/SLAM-Hive/slam_hive_results/mapping_results/2973/2181_vins-fusion-stereo+MH_01_easy+Image_comb_test-21.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720493711.997449143]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720493712.000012305]: init begins[0m
[31m[ERROR] [1720493712.001196990]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/a8f2f948-3d9e-11ef-b3d3-0242ac110005/roslaunch-3b29dd2f00bf-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://3b29dd2f00bf:37371/[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] [1720493713.103574703]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720493713.106438926]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720493713.112238386]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720493713.112458274]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720493713.112501681]: ROW: 240 COL: 376 [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] [1720493713.112728620]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720493713.112938874]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720493713.113102340]: 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://3b29dd2f00bf:11311/[0m
]2;roscore http://3b29dd2f00bf:11311/
[1msetting /run_id to a8f2f948-3d9e-11ef-b3d3-0242ac110005[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] [1720493722.150650661]: 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: 316857143.42 
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! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
[0m[ INFO] [1720493733.847192616]: Initialization finish![0m
time: 1403636590.263556, t: -0.359829 -0.318373 -1.372130 q: 0.959462 0.039487 -0.278942 -0.008103 
unstable tracking...
time: 1403636591.263556, t: -0.435055 -0.306205 -1.007406 q: 0.919180 -0.176616 -0.331288 -0.119007 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636593.263556, t: -0.484927 -0.144677 -0.825016 q: 0.915408 -0.258635 -0.277961 -0.133694 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636594.263556, t: -0.484927 -0.144677 -0.825016 q: 0.915408 -0.258635 -0.277961 -0.133694 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636595.263556, t: -0.484927 -0.144677 -0.825016 q: 0.915408 -0.258635 -0.277961 -0.133694 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636597.263556, t: -0.484927 -0.144677 -0.825016 q: 0.915408 -0.258635 -0.277961 -0.133694 
feature tracking not enough, please slowly move you device! 
time: 1403636599.263556, t: -0.527020 0.084631 -0.728120 q: 0.956259 -0.181916 -0.202148 -0.107759 
unstable tracking...
time: 1403636600.263556, t: -0.569827 0.136767 -0.704507 q: 0.965688 -0.194503 -0.141042 -0.098605 
unstable tracking...
unstable tracking...
time: 1403636602.263556, t: -0.577174 0.130675 -0.711460 q: 0.952857 -0.201061 -0.112564 -0.197401 
time: 1403636604.263556, t: -0.576986 0.130281 -0.711541 q: 0.952944 -0.201127 -0.112552 -0.196921 
time: 1403636605.263556, t: -0.576999 0.130294 -0.711516 q: 0.952962 -0.201113 -0.112565 -0.196841 
