/SLAM-Hive/slam_hive_results/mapping_results/2972/2180_vins-fusion-stereo+MH_01_easy+Image_comb_test-20.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720493488.404733346]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720493488.406378102]: init begins[0m
[31m[ERROR] [1720493488.407542373]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/23aeb790-3d9e-11ef-a4d9-0242ac110005/roslaunch-03c58e51e489-118.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://03c58e51e489:46157/[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] [1720493489.510992903]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720493489.512863304]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720493489.518669915]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720493489.518893324]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720493489.518916677]: ROW: 288 COL: 451 [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] [1720493489.519141871]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720493489.519368105]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720493489.519561277]: 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
[1mROS_MASTER_URI=http://03c58e51e489:11311/[0m
]2;roscore http://03c58e51e489:11311/
[1msetting /run_id to 23aeb790-3d9e-11ef-a4d9-0242ac110005[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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720493498.582507225]: 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: 316856919.85 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636592.263556, t: -1.323794 -0.694627 -1.171995 q: 0.964861 -0.156567 -0.208208 -0.034351 
feature tracking not enough, please slowly move you device! 
time: 1403636593.263556, t: -1.323794 -0.694627 -1.171995 q: 0.964861 -0.156567 -0.208208 -0.034351 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636596.263556, t: -1.323794 -0.694627 -1.171995 q: 0.964861 -0.156567 -0.208208 -0.034351 
unstable tracking...
time: 1403636597.263556, t: -1.508129 -0.551193 -1.369415 q: 0.979602 -0.026599 0.032643 0.196484 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636598.263556, t: -1.508129 -0.551193 -1.369415 q: 0.979602 -0.026599 0.032643 0.196484 
unstable tracking...
time: 1403636599.263556, t: -1.565685 -0.457109 -1.152294 q: 0.965639 -0.046923 0.183427 0.178027 
unstable tracking...
time: 1403636600.263556, t: -1.585480 -0.439776 -1.103966 q: 0.951924 -0.072738 0.229326 0.189629 
unstable tracking...
unstable tracking...
time: 1403636602.263556, t: -1.575498 -0.443498 -1.108727 q: 0.949318 -0.078809 0.192169 0.235913 
time: 1403636603.263556, t: -1.575472 -0.443467 -1.108585 q: 0.949313 -0.078740 0.192120 0.235996 
time: 1403636604.263556, t: -1.575487 -0.443482 -1.108598 q: 0.949310 -0.078773 0.192133 0.235986 
time: 1403636605.263556, t: -1.575464 -0.443488 -1.108576 q: 0.949316 -0.078755 0.192085 0.236010 
time: 1403636606.263556, t: -1.575521 -0.443499 -1.108786 q: 0.949324 -0.078694 0.192098 0.235987 
