/SLAM-Hive/slam_hive_results/mapping_results/2959/2167_vins-fusion-stereo+MH_01_easy+Image_comb_test-7.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720490575.261136508]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720490575.263126886]: init begins[0m
[31m[ERROR] [1720490575.264217581]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/5b4f51b6-3d97-11ef-b62e-0242ac110005/roslaunch-91319951c104-116.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://91319951c104:43331/[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 [153][0m
[0m[ INFO] [1720490576.417560764]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720490576.419007946]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
[1mROS_MASTER_URI=http://91319951c104:11311/[0m
]2;roscore http://91319951c104:11311/
result path /home/output/vio.csv
[33m[ WARN] [1720490576.425252353]:  fix extrinsic param [0m
[1msetting /run_id to 5b4f51b6-3d97-11ef-b62e-0242ac110005[0m
camera number 2
[0m[ INFO] [1720490576.425475315]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720490576.425504905]: ROW: 384 COL: 601 [0m
no imu, fix extrinsic param; no time offset calibration
 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
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720490576.425764764]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720490576.425969104]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720490576.426126003]: 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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [240][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720490585.447570944]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316854006.72 
[0m[ INFO] [1720490588.843549293]: Initialization finish![0m
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time: 1403636582.463556, t: -0.208601 0.008461 -0.014506 q: 0.999328 -0.009087 -0.035521 0.000393 
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time: 1403636624.063555, t: -0.327791 0.180759 0.251836 q: 0.992955 0.098868 0.035201 -0.055012 
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time: 1403636625.063555, t: -0.312419 0.256622 0.186612 q: 0.991930 0.067365 -0.014920 -0.106373 
time: 1403636625.263556, t: -0.265970 0.262950 0.152835 q: 0.992507 0.072279 -0.018436 -0.096776 
time: 1403636625.463556, t: -0.251157 0.263360 0.144213 q: 0.992573 0.076648 -0.017373 -0.092853 
time: 1403636625.663555, t: -0.256011 0.260384 0.156841 q: 0.992238 0.078172 -0.018378 -0.094947 
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time: 1403636626.063555, t: -0.105767 0.214046 0.156615 q: 0.992424 0.087976 0.010752 -0.085086 
time: 1403636626.263556, t: -0.023124 0.189814 0.150503 q: 0.993053 0.094482 0.011349 -0.069215 
time: 1403636626.463556, t: 0.012878 0.186525 0.157486 q: 0.992777 0.094103 0.013775 -0.073133 
time: 1403636626.663555, t: 0.025450 0.201617 0.166249 q: 0.991525 0.093059 0.027823 -0.086280 
time: 1403636626.863555, t: 0.015602 0.222542 0.167626 q: 0.991246 0.094743 0.018591 -0.090051 
time: 1403636627.063555, t: -0.008962 0.247069 0.161745 q: 0.991273 0.093289 0.001361 -0.093131 
time: 1403636627.263556, t: -0.009963 0.266185 0.150291 q: 0.991167 0.094097 0.004348 -0.093352 
time: 1403636627.463556, t: 0.026174 0.278877 0.125299 q: 0.991355 0.096019 0.009957 -0.088865 
time: 1403636627.663555, t: 0.051518 0.299023 0.100198 q: 0.993112 0.083467 0.004113 -0.082130 
optimize pose graph 
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time: 1403636628.063555, t: 0.030928 0.354330 0.102330 q: 0.996118 0.039563 -0.021373 -0.075672 
time: 1403636628.263556, t: 0.073660 0.369631 0.114310 q: 0.997193 0.036251 0.008998 -0.064899 
time: 1403636628.463556, t: 0.128011 0.385671 0.120835 q: 0.997657 0.038906 0.015132 -0.054202 
time: 1403636628.663555, t: 0.159780 0.415320 0.129464 q: 0.997688 0.042489 0.013051 -0.051412 
time: 1403636628.863555, t: 0.176349 0.462001 0.140651 q: 0.997814 0.027845 0.003235 -0.059844 
time: 1403636629.063555, t: 0.200514 0.515340 0.148109 q: 0.998063 0.013307 -0.008529 -0.060172 
time: 1403636629.263556, t: 0.238393 0.565404 0.165526 q: 0.998479 -0.004328 -0.005302 -0.054703 
time: 1403636629.463556, t: 0.263762 0.619838 0.198737 q: 0.999116 -0.017121 0.006930 -0.037769 
time: 1403636629.663555, t: 0.262072 0.686224 0.241588 q: 0.998683 -0.045865 0.002673 -0.022851 