time: 1403636606.263556, t: -0.576655 0.129792 -0.711852 q: 0.952992 -0.201019 -0.112842 -0.196635 
time: 1403636607.263556, t: -0.576497 0.129510 -0.711981 q: 0.952977 -0.200997 -0.112864 -0.196713 
time: 1403636608.263556, t: -0.576498 0.129500 -0.711995 q: 0.952988 -0.200963 -0.112916 -0.196667 
time: 1403636609.263556, t: -0.576497 0.129513 -0.712000 q: 0.953010 -0.200912 -0.112931 -0.196604 
time: 1403636610.263556, t: -0.576485 0.129524 -0.712017 q: 0.953004 -0.200895 -0.112981 -0.196623 
time: 1403636611.263556, t: -0.576528 0.129671 -0.711815 q: 0.953035 -0.200796 -0.113124 -0.196492 
time: 1403636612.263556, t: -0.576280 0.130247 -0.712057 q: 0.952528 -0.201222 -0.113070 -0.198532 
time: 1403636613.263556, t: -0.576540 0.130051 -0.712015 q: 0.953104 -0.200765 -0.112699 -0.196433 
time: 1403636614.263556, t: -0.576495 0.130123 -0.712043 q: 0.953025 -0.200834 -0.112651 -0.196771 
time: 1403636615.263556, t: -0.576495 0.130098 -0.712034 q: 0.953060 -0.200792 -0.112592 -0.196677 
time: 1403636616.263556, t: -0.576496 0.130102 -0.712032 q: 0.953044 -0.200804 -0.112646 -0.196712 
time: 1403636617.263556, t: -0.576497 0.130111 -0.712027 q: 0.953038 -0.200802 -0.112642 -0.196744 
time: 1403636618.263556, t: -0.576499 0.130112 -0.712027 q: 0.953041 -0.200799 -0.112637 -0.196740 
time: 1403636619.263556, t: -0.576516 0.130123 -0.711961 q: 0.953026 -0.200953 -0.112582 -0.196684 
time: 1403636620.263556, t: -0.576537 0.130154 -0.711991 q: 0.953009 -0.200820 -0.112686 -0.196840 
time: 1403636621.263556, t: -0.576495 0.130216 -0.711960 q: 0.952910 -0.200953 -0.112680 -0.197191 
time: 1403636622.263556, t: -0.576515 0.130204 -0.711963 q: 0.952967 -0.200863 -0.112656 -0.197021 
time: 1403636623.263556, t: -0.576384 0.130227 -0.712043 q: 0.953001 -0.201134 -0.112108 -0.196892 
unstable tracking...
unstable tracking...
time: 1403636626.263556, t: 2.322781 -6.241160 3.098494 q: -0.443012 0.459339 0.633767 0.437135 
unstable tracking...
time: 1403636627.263556, t: 2.374084 -6.233498 3.102057 q: -0.413165 0.443730 0.650871 0.456908 
unstable tracking...
time: 1403636628.263556, t: 2.966532 -4.957710 4.452806 q: -0.420947 0.503153 0.622689 0.426496 
unstable tracking...
time: 1403636630.263556, t: 2.892083 -3.057185 3.907691 q: -0.240152 0.509963 0.545326 0.620390 
time: 1403636631.263556, t: 3.188873 -2.798374 4.166387 q: -0.242739 0.494825 0.558748 0.619699 
time: 1403636632.263556, t: 3.413233 -2.805878 4.285564 q: -0.228041 0.477042 0.572815 0.626348 
time: 1403636633.263556, t: 3.520223 -2.358546 4.349637 q: -0.250914 0.425781 0.659926 0.565906 
time: 1403636634.263556, t: 3.698649 -1.758026 4.459261 q: -0.254945 0.445346 0.654457 0.555298 
time: 1403636635.263556, t: 3.886343 -1.102029 4.643807 q: -0.257934 0.410727 0.687030 0.541075 
time: 1403636636.263556, t: 3.990758 -0.423009 4.953569 q: -0.269210 0.412757 0.683034 0.539095 
time: 1403636637.263556, t: 4.122367 0.202750 5.123132 q: -0.271608 0.400738 0.687179 0.541686 
time: 1403636638.263556, t: 3.997688 0.690674 5.197052 q: -0.277482 0.392619 0.689847 0.541262 