time: 1403636607.263556, t: -1.575511 -0.443499 -1.108766 q: 0.949330 -0.078730 0.192073 0.235971 
time: 1403636608.263556, t: -1.575511 -0.443502 -1.108759 q: 0.949325 -0.078725 0.192068 0.235998 
time: 1403636609.263556, t: -1.575508 -0.443504 -1.108759 q: 0.949326 -0.078744 0.192061 0.235993 
time: 1403636610.263556, t: -1.575498 -0.443504 -1.108773 q: 0.949350 -0.078815 0.192011 0.235910 
time: 1403636611.263556, t: -1.575454 -0.443459 -1.108633 q: 0.949372 -0.078658 0.191944 0.235928 
time: 1403636612.263556, t: -1.575942 -0.442726 -1.108550 q: 0.949730 -0.079859 0.191886 0.234126 
time: 1403636613.263556, t: -1.575933 -0.443105 -1.108527 q: 0.949254 -0.078790 0.192274 0.236091 
time: 1403636614.263556, t: -1.575942 -0.443029 -1.108517 q: 0.949309 -0.079049 0.192262 0.235795 
time: 1403636615.263556, t: -1.575920 -0.443047 -1.108525 q: 0.949273 -0.079005 0.192331 0.235900 
time: 1403636616.263556, t: -1.575924 -0.443047 -1.108517 q: 0.949289 -0.079012 0.192277 0.235873 
time: 1403636617.263556, t: -1.575928 -0.443041 -1.108514 q: 0.949292 -0.079013 0.192281 0.235860 
time: 1403636618.263556, t: -1.575924 -0.443045 -1.108513 q: 0.949289 -0.079010 0.192284 0.235872 
time: 1403636619.263556, t: -1.575910 -0.443041 -1.108480 q: 0.949260 -0.078973 0.192244 0.236031 
time: 1403636620.263556, t: -1.575930 -0.443047 -1.108514 q: 0.949320 -0.078896 0.192203 0.235851 
time: 1403636621.263556, t: -1.575926 -0.442960 -1.108505 q: 0.949365 -0.079072 0.192177 0.235631 
time: 1403636622.263556, t: -1.575917 -0.442982 -1.108499 q: 0.949335 -0.078967 0.192217 0.235754 
time: 1403636623.263556, t: -1.575941 -0.442796 -1.108550 q: 0.949182 -0.079169 0.192517 0.236057 
time: 1403636624.263556, t: -1.576055 -0.442404 -1.108782 q: 0.949034 -0.080983 0.190703 0.237505 
unstable tracking...
time: 1403636626.263556, t: -2.196375 -0.561483 -2.496274 q: 0.956230 -0.057719 0.153573 0.242296 
time: 1403636627.263556, t: -2.313202 -0.502412 -2.491159 q: 0.961055 -0.053382 0.149643 0.226120 
time: 1403636628.263556, t: -1.348452 -0.187896 -1.921709 q: 0.954647 -0.124462 0.112025 0.246190 
time: 1403636630.263556, t: -1.360680 1.327601 -3.482183 q: 0.923820 -0.273962 0.042431 0.264008 
time: 1403636631.263556, t: -0.799452 2.614420 -3.656230 q: 0.948615 -0.219629 -0.016482 0.227202 
time: 1403636632.263556, t: -0.393507 2.547921 -3.686721 q: 0.938940 -0.265926 -0.056845 0.210816 
time: 1403636633.263556, t: 0.042387 2.340360 -3.600183 q: 0.954616 -0.215661 -0.085561 0.186755 
time: 1403636634.263556, t: -0.055532 2.831093 -3.093704 q: 0.950784 -0.210840 -0.088254 0.209207 
time: 1403636635.263556, t: -0.013047 3.367005 -2.571760 q: 0.963760 -0.172772 -0.085849 0.184244 
time: 1403636636.263556, t: 0.137682 3.970854 -2.098349 q: 0.962759 -0.172947 -0.080318 0.191660 
time: 1403636637.263556, t: 0.157353 4.450591 -1.668854 q: 0.965647 -0.170043 -0.072348 0.182692 
time: 1403636638.263556, t: 0.308080 4.761124 -1.206004 q: 0.967677 -0.163697 -0.064601 0.180640 
time: 1403636640.263556, t: 0.205474 5.669871 -0.236038 q: 0.973708 -0.137029 -0.069032 0.168378 