optimize pose graph 
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time: 1403636630.063555, t: 0.240141 0.859699 0.368076 q: 0.992514 -0.121856 -0.008144 -0.001259 
time: 1403636630.263556, t: 0.275198 0.941197 0.439098 q: 0.990351 -0.137461 0.017537 0.001152 
time: 1403636630.463556, t: 0.332730 1.023351 0.503213 q: 0.989737 -0.141978 0.016205 -0.000331 
time: 1403636630.663555, t: 0.405335 1.100436 0.569299 q: 0.989839 -0.141460 0.010017 -0.010337 
time: 1403636630.863555, t: 0.459201 1.166101 0.634256 q: 0.990701 -0.135500 0.008507 -0.008903 
time: 1403636631.063555, t: 0.493715 1.237635 0.709061 q: 0.991390 -0.130409 0.010354 -0.005677 
time: 1403636631.263556, t: 0.521222 1.309271 0.788320 q: 0.991528 -0.128593 0.016979 -0.006947 
time: 1403636631.463556, t: 0.539262 1.380606 0.870607 q: 0.991716 -0.127083 0.016755 -0.008297 
time: 1403636631.663555, t: 0.545814 1.450029 0.954474 q: 0.991784 -0.126334 0.014958 -0.013403 
time: 1403636631.863555, t: 0.568652 1.513195 1.033092 q: 0.991894 -0.125263 0.013462 -0.016536 
optimize pose graph 
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time: 1403636632.863555, t: 0.655446 1.713202 1.436704 q: 0.997194 -0.072761 -0.004659 -0.017003 
time: 1403636633.063555, t: 0.690030 1.754019 1.525979 q: 0.998102 -0.039110 0.003741 -0.047412 
time: 1403636633.263556, t: 0.729832 1.787688 1.622972 q: 0.998177 -0.019773 0.001981 -0.056998 
time: 1403636633.463556, t: 0.746542 1.817171 1.731864 q: 0.998655 -0.011539 -0.005626 -0.050230 
time: 1403636633.663555, t: 0.757136 1.851390 1.848679 q: 0.998736 -0.014354 -0.012368 -0.046550 
time: 1403636633.863555, t: 0.794075 1.885298 1.968946 q: 0.998899 -0.019067 -0.009954 -0.041702 
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time: 1403636639.663555, t: 2.425156 2.807033 5.328074 q: 0.996155 0.027463 0.001218 -0.083183 
time: 1403636639.863555, t: 2.443602 2.864712 5.477676 q: 0.996608 0.032331 0.012356 -0.074665 
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time: 1403636705.263556, t: 0.988499 5.731461 5.336780 q: 0.926050 -0.372229 0.007195 0.061842 
time: 1403636705.463556, t: 1.027735 5.851339 5.437788 q: 0.926189 -0.371871 0.010901 0.061380 
time: 1403636705.663555, t: 1.058475 5.969100 5.559174 q: 0.925876 -0.372053 0.001618 0.065786 
time: 1403636705.863555, t: 1.088812 6.092192 5.692613 q: 0.926275 -0.370520 0.015527 0.066990 
time: 1403636706.063555, t: 1.143781 6.209590 5.818703 q: 0.928146 -0.360945 0.035764 0.083569 
time: 1403636706.263556, t: 1.197767 6.336584 5.934161 q: 0.928652 -0.361767 0.036564 0.073436 
time: 1403636706.463556, t: 1.219286 6.468949 6.048846 q: 0.928572 -0.366273 0.020700 0.056304 
time: 1403636706.663555, t: 1.251249 6.588072 6.161867 q: 0.928324 -0.367561 0.013211 0.054221 
time: 1403636706.863555, t: 1.302521 6.697308 6.270879 q: 0.927751 -0.368417 0.004360 0.059390 
time: 1403636707.063555, t: 1.385909 6.802605 6.400133 q: 0.925907 -0.372801 0.009272 0.060255 
time: 1403636707.263556, t: 1.465289 6.902805 6.524370 q: 0.923478 -0.378589 0.011391 0.061071 
time: 1403636707.463556, t: 1.553558 6.996634 6.655586 q: 0.921719 -0.382883 0.008892 0.061279 
time: 1403636707.663555, t: 1.683276 7.079786 6.788614 q: 0.922131 -0.379621 0.010129 0.073887 
time: 1403636707.863555, t: 1.776541 7.173685 6.948924 q: 0.923254 -0.374879 0.014918 0.082737 
time: 1403636708.063555, t: 1.836314 7.277469 7.121325 q: 0.924565 -0.373089 0.019637 0.074824 
time: 1403636708.263556, t: 1.874623 7.391276 7.293820 q: 0.926331 -0.369147 0.025883 0.070503 
time: 1403636708.463556, t: 1.909951 7.507780 7.456675 q: 0.928137 -0.358595 0.042216 0.090489 
time: 1403636708.663555, t: 1.956795 7.632360 7.596878 q: 0.927315 -0.363498 0.041532 0.078943 
time: 1403636708.863555, t: 1.987526 7.762177 7.721709 q: 0.924229 -0.376314 0.035671 0.053996 
time: 1403636709.063555, t: 2.018421 7.868154 7.843986 q: 0.920564 -0.385644 0.040921 0.046546 
time: 1403636709.263556, t: 2.066571 7.950982 7.956970 q: 0.918284 -0.391216 0.034684 0.050016 
time: 1403636709.463556, t: 2.125397 8.007363 8.064639 q: 0.917993 -0.392099 0.025285 0.053923 
time: 1403636709.663555, t: 2.157437 8.051893 8.185312 q: 0.918235 -0.391736 0.019894 0.054691 
time: 1403636709.863555, t: 2.184677 8.081643 8.313146 q: 0.919675 -0.388374 0.019484 0.054632 