time: 1403636640.263556, t: 4.342774 1.926089 5.324995 q: -0.284655 0.376695 0.707018 0.526496 
time: 1403636641.263556, t: 4.481118 2.384546 5.422155 q: -0.285653 0.368269 0.718061 0.516883 
time: 1403636642.263556, t: 4.561363 2.742773 5.529075 q: -0.282962 0.382128 0.696380 0.537556 
time: 1403636643.263556, t: 4.670397 2.918994 5.541417 q: -0.274020 0.408729 0.675633 0.548975 
time: 1403636644.263556, t: 4.764253 3.244971 5.726866 q: -0.258706 0.421098 0.686131 0.533827 
time: 1403636645.263556, t: 5.085252 3.809833 5.761438 q: -0.234840 0.439923 0.687621 0.527727 
time: 1403636646.263556, t: 5.307244 4.657738 5.945266 q: -0.269298 0.445077 0.635180 0.570904 
time: 1403636647.263556, t: 5.288409 5.520859 5.959336 q: -0.233031 0.481243 0.526263 0.661172 
time: 1403636648.263556, t: 6.115291 5.730078 6.770014 q: -0.228425 0.506018 0.497117 0.666815 
time: 1403636649.263556, t: 6.698824 5.877106 7.111936 q: -0.176740 0.541682 0.404614 0.715284 
time: 1403636650.263556, t: 6.522412 6.090356 7.361942 q: -0.147524 0.559010 0.318097 0.751371 
time: 1403636651.263556, t: 6.829506 5.538158 7.495261 q: -0.113856 0.585698 0.229612 0.768942 
time: 1403636652.263556, t: 6.834350 5.143397 7.456781 q: -0.092217 0.606552 0.128588 0.779138 
time: 1403636653.263556, t: 6.902829 4.722270 7.413084 q: -0.044365 0.624870 0.025761 0.779041 
time: 1403636654.263556, t: 6.930441 4.433592 7.410867 q: -0.049596 0.610203 0.021276 0.790405 
time: 1403636655.263556, t: 6.899798 4.087888 7.493719 q: -0.010623 0.614998 -0.086800 0.783665 
time: 1403636656.263556, t: 6.672935 3.660465 7.056495 q: 0.020575 0.622177 -0.205777 0.755068 
time: 1403636657.263556, t: 6.478695 3.148861 6.893074 q: 0.018709 0.595869 -0.190911 0.779835 
time: 1403636658.263556, t: 6.195378 2.504534 6.496097 q: 0.015993 0.621938 -0.198383 0.757351 
time: 1403636659.263556, t: 5.848352 2.194106 6.146867 q: 0.073302 0.603359 -0.233163 0.759092 
time: 1403636660.263556, t: 5.823994 1.815052 5.834944 q: 0.065321 0.635307 -0.231988 0.733689 
time: 1403636661.263556, t: 6.228928 1.577393 5.562746 q: 0.050448 0.606703 -0.205305 0.766300 
time: 1403636662.263556, t: 6.269367 1.767372 5.527138 q: 0.035489 0.605806 -0.196461 0.770157 
time: 1403636663.263556, t: 6.235173 2.004395 5.327556 q: 0.007674 0.625602 -0.211311 0.750940 
time: 1403636664.263556, t: 6.604836 2.098124 5.358367 q: 0.063497 0.610236 -0.181359 0.768563 
time: 1403636665.263556, t: 7.156427 2.624017 5.475109 q: 0.022513 0.598167 -0.151191 0.786658 
time: 1403636666.263556, t: 7.327386 3.345965 6.125612 q: 0.025327 0.608422 -0.192407 0.769520 
time: 1403636667.263556, t: 7.554071 3.944800 6.387991 q: 0.033442 0.618621 -0.184667 0.762947 
time: 1403636668.263556, t: 8.067154 3.747624 6.152297 q: 0.005306 0.609443 -0.130149 0.782057 
time: 1403636669.263556, t: 8.451424 4.480376 6.489626 q: 0.047431 0.599410 -0.179720 0.778562 
time: 1403636671.263556, t: 7.957520 4.614812 6.318299 q: -0.140406 0.579462 0.030282 0.802242 
feature tracking not enough, please slowly move you device! 
