097, t: 0.384889 -0.644247 -0.202075 q: 0.027464 0.831615 -0.035364 0.553544 
time: 1403638227.445097, t: 0.288812 -0.687647 -0.191162 q: 0.026214 0.831918 -0.035584 0.553136 
time: 1403638227.845097, t: 0.313054 -0.664533 -0.118603 q: 0.026492 0.831899 -0.035837 0.553134 
wait for imu ... 
time: 1403638228.245097, t: 0.282665 -0.675638 -0.070953 q: 0.026225 0.831949 -0.035935 0.553066 
time: 1403638228.645097, t: 0.256339 -0.685706 -0.018113 q: 0.025986 0.832075 -0.035991 0.552884 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720482463.018877512]: Shutdown request received.[0m
[33m[ WARN] [1720482463.018943534]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720482463.019900817]: Shutdown request received.[0m
[33m[ WARN] [1720482463.019941476]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/34506afe-3d84-11ef-a37c-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