time: 1403636710.063555, t: 2.236579 8.087430 8.446373 q: 0.920819 -0.385903 0.020662 0.052381 
time: 1403636710.263556, t: 2.273410 8.078412 8.597648 q: 0.922620 -0.381606 0.023681 0.050877 
time: 1403636710.463556, t: 2.282677 8.076150 8.757656 q: 0.929538 -0.360164 0.034865 0.070885 
time: 1403636710.663555, t: 2.285093 8.069718 8.904443 q: 0.939784 -0.331976 0.036939 0.072340 
time: 1403636710.863555, t: 2.276235 8.073057 9.046089 q: 0.950987 -0.304081 0.031850 0.046301 
time: 1403636711.063555, t: 2.286517 8.070612 9.164424 q: 0.959781 -0.279359 0.022080 0.017053 
time: 1403636711.263556, t: 2.305278 8.051575 9.269717 q: 0.963205 -0.267920 0.021174 0.002555 
time: 1403636711.463556, t: 2.341030 8.011514 9.367855 q: 0.964518 -0.261172 0.037984 0.007205 
time: 1403636711.663555, t: 2.372628 7.952922 9.452508 q: 0.962468 -0.266098 0.053367 0.000231 
time: 1403636711.863555, t: 2.398162 7.865659 9.514632 q: 0.961861 -0.269427 0.046659 0.007471 
optimize pose graph 
time: 1403636712.063555, t: 2.422604 7.763840 9.555196 q: 0.963227 -0.263462 0.039793 0.034623 
time: 1403636712.263556, t: 2.461933 7.659852 9.569834 q: 0.964731 -0.258926 0.039101 0.026886 
time: 1403636712.463556, t: 2.510786 7.554089 9.561246 q: 0.969805 -0.240903 0.037958 -0.001749 
time: 1403636712.663555, t: 2.565217 7.433812 9.530414 q: 0.974636 -0.219039 0.044811 -0.009946 
time: 1403636712.863555, t: 2.591730 7.306448 9.494772 q: 0.977653 -0.204828 0.046446 -0.009093 
time: 1403636713.063555, t: 2.589254 7.176312 9.447441 q: 0.978533 -0.202127 0.038973 -0.009941 
time: 1403636713.263556, t: 2.593360 7.037251 9.377870 q: 0.979645 -0.197690 0.034501 -0.004892 
time: 1403636713.663555, t: 2.657189 6.745141 9.177676 q: 0.980290 -0.195268 0.027298 0.012523 
time: 1403636713.863555, t: 2.667155 6.613690 9.073362 q: 0.980035 -0.195940 0.025311 0.022338 
optimize pose graph 
time: 1403636714.063555, t: 2.654096 6.499860 8.970441 q: 0.978553 -0.204344 0.022441 0.013186 
time: 1403636714.263556, t: 2.625406 6.399516 8.866592 q: 0.977533 -0.208842 0.024988 0.013803 
time: 1403636714.463556, t: 2.580521 6.307560 8.767735 q: 0.977301 -0.210356 0.016572 0.018939 
time: 1403636714.663555, t: 2.525443 6.226639 8.670153 q: 0.981133 -0.192754 0.000386 0.014984 
time: 1403636714.863555, t: 2.490024 6.157091 8.583201 q: 0.987721 -0.155799 -0.007107 -0.009112 
time: 1403636715.063555, t: 2.486764 6.090794 8.501450 q: 0.992922 -0.113422 -0.013174 -0.032668 
time: 1403636715.263556, t: 2.506158 6.024262 8.431296 q: 0.994853 -0.089500 -0.015767 -0.044814 
time: 1403636715.463556, t: 2.518240 5.972744 8.375483 q: 0.996287 -0.076481 -0.004537 -0.039274 
time: 1403636715.663555, t: 2.507817 5.938449 8.332481 q: 0.997308 -0.069074 0.006802 -0.023663 
time: 1403636715.863555, t: 2.490242 5.917881 8.296274 q: 0.995792 -0.077710 0.027065 -0.040324 
time: 1403636716.063555, t: 2.482979 5.897738 8.236999 q: 0.994862 -0.084036 0.034684 -0.044557 
optimize pose graph 
time: 1403636716.263556, t: 2.479890 5.875578 8.153077 q: 0.995259 -0.088758 0.018697 -0.035105 
time: 1403636716.463556, t: 2.466305 5.856646 8.063669 q: 0.994907 -0.095060 0.010783 -0.031739 
time: 1403636716.663555, t: 2.428058 5.843501 7.978078 q: 0.994902 -0.093062 0.011801 -0.037011 
time: 1403636716.863555, t: 2.369022 5.831679 7.904223 q: 0.996562 -0.068686 0.010315 -0.045170 
time: 1403636717.063555, t: 2.322084 5.813794 7.818639 q: 0.997736 -0.027142 0.005075 -0.061324 
time: 1403636717.263556, t: 2.302259 5.791211 7.724048 q: 0.996811 0.004761 0.001323 -0.079649 
time: 1403636717.463556, t: 2.280714 5.772585 7.625159 q: 0.994388 0.013393 0.001521 -0.104929 
time: 1403636717.663555, t: 2.241536 5.741354 7.533511 q: 0.994826 0.019704 0.001435 -0.099657 
time: 1403636717.863555, t: 2.180514 5.697409 7.446545 q: 0.994075 0.024525 0.000138 -0.105889 
time: 1403636718.063555, t: 2.132873 5.625806 7.350407 q: 0.991790 0.049837 -0.002024 -0.117750 
time: 1403636718.263556, t: 2.090603 5.530846 7.246955 q: 0.989267 0.088997 -0.006756 -0.115689 
time: 1403636718.463556, t: 2.019645 5.438553 7.157910 q: 0.985856 0.121609 -0.012154 -0.114679 
time: 1403636718.663555, t: 1.927795 5.341940 7.092982 q: 0.982030 0.152548 -0.017007 -0.109803 
time: 1403636718.863555, t: 1.837360 5.256961 7.017806 q: 0.978765 0.166225 -0.019415 -0.118373 
time: 1403636719.063555, t: 1.765677 5.186624 6.951666 q: 0.976576 0.167941 -0.012809 -0.133908 