time: 1403636641.263556, t: 0.146809 6.031335 0.123423 q: 0.976676 -0.120636 -0.068142 0.164036 
time: 1403636642.263556, t: 0.118357 6.301500 0.310445 q: 0.970926 -0.151182 -0.063560 0.174373 
time: 1403636643.263556, t: 0.030205 6.463664 0.387228 q: 0.962179 -0.177481 -0.074457 0.192791 
time: 1403636644.263556, t: 0.059709 6.788707 0.598198 q: 0.961119 -0.166534 -0.097680 0.197420 
time: 1403636645.263556, t: -0.500269 7.313029 0.892246 q: 0.962164 -0.160202 -0.107021 0.192674 
time: 1403636646.263556, t: -0.289600 8.007478 1.559800 q: 0.947917 -0.216014 -0.078042 0.220684 
time: 1403636647.263556, t: -0.259271 8.677160 1.934994 q: 0.912521 -0.326763 -0.082073 0.231937 
time: 1403636648.263556, t: -0.349612 9.253284 2.181042 q: 0.872370 -0.411081 -0.076056 0.253374 
time: 1403636649.263556, t: -1.386568 9.892240 1.349961 q: 0.842083 -0.467787 -0.035572 0.266094 
time: 1403636650.263556, t: -0.631695 9.929594 2.374369 q: 0.750996 -0.607138 -0.074709 0.248612 
time: 1403636651.263556, t: -0.653878 10.222293 1.261125 q: 0.703137 -0.642217 -0.100965 0.288031 
time: 1403636652.263556, t: -0.698489 10.027862 0.879032 q: 0.626729 -0.707460 -0.105405 0.309193 
time: 1403636653.263556, t: -0.865202 9.784287 0.221640 q: 0.547756 -0.761283 -0.124203 0.324015 
time: 1403636654.263556, t: -0.953047 9.655441 -0.079013 q: 0.554167 -0.763885 -0.106636 0.313061 
time: 1403636655.263556, t: -0.855370 9.450075 -0.420968 q: -0.460103 0.822046 0.115611 -0.314929 
time: 1403636656.263556, t: -0.969182 8.857733 -0.470890 q: -0.329894 0.871537 0.117849 -0.343082 
time: 1403636657.263556, t: -0.883282 8.391994 -0.691363 q: -0.337355 0.882124 0.101958 -0.312494 
time: 1403636658.263556, t: -0.757088 7.604168 -0.952568 q: -0.318053 0.876045 0.128373 -0.338980 
time: 1403636659.263556, t: -1.000241 6.958192 -1.215379 q: -0.319827 0.892565 0.138823 -0.285950 
time: 1403636660.263556, t: -1.237590 6.528617 -1.600773 q: -0.323621 0.876845 0.155642 -0.319669 
time: 1403636661.263556, t: -1.472296 6.542809 -1.432382 q: -0.305792 0.889434 0.142997 -0.308140 
time: 1403636662.263556, t: -1.530743 6.675332 -1.209827 q: -0.310066 0.888437 0.134902 -0.310387 
time: 1403636663.263556, t: -1.636651 6.666617 -0.828686 q: -0.297640 0.881468 0.120794 -0.346169 
time: 1403636664.263556, t: -1.917266 6.955027 -0.827943 q: -0.311744 0.887526 0.164037 -0.296994 
time: 1403636665.263556, t: -0.874050 7.449596 0.750335 q: -0.251740 0.905455 0.178735 -0.291258 
time: 1403636666.263556, t: -2.080081 8.486889 -0.274961 q: -0.322318 0.884912 0.122811 -0.312985 
time: 1403636667.263556, t: -4.266369 10.520496 3.601048 q: -0.108933 0.935905 0.331870 0.045584 
time: 1403636668.263556, t: -2.736711 8.668220 -0.834886 q: -0.448612 0.839511 0.078142 -0.296415 
time: 1403636670.263556, t: -3.107138 9.753799 3.631922 q: -0.396988 0.845296 0.355870 -0.035093 
time: 1403636671.263556, t: -4.488235 11.653132 3.024665 q: -0.356069 0.782382 0.500536 -0.102744 
feature tracking not enough, please slowly move you device! 