time: 1403636672.263556, t: 7.957520 4.614812 6.318299 q: -0.140406 0.579462 0.030282 0.802242 
time: 1403636674.263556, t: 7.627317 3.938369 5.333178 q: -0.028647 0.545048 0.195014 0.814906 
time: 1403636675.263556, t: 8.260139 4.448503 5.455615 q: -0.045770 0.575365 0.245578 0.778814 
time: 1403636676.263556, t: 8.857258 5.136201 5.877427 q: -0.091402 0.517508 0.385112 0.758631 
time: 1403636677.263556, t: 8.911300 5.845311 5.961687 q: -0.117330 0.483572 0.495652 0.711843 
time: 1403636678.263556, t: 9.320100 6.550971 6.104860 q: -0.191507 0.429166 0.635155 0.612960 
time: 1403636679.263556, t: 9.309553 6.741394 6.129740 q: -0.222617 0.315550 0.781869 0.489439 
time: 1403636680.263556, t: 8.902456 7.509516 5.474237 q: -0.146997 0.206686 0.845784 0.469386 
time: 1403636681.263556, t: 8.105184 6.640320 6.139409 q: -0.301960 0.263774 0.771206 0.494453 
time: 1403636682.263556, t: 7.561773 5.708525 5.669872 q: -0.323753 0.248072 0.773241 0.485534 
time: 1403636683.263556, t: 7.051919 5.082969 5.221656 q: -0.323255 0.247557 0.763091 0.501911 
time: 1403636684.263556, t: 6.691637 4.864103 4.805884 q: -0.325020 0.252208 0.771845 0.484777 
time: 1403636685.263556, t: 6.268179 4.675343 4.305563 q: -0.314289 0.253950 0.760844 0.507787 
time: 1403636686.263556, t: 6.126971 4.169457 3.957192 q: -0.320144 0.267561 0.759361 0.499289 
time: 1403636687.263556, t: 6.102319 3.901176 2.943801 q: -0.310206 0.246196 0.757977 0.518296 
time: 1403636688.263556, t: 6.034106 3.528418 2.594827 q: -0.307272 0.235289 0.761027 0.520636 
time: 1403636689.263556, t: 6.304948 3.069901 2.437816 q: -0.299808 0.221502 0.796252 0.476482 
time: 1403636690.263556, t: 5.986797 2.899819 2.236001 q: -0.296272 0.231002 0.799595 0.468518 
time: 1403636691.263556, t: 5.957196 3.011776 2.387543 q: -0.430133 0.211493 0.759768 0.439328 
time: 1403636692.263556, t: 6.162377 3.250501 1.961888 q: 0.527454 -0.245845 -0.558216 -0.591395 
time: 1403636693.263556, t: 6.523138 2.210498 1.968025 q: -0.454567 0.183936 0.585407 0.645628 
time: 1403636694.263556, t: 5.821423 2.387256 2.063269 q: -0.370313 0.194648 0.575856 0.702403 
time: 1403636695.263556, t: 6.735407 2.682428 2.947261 q: -0.429640 0.167939 0.666730 0.585387 
time: 1403636696.263556, t: 6.741051 2.956359 3.004237 q: -0.403302 0.169166 0.659381 0.611512 
time: 1403636698.263556, t: 6.476444 2.711676 2.836810 q: -0.414066 0.238637 0.589273 0.651428 
time: 1403636699.263556, t: 6.206794 2.706608 2.448552 q: -0.409188 0.389762 0.404710 0.718930 
time: 1403636700.263556, t: 6.181664 2.652144 2.222213 q: -0.401165 0.471090 0.245496 0.746239 
time: 1403636701.263556, t: 6.459538 2.728115 1.972511 q: -0.369537 0.510326 0.194983 0.751659 
time: 1403636703.263556, t: 7.207103 2.579948 1.863437 q: -0.364923 0.541692 0.087714 0.752135 
time: 1403636704.263556, t: 7.555788 2.618597 2.020625 q: -0.352009 0.545278 0.098747 0.754328 
time: 1403636705.263556, t: 8.024877 2.702603 2.239276 q: -0.337029 0.550417 0.113488 0.755363 