time: 1403636719.263556, t: 1.720289 5.115442 6.881875 q: 0.976458 0.169689 -0.000019 -0.133176 
time: 1403636719.463556, t: 1.662929 5.051820 6.803705 q: 0.977344 0.170242 0.006194 -0.125614 
time: 1403636719.663555, t: 1.584734 4.999811 6.727273 q: 0.978476 0.166268 -0.002659 -0.122201 
time: 1403636719.863555, t: 1.534522 4.953622 6.636329 q: 0.979763 0.159886 -0.011289 -0.119890 
time: 1403636720.063555, t: 1.495704 4.910486 6.543828 q: 0.980632 0.155349 -0.014444 -0.118398 
optimize pose graph 
time: 1403636720.263556, t: 1.443204 4.875531 6.459735 q: 0.980777 0.154567 -0.016246 -0.117987 
time: 1403636720.463556, t: 1.375889 4.851803 6.388090 q: 0.980488 0.156930 -0.016663 -0.117210 
time: 1403636720.663555, t: 1.325625 4.830583 6.318580 q: 0.979975 0.159907 -0.018119 -0.117264 
time: 1403636720.863555, t: 1.307994 4.814693 6.249346 q: 0.981639 0.150695 -0.017061 -0.115696 
time: 1403636721.063555, t: 1.286318 4.807691 6.183317 q: 0.986268 0.127318 -0.011470 -0.104566 
time: 1403636721.263556, t: 1.246381 4.808840 6.134665 q: 0.991058 0.097217 -0.001693 -0.091375 
time: 1403636721.463556, t: 1.228651 4.819750 6.073427 q: 0.993485 0.075136 0.001083 -0.085675 
time: 1403636721.663555, t: 1.216026 4.835951 6.012039 q: 0.995114 0.052877 -0.000841 -0.083381 
time: 1403636721.863555, t: 1.186832 4.853744 5.951715 q: 0.995652 0.042395 0.000828 -0.082934 
time: 1403636722.063555, t: 1.146794 4.867622 5.895984 q: 0.994983 0.038646 0.001632 -0.092260 
time: 1403636722.263556, t: 1.125874 4.875041 5.829659 q: 0.995014 0.043117 -0.000503 -0.089932 
time: 1403636722.463556, t: 1.103943 4.876194 5.762948 q: 0.995332 0.041356 -0.000166 -0.087205 
time: 1403636722.663555, t: 1.068726 4.877224 5.695669 q: 0.995759 0.032620 -0.000257 -0.086021 
time: 1403636722.863555, t: 1.026822 4.876669 5.629166 q: 0.995675 0.027233 -0.000280 -0.088827 
time: 1403636723.063555, t: 1.013374 4.864370 5.557109 q: 0.996204 0.028908 -0.000244 -0.082107 
time: 1403636723.263556, t: 1.004158 4.851163 5.483376 q: 0.996252 0.028513 -0.000581 -0.081656 
time: 1403636723.463556, t: 0.978993 4.840940 5.414869 q: 0.996135 0.016072 0.003543 -0.086277 
time: 1403636723.663555, t: 0.956283 4.823025 5.338136 q: 0.997049 -0.000937 0.022927 -0.073262 
time: 1403636723.863555, t: 0.942468 4.801755 5.249778 q: 0.997751 -0.014588 0.007391 -0.065003 
time: 1403636724.063555, t: 0.914045 4.780161 5.160631 q: 0.997905 -0.027173 -0.007491 -0.058227 
time: 1403636724.263556, t: 0.866548 4.765360 5.089047 q: 0.997177 -0.056288 -0.010365 -0.048597 
time: 1403636724.463556, t: 0.818046 4.759090 5.029841 q: 0.995057 -0.091499 0.001116 -0.038590 
time: 1403636724.663555, t: 0.802263 4.739283 4.966937 q: 0.993057 -0.112293 0.009138 -0.033831 
time: 1403636724.863555, t: 0.812456 4.704519 4.896608 q: 0.992440 -0.118781 0.007459 -0.029972 
time: 1403636725.063555, t: 0.849534 4.667372 4.827128 q: 0.993300 -0.113384 0.006821 -0.021256 
time: 1403636725.463556, t: 0.954795 4.601824 4.687373 q: 0.993414 -0.111611 0.004078 -0.025600 
time: 1403636725.663555, t: 0.979747 4.580044 4.631925 q: 0.993069 -0.113636 0.004982 -0.029580 
time: 1403636725.863555, t: 0.982428 4.564978 4.592242 q: 0.993165 -0.113079 0.003798 -0.028682 
time: 1403636726.063555, t: 0.969119 4.552420 4.562137 q: 0.993515 -0.110432 0.004622 -0.026675 
time: 1403636726.263556, t: 0.942273 4.542892 4.540352 q: 0.993490 -0.109378 0.007499 -0.030944 
time: 1403636726.463556, t: 0.925010 4.532372 4.516209 q: 0.993746 -0.106359 0.010234 -0.032421 
time: 1403636726.663555, t: 0.933848 4.521596 4.482516 q: 0.995367 -0.094207 0.016978 -0.009062 
time: 1403636727.063555, t: 1.023167 4.516413 4.364619 q: 0.994752 -0.093804 0.016735 -0.037266 
time: 1403636727.263556, t: 1.070746 4.515156 4.294052 q: 0.994253 -0.094548 0.013319 -0.048424 
time: 1403636727.463556, t: 1.101274 4.509946 4.226686 q: 0.993856 -0.095968 0.010048 -0.054212 
time: 1403636727.663555, t: 1.127781 4.493565 4.156410 q: 0.994575 -0.092215 0.015296 -0.045630 
time: 1403636727.863555, t: 1.179381 4.457372 4.074115 q: 0.993934 -0.095605 0.010918 -0.053254 
time: 1403636728.063555, t: 1.224680 4.410824 3.995619 q: 0.993653 -0.097289 0.010130 -0.055560 
time: 1403636728.263556, t: 1.244224 4.355764 3.924814 q: 0.994250 -0.094789 0.014842 -0.047562 
optimize pose graph 