time: 1403636672.263556, t: -4.488235 11.653132 3.024665 q: -0.356069 0.782382 0.500536 -0.102744 
time: 1403636673.263556, t: -3.916752 11.596245 3.070474 q: -0.390969 0.755479 0.501359 -0.158219 
time: 1403636674.263556, t: -2.668309 11.599302 3.048689 q: -0.397023 0.617407 0.650595 -0.194697 
time: 1403636675.263556, t: -3.250506 11.611309 3.011175 q: -0.399383 0.579574 0.665340 -0.248819 
time: 1403636676.263556, t: -4.164096 11.883145 2.890058 q: 0.516993 -0.475976 -0.654038 0.280000 
time: 1403636677.263556, t: -5.026068 11.945920 3.059495 q: 0.586580 -0.373249 -0.641145 0.324872 
time: 1403636678.263556, t: -5.579682 11.957650 3.272219 q: 0.664342 -0.234656 -0.579277 0.409908 
time: 1403636680.263556, t: -6.153429 11.982629 3.943756 q: 0.764004 0.022784 -0.459157 0.452718 
time: 1403636681.263556, t: -5.273296 11.846658 3.885794 q: 0.736429 0.045178 -0.481553 0.473010 
time: 1403636682.263556, t: -4.768713 11.438886 4.093360 q: 0.750627 0.040605 -0.455533 0.476865 
time: 1403636683.263556, t: -4.018865 11.305501 4.181574 q: 0.750416 0.040543 -0.454882 0.477823 
time: 1403636684.263556, t: -3.180070 10.937605 4.283314 q: 0.741272 0.052159 -0.456450 0.489334 
time: 1403636685.263556, t: -2.470206 10.714625 4.103602 q: 0.749747 0.058099 -0.452562 0.479261 
time: 1403636687.263556, t: -1.091909 10.249402 3.925348 q: 0.740663 0.049627 -0.452551 0.494119 
time: 1403636688.263556, t: -0.667711 9.913954 3.789874 q: 0.748659 0.049367 -0.447880 0.486288 
time: 1403636689.263556, t: -0.210796 9.683142 3.593807 q: 0.738080 0.088388 -0.444743 0.499628 
time: 1403636690.263556, t: 0.279161 9.580559 3.820027 q: 0.724834 0.096340 -0.458955 0.504672 
time: 1403636691.263556, t: -0.123402 9.476278 4.154534 q: 0.751478 0.062913 -0.404264 0.517584 
feature tracking not enough, please slowly move you device! 
time: 1403636692.263556, t: -0.250284 9.864603 3.926022 q: 0.772633 0.041185 -0.432438 0.462968 
time: 1403636693.263556, t: -0.131024 10.600619 3.809158 q: 0.770263 0.065656 -0.470391 0.425578 
time: 1403636694.263556, t: -1.482372 10.553202 4.342391 q: 0.772567 0.078256 -0.448330 0.442737 
time: 1403636695.263556, t: -0.924421 10.888742 4.106810 q: 0.740510 0.106055 -0.466671 0.471821 
time: 1403636696.263556, t: -1.123518 10.937970 4.163687 q: 0.742985 0.105009 -0.483367 0.450892 
time: 1403636697.263556, t: -1.143606 10.892011 4.157344 q: 0.765056 0.099063 -0.474161 0.424321 
time: 1403636698.263556, t: -0.775597 10.816734 4.239842 q: 0.730598 0.003319 -0.524827 0.436775 
time: 1403636699.263556, t: -0.101993 10.177558 4.260174 q: 0.665722 -0.242845 -0.605190 0.362746 
time: 1403636700.263556, t: -0.033448 9.857437 4.077500 q: 0.613182 -0.395063 -0.617227 0.294896 
time: 1403636701.263556, t: 0.090380 9.837660 3.701976 q: 0.569304 -0.431180 -0.645943 0.269693 
time: 1403636702.263556, t: -0.005754 9.963263 3.579454 q: 0.540343 -0.495812 -0.644694 0.215799 
time: 1403636703.263556, t: -0.208067 9.941828 3.118752 q: 0.517985 -0.528298 -0.639430 0.209098 