time: 1403636706.263556, t: 8.529575 3.050409 2.716688 q: -0.355781 0.530017 0.104896 0.762561 
time: 1403636707.263556, t: 9.054885 3.371065 3.395263 q: -0.334310 0.551131 0.109298 0.756667 
time: 1403636708.263556, t: 9.442655 3.838813 4.130768 q: -0.352653 0.543883 0.105672 0.754096 
time: 1403636709.263556, t: 10.049815 4.323325 4.613456 q: -0.333080 0.531614 0.089488 0.773586 
time: 1403636710.263556, t: 10.241232 4.778912 5.099786 q: -0.335834 0.537058 0.109971 0.765957 
time: 1403636711.263556, t: 10.276008 5.441369 5.381093 q: -0.363749 0.480847 0.221140 0.766531 
time: 1403636712.263556, t: 9.949805 5.694541 5.539943 q: -0.396275 0.472159 0.217216 0.756868 
time: 1403636713.263556, t: 9.286911 5.683410 5.342070 q: -0.398869 0.429855 0.274113 0.762227 
time: 1403636714.263556, t: 8.499823 5.442220 4.966501 q: -0.400909 0.449637 0.250773 0.757768 
time: 1403636715.263556, t: 8.077443 5.197255 4.537659 q: -0.394413 0.401097 0.376654 0.735997 
time: 1403636716.263556, t: 7.930662 4.987428 4.425768 q: -0.419379 0.382422 0.356563 0.742117 
time: 1403636717.263556, t: 11.068688 1.042221 4.937052 q: 0.547766 -0.204561 -0.628092 -0.513427 
time: 1403636718.263556, t: 8.463419 2.312189 1.764310 q: -0.458296 0.219181 0.561813 0.652909 
time: 1403636720.263556, t: 4.911453 2.265317 0.816825 q: 0.611119 -0.279238 -0.376075 -0.638065 
time: 1403636721.263556, t: 11.028291 5.768412 7.916923 q: 0.551324 0.001948 -0.763358 -0.336635 
time: 1403636722.263556, t: 10.198468 4.116710 5.541554 q: 0.587922 -0.079461 -0.650871 -0.473710 
time: 1403636723.263556, t: 10.336814 3.876107 5.296741 q: 0.590616 -0.097690 -0.636813 -0.485900 
time: 1403636724.263556, t: 10.487698 3.551539 5.048151 q: 0.584432 -0.182694 -0.595874 -0.519612 
time: 1403636725.263556, t: 10.585747 3.199616 4.965781 q: 0.595470 -0.225409 -0.554538 -0.535812 
time: 1403636726.263556, t: 10.643989 2.987848 4.928013 q: 0.592285 -0.216293 -0.555165 -0.542409 
time: 1403636727.263556, t: 10.758853 2.744793 4.989888 q: 0.590468 -0.192715 -0.563077 -0.545118 
unstable tracking...
time: 1403636729.263556, t: 11.244634 2.003750 4.809082 q: 0.595810 -0.130525 -0.604405 -0.512512 
time: 1403636730.263556, t: 11.333012 1.542901 4.449325 q: 0.589611 -0.136501 -0.615757 -0.504549 
time: 1403636731.263556, t: 11.309426 1.163948 4.205225 q: 0.606533 -0.143708 -0.612165 -0.486538 
time: 1403636732.263556, t: 11.383553 1.193800 4.014210 q: 0.599890 -0.131277 -0.608730 -0.502340 
time: 1403636733.263556, t: 11.560027 0.936456 3.829680 q: 0.592136 -0.116899 -0.609788 -0.513681 
time: 1403636734.263556, t: 11.664749 0.416401 3.552382 q: 0.595077 -0.121092 -0.614091 -0.504096 
time: 1403636735.263556, t: 11.713127 -0.051201 3.216250 q: 0.590007 -0.128703 -0.627623 -0.491341 
time: 1403636736.263556, t: 11.664842 -0.436032 3.180946 q: 0.595319 -0.111920 -0.627703 -0.488936 
time: 1403636737.263556, t: 11.563645 -0.700225 2.973357 q: 0.593400 -0.077093 -0.645332 -0.474848 