time: 1403636728.463556, t: 1.238296 4.303602 3.853467 q: 0.995148 -0.090584 0.014976 -0.035371 
time: 1403636728.663555, t: 1.212302 4.247930 3.791746 q: 0.996112 -0.082365 0.013914 -0.027978 
time: 1403636728.863555, t: 1.190108 4.199860 3.715833 q: 0.996525 -0.063103 0.011483 -0.053137 
time: 1403636729.063555, t: 1.181852 4.147945 3.636814 q: 0.996805 -0.042118 0.015239 -0.066138 
time: 1403636729.263556, t: 1.152169 4.092604 3.555851 q: 0.997121 -0.030216 0.012005 -0.068502 
time: 1403636729.463556, t: 1.104822 4.037867 3.471631 q: 0.997174 -0.026168 0.012522 -0.069295 
time: 1403636729.663555, t: 1.072683 3.975603 3.379915 q: 0.997287 -0.024946 0.010729 -0.068421 
time: 1403636729.863555, t: 1.053577 3.911322 3.275935 q: 0.997400 -0.026040 0.004565 -0.067039 
time: 1403636730.063555, t: 1.021415 3.848368 3.174073 q: 0.997570 -0.025951 -0.001559 -0.064637 
time: 1403636730.263556, t: 0.971662 3.783743 3.087919 q: 0.997568 -0.025207 -0.003449 -0.064886 
time: 1403636730.463556, t: 0.916985 3.720643 3.015041 q: 0.997659 -0.024104 -0.008538 -0.063422 
time: 1403636730.663555, t: 0.881520 3.661266 2.945537 q: 0.997541 -0.024128 -0.020973 -0.062375 
time: 1403636730.863555, t: 0.884602 3.597905 2.885524 q: 0.997584 -0.023507 -0.023996 -0.060816 
time: 1403636731.063555, t: 0.897433 3.538662 2.842557 q: 0.998919 -0.016882 -0.016406 -0.040082 
time: 1403636731.263556, t: 0.903072 3.497721 2.813120 q: 0.999046 -0.017336 0.002755 -0.039977 
time: 1403636731.463556, t: 0.892608 3.477735 2.791388 q: 0.998162 -0.024074 0.005178 -0.055375 
time: 1403636731.663555, t: 0.872491 3.467678 2.772366 q: 0.998800 -0.020160 0.003401 -0.044494 
time: 1403636731.863555, t: 0.836273 3.469319 2.758228 q: 0.998357 -0.023034 0.002917 -0.052391 
time: 1403636732.063555, t: 0.785239 3.479953 2.745761 q: 0.998136 -0.022728 0.005863 -0.056337 
time: 1403636732.263556, t: 0.726263 3.496985 2.732827 q: 0.997950 -0.022121 0.008321 -0.059476 
time: 1403636732.663555, t: 0.664291 3.508964 2.667894 q: 0.994951 -0.030726 0.024893 -0.092241 
time: 1403636732.863555, t: 0.656749 3.484687 2.599469 q: 0.996354 -0.023480 0.027811 -0.077157 
time: 1403636733.063555, t: 0.633483 3.449945 2.518091 q: 0.996793 -0.022002 0.018828 -0.074605 
time: 1403636733.263556, t: 0.609248 3.403812 2.426838 q: 0.996597 -0.022457 0.012678 -0.078287 
time: 1403636733.463556, t: 0.610184 3.345532 2.316838 q: 0.997309 -0.018742 0.005440 -0.070663 
time: 1403636733.663555, t: 0.612413 3.285039 2.205785 q: 0.997487 -0.017549 -0.000763 -0.068639 
time: 1403636733.863555, t: 0.598471 3.226317 2.103786 q: 0.997452 -0.017145 -0.005368 -0.069048 
time: 1403636734.063555, t: 0.566774 3.166086 2.017844 q: 0.996984 -0.019038 0.003791 -0.075140 
time: 1403636734.263556, t: 0.535865 3.098261 1.927955 q: 0.997318 -0.017296 0.007440 -0.070724 
time: 1403636734.463556, t: 0.522436 3.027940 1.830648 q: 0.997695 -0.014268 0.001678 -0.066317 
time: 1403636734.663555, t: 0.514842 2.958218 1.730603 q: 0.997708 -0.012681 -0.006252 -0.066173 
time: 1403636734.863555, t: 0.482775 2.891118 1.652027 q: 0.997557 -0.011006 -0.008021 -0.068510 
time: 1403636735.063555, t: 0.442322 2.829259 1.583044 q: 0.997613 -0.009510 -0.007913 -0.067941 
time: 1403636735.263556, t: 0.406165 2.769664 1.522253 q: 0.997900 -0.009217 -0.010348 -0.063277 
time: 1403636735.463556, t: 0.403601 2.707274 1.464238 q: 0.998137 -0.012625 -0.010081 -0.058838 
time: 1403636735.663555, t: 0.431798 2.650166 1.406045 q: 0.998016 -0.019867 -0.005356 -0.059507 
time: 1403636735.863555, t: 0.455790 2.601569 1.355669 q: 0.998008 -0.023733 -0.005546 -0.058186 
time: 1403636736.063555, t: 0.464539 2.552873 1.321215 q: 0.997861 -0.020401 -0.003480 -0.062009 
time: 1403636736.263556, t: 0.494840 2.498283 1.281727 q: 0.997565 0.002237 0.001466 -0.069692 
time: 1403636736.463556, t: 0.523283 2.452942 1.237582 q: 0.996469 0.017735 0.001479 -0.082051 
optimize pose graph 
time: 1403636736.663555, t: 0.522697 2.406466 1.205929 q: 0.994961 0.022081 0.004358 -0.097701 
time: 1403636736.863555, t: 0.510564 2.353058 1.175286 q: 0.994623 0.025604 0.005059 -0.100216 
time: 1403636737.063555, t: 0.487661 2.290966 1.140712 q: 0.995073 0.032955 0.002928 -0.093463 
time: 1403636737.263556, t: 0.446446 2.225564 1.107236 q: 0.995440 0.041588 0.001300 -0.085834 
time: 1403636737.463556, t: 0.406235 2.160491 1.075919 q: 0.995113 0.045736 -0.007984 -0.087145 