time: 1403636704.263556, t: -0.381979 10.208534 2.920956 q: 0.511406 -0.516885 -0.653718 0.209634 
time: 1403636705.263556, t: -0.751865 10.492205 2.603940 q: 0.508941 -0.501313 -0.669152 0.204693 
time: 1403636706.263556, t: -1.606896 10.819207 2.411292 q: 0.522007 -0.518751 -0.645660 0.203790 
time: 1403636707.263556, t: -2.269337 11.349965 2.249757 q: 0.507693 -0.508230 -0.667357 0.196431 
time: 1403636708.263556, t: -3.350158 11.938869 2.211194 q: 0.520561 -0.509600 -0.653307 0.206191 
time: 1403636709.263556, t: -4.249998 12.307246 2.042902 q: 0.523911 -0.515083 -0.656219 0.171999 
time: 1403636710.263556, t: -4.896955 12.497621 2.260624 q: 0.519333 -0.504022 -0.664461 0.186402 
time: 1403636711.263556, t: -5.637222 12.349585 2.440265 q: 0.591849 -0.411977 -0.651998 0.234281 
time: 1403636712.263556, t: -5.798605 12.211164 2.935401 q: 0.596395 -0.425381 -0.632241 0.252261 
time: 1403636713.263556, t: -5.393211 11.950139 3.496937 q: 0.631588 -0.369551 -0.624207 0.273668 
time: 1403636714.263556, t: -4.616489 11.660768 3.906987 q: 0.615012 -0.382550 -0.629594 0.281119 
time: 1403636716.263556, t: -3.752152 11.308214 4.081878 q: 0.669901 -0.280860 -0.605643 0.324880 
time: 1403636717.263556, t: -4.305777 12.238814 2.534630 q: 0.706938 -0.230861 -0.454539 0.490241 
time: 1403636718.263556, t: -2.847634 11.001536 3.511414 q: 0.737310 -0.105557 -0.538254 0.394354 
time: 1403636719.263556, t: -0.772566 11.683590 3.689605 q: 0.719642 0.025917 -0.574312 0.389371 
time: 1403636720.263556, t: -0.283508 11.458772 3.600078 q: 0.699210 0.015782 -0.589827 0.403684 
time: 1403636722.263556, t: -1.229601 9.965275 3.035113 q: 0.756640 -0.127823 -0.556273 0.318931 
time: 1403636723.263556, t: -0.915592 9.848775 2.862232 q: 0.748535 -0.151664 -0.558615 0.323485 
time: 1403636724.263556, t: -0.591580 10.070365 2.683944 q: 0.706129 -0.209351 -0.594783 0.322160 
time: 1403636725.263556, t: -0.154277 9.672066 2.632966 q: 0.694154 -0.289338 -0.587605 0.298586 
time: 1403636726.263556, t: 0.098296 9.663962 2.634288 q: 0.699785 -0.284587 -0.587542 0.290009 
time: 1403636727.263556, t: 0.076504 9.750670 2.767656 q: 0.716934 -0.262741 -0.579692 0.284482 
time: 1403636728.263556, t: 0.438298 9.809672 2.908902 q: 0.717714 -0.264035 -0.578173 0.284409 
time: 1403636729.263556, t: 0.866197 9.599602 2.922221 q: 0.739761 -0.206552 -0.562563 0.305964 
time: 1403636730.263556, t: 1.381798 9.295853 2.892515 q: 0.731401 -0.200366 -0.571313 0.313859 
time: 1403636731.263556, t: 1.693178 9.086647 2.937842 q: 0.729804 -0.210803 -0.557274 0.335251 
time: 1403636732.263556, t: 1.744806 8.945515 2.815272 q: 0.738297 -0.205910 -0.559019 0.316254 
time: 1403636733.263556, t: 2.050318 8.860174 2.725732 q: 0.745643 -0.195945 -0.560769 0.301927 
time: 1403636734.263556, t: 2.592396 8.651751 2.703104 q: 0.743169 -0.195161 -0.558571 0.312427 
time: 1403636735.263556, t: 3.069747 8.390852 2.726277 q: 0.732952 -0.186302 -0.567242 0.326051 
time: 1403636736.263556, t: 3.395526 8.305049 2.905055 q: 0.744227 -0.178729 -0.555497 0.324968 