time: 1403636738.263556, t: 11.475615 -1.060240 2.912658 q: 0.588738 -0.085532 -0.656102 -0.464329 
time: 1403636739.263556, t: 11.499805 -1.018143 2.929255 q: 0.604395 -0.226054 -0.553150 -0.526907 
time: 1403636740.263556, t: 11.700620 -0.828400 2.923836 q: 0.581661 -0.301877 -0.484093 -0.579823 
time: 1403636741.263556, t: 11.840588 -0.505565 2.708878 q: 0.589790 -0.295393 -0.474997 -0.582468 
time: 1403636742.263556, t: 11.969364 -0.284018 2.481511 q: 0.575566 -0.319148 -0.493366 -0.568735 
time: 1403636743.263556, t: 12.000932 -0.041314 2.428684 q: 0.572844 -0.335260 -0.497782 -0.558268 
time: 1403636744.263556, t: 12.033035 0.501550 2.460281 q: 0.591026 -0.337047 -0.442278 -0.584361 
time: 1403636745.263556, t: 12.104300 1.183053 2.179677 q: 0.584799 -0.344250 -0.454726 -0.576823 
time: 1403636746.263556, t: 12.160688 1.318887 2.318509 q: 0.574188 -0.346365 -0.422987 -0.609443 
time: 1403636747.263556, t: 11.973538 1.248184 2.363106 q: 0.581094 -0.349866 -0.441318 -0.587504 
time: 1403636748.263556, t: 11.730743 1.162961 2.648836 q: 0.597295 -0.368426 -0.422102 -0.573874 
time: 1403636749.263556, t: 11.623805 1.168023 2.939104 q: 0.601897 -0.372488 -0.406524 -0.577676 
time: 1403636750.263556, t: 11.620238 1.058422 3.117903 q: 0.590032 -0.351174 -0.412358 -0.598749 
time: 1403636751.263556, t: 11.550787 0.585856 3.335738 q: 0.573470 -0.356413 -0.443209 -0.589634 
time: 1403636752.263556, t: 11.447148 0.269885 3.560088 q: 0.583713 -0.334562 -0.457922 -0.581081 
time: 1403636753.263556, t: 11.471358 0.130034 3.755199 q: 0.582324 -0.157645 -0.593694 -0.532516 
time: 1403636754.263556, t: 11.357068 0.028830 3.645872 q: 0.603583 -0.109605 -0.608009 -0.503983 
time: 1403636755.263556, t: 11.216456 -0.441016 3.393664 q: 0.585740 -0.052849 -0.657000 -0.471663 
time: 1403636756.263556, t: 11.028643 -0.962524 2.978157 q: 0.589993 -0.057642 -0.654721 -0.468962 
time: 1403636757.263556, t: 10.931681 -1.498623 2.486976 q: 0.600694 -0.048233 -0.652751 -0.459082 
time: 1403636758.263556, t: 10.724590 -2.128971 2.092533 q: 0.590855 -0.023223 -0.675015 -0.441255 
time: 1403636759.263556, t: 10.471378 -2.433214 1.729579 q: 0.617467 -0.044475 -0.678648 -0.395212 
time: 1403636760.263556, t: 10.401151 -2.521330 1.439907 q: 0.593402 -0.042938 -0.675163 -0.436103 
time: 1403636761.263556, t: 10.444499 -2.321636 1.793352 q: 0.546544 -0.031844 -0.717175 -0.431202 
time: 1403636762.263556, t: 10.400939 -2.452217 1.299118 q: 0.587719 -0.021620 -0.675787 -0.444331 
time: 1403636763.263556, t: 10.371286 -2.405160 1.204139 q: 0.638654 -0.074901 -0.646118 -0.411148 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720493910.808042383]: Shutdown request received.[0m
[33m[ WARN] [1720493910.808092648]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720493910.809001111]: Shutdown request received.[0m
[33m[ WARN] [1720493910.809027424]: Reason given for shutdown: [user request][0m
killed