time: 1403636737.663555, t: 0.391211 2.096152 1.035764 q: 0.995321 0.050209 -0.013620 -0.081426 
time: 1403636737.863555, t: 0.404019 2.035745 0.993937 q: 0.995844 0.053116 -0.017090 -0.071979 
time: 1403636738.063555, t: 0.448922 1.983865 0.954741 q: 0.995991 0.051063 -0.016347 -0.071607 
time: 1403636738.263556, t: 0.499140 1.946300 0.926341 q: 0.995925 0.046269 -0.011546 -0.076545 
time: 1403636738.463556, t: 0.528444 1.922117 0.907403 q: 0.996155 0.041636 -0.011939 -0.076150 
time: 1403636738.663555, t: 0.537196 1.913288 0.902242 q: 0.997513 0.020309 -0.014846 -0.065845 
time: 1403636738.863555, t: 0.533772 1.913371 0.910893 q: 0.998885 -0.017605 -0.002573 -0.043731 
time: 1403636739.063555, t: 0.506747 1.940731 0.926276 q: 0.997848 -0.063756 0.006941 -0.013685 
time: 1403636739.263556, t: 0.469171 1.980536 0.951232 q: 0.992125 -0.124628 0.011437 -0.005052 
time: 1403636739.463556, t: 0.428882 2.035285 0.962882 q: 0.982748 -0.184383 0.014072 -0.003193 
time: 1403636739.663555, t: 0.418679 2.082435 0.960842 q: 0.974771 -0.222088 0.016977 0.014512 
time: 1403636739.863555, t: 0.415192 2.128824 0.965769 q: 0.971413 -0.235179 0.019239 0.026043 
time: 1403636740.063555, t: 0.385520 2.176867 0.973635 q: 0.970767 -0.238191 0.018041 0.023462 
time: 1403636740.263556, t: 0.351233 2.228734 0.990381 q: 0.970756 -0.239394 0.016096 0.008035 
time: 1403636740.463556, t: 0.294600 2.271856 1.010905 q: 0.972504 -0.231568 0.020043 0.014504 
time: 1403636740.663555, t: 0.237529 2.311804 1.026416 q: 0.973830 -0.225512 0.022411 0.017220 
optimize pose graph 
time: 1403636740.863555, t: 0.195256 2.349182 1.031899 q: 0.974726 -0.221950 0.018087 0.017918 
time: 1403636741.063555, t: 0.137094 2.391172 1.036687 q: 0.973292 -0.228614 0.020565 -0.004036 
time: 1403636741.263556, t: 0.048945 2.428514 1.050101 q: 0.970683 -0.238564 0.028432 0.007305 
time: 1403636741.463556, t: -0.054364 2.454912 1.058676 q: 0.969264 -0.243853 0.018724 0.026675 
time: 1403636741.663555, t: -0.139680 2.478330 1.065342 q: 0.968253 -0.247697 0.003521 0.033455 
time: 1403636741.863555, t: -0.182929 2.504012 1.072959 q: 0.968107 -0.249183 0.010521 0.023773 
time: 1403636742.063555, t: -0.240026 2.532770 1.090016 q: 0.968453 -0.248961 0.006921 0.008310 
time: 1403636742.263556, t: -0.287720 2.552262 1.117244 q: 0.970637 -0.239824 -0.001929 0.018564 
time: 1403636742.463556, t: -0.297250 2.574842 1.137537 q: 0.972197 -0.233137 0.011659 0.018521 
time: 1403636742.663555, t: -0.299218 2.590704 1.168884 q: 0.972732 -0.230606 0.019578 0.015146 
time: 1403636742.863555, t: -0.316593 2.613129 1.198439 q: 0.973357 -0.227329 0.026715 0.013559 
optimize pose graph 
time: 1403636743.063555, t: -0.365536 2.642082 1.229527 q: 0.972389 -0.231676 0.020407 0.019211 
time: 1403636743.263556, t: -0.426492 2.676360 1.266959 q: 0.969545 -0.242280 -0.014892 0.032576 
time: 1403636743.463556, t: -0.444805 2.724542 1.311924 q: 0.968427 -0.245758 -0.015748 0.038788 
time: 1403636743.663555, t: -0.450746 2.786428 1.378702 q: 0.968024 -0.249089 0.000551 0.029740 
time: 1403636743.863555, t: -0.475734 2.857757 1.463406 q: 0.965770 -0.257296 0.017770 0.027773 
time: 1403636744.063555, t: -0.527505 2.927231 1.564410 q: 0.962293 -0.269474 0.026977 0.025465 
time: 1403636744.263556, t: -0.594650 2.995974 1.662690 q: 0.958194 -0.282061 0.034265 0.033633 
time: 1403636744.463556, t: -0.688895 3.064530 1.759235 q: 0.957014 -0.283500 0.039236 0.047045 
time: 1403636744.663555, t: -0.801120 3.131855 1.856125 q: 0.957606 -0.278691 0.047260 0.055568 
time: 1403636744.863555, t: -0.921250 3.205888 1.936786 q: 0.956866 -0.284294 0.044045 0.040543 
time: 1403636745.063555, t: -1.020680 3.274528 1.992746 q: 0.957986 -0.282978 0.027651 0.037704 
time: 1403636745.263556, t: -1.093986 3.337718 2.040805 q: 0.960555 -0.274873 0.019418 0.037437 
time: 1403636745.463556, t: -1.132532 3.397309 2.086034 q: 0.962002 -0.269943 0.031677 0.026049 
time: 1403636745.663555, t: -1.144531 3.449215 2.116060 q: 0.960647 -0.273818 0.038474 0.026489 
time: 1403636745.863555, t: -1.134332 3.489596 2.132018 q: 0.956866 -0.287119 0.036794 0.024844 
time: 1403636746.063555, t: -1.101816 3.503772 2.137372 q: 0.952001 -0.303613 0.033621 0.019563 
time: 1403636746.263556, t: -1.049791 3.495666 2.137755 q: 0.948937 -0.312675 0.038426 0.016648 