time: 1403636737.263556, t: 3.618070 8.095421 3.027936 q: 0.757310 -0.142135 -0.543083 0.333675 
time: 1403636738.263556, t: 3.888080 7.961890 3.229409 q: 0.747849 -0.139684 -0.550045 0.344472 
time: 1403636739.263556, t: 3.845095 7.980193 3.201050 q: 0.692930 -0.307045 -0.580882 0.296894 
time: 1403636740.263556, t: 3.745537 8.038060 2.954896 q: 0.650302 -0.394482 -0.605445 0.234368 
time: 1403636741.263556, t: 3.611227 7.935424 2.632515 q: 0.657625 -0.397401 -0.596882 0.230940 
time: 1403636742.263556, t: 3.454746 7.768396 2.359001 q: 0.635415 -0.392141 -0.617591 0.247095 
time: 1403636743.263556, t: 3.264410 7.719018 2.204550 q: 0.621998 -0.396826 -0.623027 0.259778 
time: 1403636744.263556, t: 2.760640 7.724236 1.993727 q: 0.632079 -0.443135 -0.595385 0.222765 
time: 1403636745.263556, t: 2.218605 7.496232 1.573682 q: 0.625255 -0.434935 -0.605518 0.230726 
time: 1403636746.263556, t: 2.086191 7.624515 1.515085 q: 0.627109 -0.455165 -0.604338 0.185296 
time: 1403636747.263556, t: 2.090879 7.591901 1.704130 q: 0.622656 -0.447194 -0.604664 0.216097 
time: 1403636748.263556, t: 2.047782 7.759233 2.041841 q: 0.609893 -0.474497 -0.591170 0.231086 
time: 1403636749.263556, t: 1.985105 7.950164 2.239977 q: 0.608921 -0.487412 -0.585307 0.221495 
time: 1403636750.263556, t: 2.056816 8.140335 2.326530 q: 0.624406 -0.468855 -0.591606 0.200734 
time: 1403636751.263556, t: 2.435044 8.318462 2.653231 q: 0.612932 -0.446765 -0.614177 0.217950 
time: 1403636752.263556, t: 2.673656 8.530189 2.935922 q: 0.628467 -0.427904 -0.605568 0.234980 
time: 1403636753.263556, t: 2.821179 8.733794 3.032029 q: 0.726802 -0.231500 -0.577622 0.290724 
time: 1403636754.263556, t: 2.827393 8.517222 3.187551 q: 0.754178 -0.196648 -0.546308 0.306746 
time: 1403636755.263556, t: 3.184510 8.231151 3.340984 q: 0.769233 -0.116879 -0.534928 0.329350 
time: 1403636756.263556, t: 3.681834 7.804388 3.529683 q: 0.767485 -0.121042 -0.534321 0.332891 
time: 1403636757.263556, t: 4.280798 7.342936 3.724944 q: 0.769544 -0.114296 -0.530529 0.336567 
time: 1403636758.263556, t: 4.900194 6.881157 3.907989 q: 0.774850 -0.078507 -0.518561 0.352899 
time: 1403636759.263556, t: 5.201582 6.406817 4.099826 q: 0.759370 -0.092126 -0.507199 0.397013 
time: 1403636760.263556, t: 5.234863 6.243589 4.019675 q: 0.766252 -0.074994 -0.528888 0.357088 
time: 1403636761.263556, t: 5.306180 6.078005 3.919854 q: 0.752951 -0.062946 -0.554018 0.349524 
time: 1403636762.263556, t: 5.331685 6.030249 4.027115 q: 0.771958 -0.068200 -0.539732 0.328814 
time: 1403636763.263556, t: 4.954693 5.698085 3.457173 q: 0.772525 -0.140954 -0.476059 0.395859 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720493687.267293978]: Shutdown request received.[0m
[33m[ WARN] [1720493687.267344726]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720493687.268335610]: Shutdown request received.[0m
[33m[ WARN] [1720493687.268375333]: Reason given for shutdown: [user request][0m
killed