time: 1403636746.463556, t: -1.003993 3.462749 2.135534 q: 0.948111 -0.312751 0.054379 0.017751 
time: 1403636746.663555, t: -0.998258 3.411344 2.146632 q: 0.951994 -0.302797 0.020956 0.039783 
time: 1403636746.863555, t: -1.004955 3.361263 2.166188 q: 0.955323 -0.288603 0.006199 0.063467 
time: 1403636747.063555, t: -0.995302 3.333527 2.195790 q: 0.956421 -0.286223 0.013942 0.056049 
time: 1403636747.263556, t: -0.947921 3.319112 2.219290 q: 0.955000 -0.293649 0.024174 0.034080 
time: 1403636747.463556, t: -0.882599 3.301270 2.237924 q: 0.953615 -0.298406 0.026151 0.029820 
time: 1403636747.663555, t: -0.829234 3.276454 2.268190 q: 0.952461 -0.301761 0.022711 0.035255 
time: 1403636747.863555, t: -0.756508 3.246337 2.302633 q: 0.951077 -0.305573 0.022959 0.039389 
time: 1403636748.063555, t: -0.666674 3.211080 2.333344 q: 0.950902 -0.300049 0.035800 0.066885 
time: 1403636748.263556, t: -0.597992 3.191237 2.360674 q: 0.949894 -0.303572 0.032126 0.067184 
time: 1403636748.463556, t: -0.548468 3.186948 2.389483 q: 0.948619 -0.312489 0.024979 0.043000 
time: 1403636748.663555, t: -0.484954 3.181457 2.413661 q: 0.948842 -0.310872 0.029671 0.046662 
time: 1403636748.863555, t: -0.416918 3.173718 2.435671 q: 0.948856 -0.307331 0.036129 0.062562 
time: 1403636749.063555, t: -0.367444 3.176410 2.456167 q: 0.947137 -0.310174 0.040316 0.071405 
time: 1403636749.463556, t: -0.273591 3.215137 2.455447 q: 0.943572 -0.325025 0.036981 0.051602 
time: 1403636749.663555, t: -0.212823 3.234789 2.437534 q: 0.942931 -0.329356 0.032337 0.036894 
time: 1403636749.863555, t: -0.170903 3.245581 2.431449 q: 0.944059 -0.324510 0.046081 0.036361 
time: 1403636750.063555, t: -0.153833 3.243004 2.430247 q: 0.945852 -0.318143 0.054357 0.034561 
time: 1403636750.263556, t: -0.145579 3.224389 2.415493 q: 0.948134 -0.312463 0.045700 0.036345 
time: 1403636750.463556, t: -0.111511 3.191334 2.380462 q: 0.950444 -0.306337 0.037330 0.037696 
time: 1403636750.663555, t: -0.046259 3.148360 2.328215 q: 0.952556 -0.300456 0.034829 0.033917 
time: 1403636750.863555, t: 0.050229 3.098272 2.262812 q: 0.953979 -0.296630 0.029669 0.032459 
time: 1403636751.063555, t: 0.152377 3.041519 2.197732 q: 0.953878 -0.297894 0.023400 0.028771 
time: 1403636751.263556, t: 0.233094 2.982347 2.144165 q: 0.953662 -0.298572 0.011834 0.035265 
time: 1403636751.463556, t: 0.317708 2.929270 2.104187 q: 0.953884 -0.295210 0.017954 0.051327 
time: 1403636751.663555, t: 0.389336 2.881182 2.070108 q: 0.956635 -0.283869 0.028737 0.058662 
time: 1403636751.863555, t: 0.452511 2.849286 2.034084 q: 0.959594 -0.274628 0.010882 0.060341 
time: 1403636752.063555, t: 0.519618 2.837800 2.004554 q: 0.960147 -0.275989 0.001607 0.044099 
time: 1403636752.263556, t: 0.584031 2.838904 1.990972 q: 0.962454 -0.268905 0.016436 0.033192 
time: 1403636752.463556, t: 0.664611 2.836059 1.976562 q: 0.969828 -0.241383 0.027360 0.020492 
time: 1403636752.663555, t: 0.743899 2.828318 1.956053 q: 0.978962 -0.203141 0.018811 0.003662 
time: 1403636752.863555, t: 0.798123 2.821199 1.934057 q: 0.986780 -0.160965 0.011550 -0.014886 
optimize pose graph 
time: 1403636753.063555, t: 0.826762 2.810039 1.934596 q: 0.991906 -0.118956 0.006092 -0.043993 
time: 1403636753.263556, t: 0.827985 2.796639 1.936470 q: 0.995026 -0.071527 0.000865 -0.069326 
time: 1403636753.463556, t: 0.811716 2.771301 1.935576 q: 0.996067 -0.029302 0.001699 -0.083598 
time: 1403636753.663555, t: 0.809511 2.728709 1.943283 q: 0.996887 -0.008205 0.003521 -0.078340 
time: 1403636753.863555, t: 0.807572 2.681797 1.940145 q: 0.996863 -0.006418 0.005941 -0.078666 
time: 1403636754.063555, t: 0.792947 2.635120 1.934664 q: 0.996931 -0.010459 0.010208 -0.076907 
time: 1403636754.263556, t: 0.790364 2.581452 1.915217 q: 0.996616 -0.016269 0.020508 -0.077923 
time: 1403636754.463556, t: 0.804771 2.514162 1.872591 q: 0.996458 -0.016499 0.020134 -0.079967 
time: 1403636754.663555, t: 0.799819 2.431277 1.826851 q: 0.995905 0.000544 0.014052 -0.089305 
time: 1403636754.863555, t: 0.773506 2.344476 1.772552 q: 0.994671 0.031669 0.010939 -0.097504 
time: 1403636755.063555, t: 0.720427 2.259928 1.714848 q: 0.993191 0.051563 0.010292 -0.103960 
optimize pose graph 
time: 1403636755.263556, t: 0.684699 2.157853 1.653174 q: 0.992554 0.060058 0.005171 -0.105843 
time: 1403636755.463556, t: 0.663179 2.055222 1.575378 q: 0.992427 0.059938 -0.014909 -0.106174 
time: 1403636755.663555, t: 0.645952 1.945872 1.503981 q: 0.992524 0.056906 -0.012515 -0.107242 
time: 1403636755.863555, t: 0.611854 1.835202 1.439082 q: 0.993106 0.056852 -0.005513 -0.102358 
time: 1403636756.063555, t: 0.576503 1.722656 1.376999 q: 0.993372 0.058186 0.000048 -0.099128 
time: 1403636756.263556, t: 0.556791 1.605015 1.304933 q: 0.993238 0.058767 0.003731 -0.100054 
time: 1403636756.463556, t: 0.533277 1.485005 1.228856 q: 0.993014 0.060256 0.004996 -0.101327 
time: 1403636756.663555, t: 0.484391 1.370465 1.155087 q: 0.992913 0.062944 0.006122 -0.100615 
time: 1403636756.863555, t: 0.445223 1.250704 1.074227 q: 0.992757 0.065720 0.008321 -0.100231 
time: 1403636757.063555, t: 0.423039 1.127924 0.979089 q: 0.992814 0.067822 0.007285 -0.098325 
time: 1403636757.263556, t: 0.382460 1.013373 0.882437 q: 0.992710 0.068333 0.007158 -0.099028 
optimize pose graph 
time: 1403636757.463556, t: 0.316532 0.908217 0.782722 q: 0.992190 0.067064 0.002141 -0.105152 
time: 1403636757.663555, t: 0.265260 0.787350 0.685173 q: 0.990554 0.075435 -0.017292 -0.113200 
time: 1403636757.863555, t: 0.242995 0.658903 0.584225 q: 0.988697 0.087773 -0.036272 -0.116007 
time: 1403636758.063555, t: 0.249898 0.515841 0.497150 q: 0.988411 0.098661 -0.019315 -0.113737 
time: 1403636758.263556, t: 0.229295 0.384070 0.418962 q: 0.988476 0.105483 0.000425 -0.108572 
time: 1403636758.463556, t: 0.204286 0.243721 0.353101 q: 0.989022 0.106866 -0.016162 -0.100770 
time: 1403636758.663555, t: 0.151956 0.117991 0.312948 q: 0.989347 0.108899 -0.049640 -0.082877 
time: 1403636758.863555, t: 0.127506 0.024434 0.290256 q: 0.990016 0.107798 -0.017882 -0.089039 
time: 1403636759.063555, t: 0.091139 -0.055523 0.281211 q: 0.989634 0.106270 -0.002687 -0.096566 
time: 1403636759.263556, t: 0.046171 -0.113368 0.278182 q: 0.990900 0.120454 -0.004689 -0.059886 
time: 1403636759.463556, t: -0.005301 -0.138239 0.276171 q: 0.990101 0.114819 -0.000958 -0.080717 
optimize pose graph 
time: 1403636759.663555, t: -0.060879 -0.140298 0.273233 q: 0.988615 0.108631 0.002024 -0.104095 
time: 1403636759.863555, t: -0.082965 -0.139290 0.252868 q: 0.988239 0.108708 0.001968 -0.107527 
time: 1403636760.063555, t: -0.105564 -0.139128 0.224944 q: 0.988328 0.106723 -0.017933 -0.107219 
time: 1403636760.263556, t: -0.134379 -0.135410 0.208587 q: 0.988468 0.106602 -0.014297 -0.106591 
time: 1403636760.463556, t: -0.165205 -0.132571 0.201656 q: 0.988290 0.107259 0.002435 -0.108499 
time: 1403636760.663555, t: -0.205128 -0.126143 0.189156 q: 0.987690 0.103906 -0.013302 -0.116168 
time: 1403636760.863555, t: -0.238317 -0.125637 0.174227 q: 0.987029 0.102920 -0.009663 -0.122836 
time: 1403636761.063555, t: -0.272369 -0.134954 0.158553 q: 0.987066 0.104056 -0.015903 -0.120913 
time: 1403636761.263556, t: -0.308698 -0.153686 0.148466 q: 0.986589 0.103187 -0.041707 -0.119397 
time: 1403636761.463556, t: -0.323430 -0.183414 0.155098 q: 0.987035 0.105190 -0.025263 -0.118571 
optimize pose graph 
time: 1403636761.863555, t: -0.316704 -0.251410 0.169838 q: 0.989384 0.114130 -0.005600 -0.089792 
time: 1403636762.063555, t: -0.302688 -0.266603 0.168846 q: 0.988119 0.104975 -0.003128 -0.112210 
time: 1403636762.263556, t: -0.289299 -0.283878 0.162504 q: 0.986225 0.094126 -0.014259 -0.135267 
time: 1403636762.463556, t: -0.300187 -0.316103 0.165763 q: 0.987566 0.097435 -0.036257 -0.117925 
time: 1403636762.663555, t: -0.335552 -0.349139 0.193667 q: 0.990657 0.116348 -0.018757 -0.068632 
time: 1403636762.863555, t: -0.377372 -0.354015 0.228763 q: 0.989695 0.117824 0.022878 -0.078093 
time: 1403636763.063555, t: -0.389028 -0.322191 0.209022 q: 0.993491 0.085307 -0.000512 -0.075488 
time: 1403636763.263556, t: -0.390638 -0.311824 0.203822 q: 0.995639 0.071604 0.007403 -0.059341 
time: 1403636763.463556, t: -0.390235 -0.312283 0.204733 q: 0.995642 0.071464 0.009687 -0.059132 
time: 1403636763.663555, t: -0.390302 -0.311139 0.203815 q: 0.995647 0.072070 0.009678 -0.058307 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720490774.110985860]: Shutdown request received.[0m
[33m[ WARN] [1720490774.111042600]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720490774.111997024]: Shutdown request received.[0m
[33m[ WARN] [1720490774.112019376]: Reason given for shutdown: [user request][0m
killed
