/SLAM-Hive/slam_hive_results/mapping_results/2974/2182_vins-fusion-stereo+MH_01_easy+Image_comb_test-22.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720493935.086375415]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720493935.087642026]: init begins[0m
[31m[ERROR] [1720493935.088872081]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/2debb91e-3d9f-11ef-a826-0242ac110005/roslaunch-36fc73cd54e3-118.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://36fc73cd54e3:44733/[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] [1720493936.193265446]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720493936.194109254]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720493936.200214656]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720493936.200441899]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720493936.200464213]: ROW: 192 COL: 300 [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] [1720493936.200667358]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720493936.200910386]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720493936.201084459]: 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://36fc73cd54e3:11311/[0m
]2;roscore http://36fc73cd54e3:11311/
[1msetting /run_id to 2debb91e-3d9f-11ef-a826-0242ac110005[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] [1720493945.211377984]: 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: 316857366.48 
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! 
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: 1403636591.263556, t: 0.084207 0.723198 1.184195 q: 0.989693 -0.094001 -0.089589 0.060385 
time: 1403636592.263556, t: 0.109434 0.872651 1.231836 q: 0.977633 -0.186846 -0.046982 0.084346 
feature tracking not enough, please slowly move you device! 
time: 1403636593.263556, t: 0.109434 0.872651 1.231836 q: 0.977633 -0.186846 -0.046982 0.084346 
feature tracking not enough, please slowly move you device! 
time: 1403636594.263556, t: 0.109434 0.872651 1.231836 q: 0.977633 -0.186846 -0.046982 0.084346 
feature tracking not enough, please slowly move you device! 
time: 1403636595.263556, t: 0.109434 0.872651 1.231836 q: 0.977633 -0.186846 -0.046982 0.084346 
feature tracking not enough, please slowly move you device! 
time: 1403636596.263556, t: 0.109434 0.872651 1.231836 q: 0.977633 -0.186846 -0.046982 0.084346 
feature tracking not enough, please slowly move you device! 
time: 1403636597.263556, t: 0.109434 0.872651 1.231836 q: 0.977633 -0.186846 -0.046982 0.084346 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636598.263556, t: 0.109434 0.872651 1.231836 q: 0.977633 -0.186846 -0.046982 0.084346 
unstable tracking...
unstable tracking...
time: 1403636600.263556, t: 0.109434 0.872651 1.231836 q: 0.977633 -0.186846 -0.046982 0.084346 
unstable tracking...
time: 1403636601.263556, t: 0.109434 0.872651 1.231836 q: 0.977633 -0.186846 -0.046982 0.084346 
unstable tracking...
time: 1403636602.263556, t: 0.109430 0.872645 1.231824 q: 0.977657 -0.186854 -0.046618 0.084259 
unstable tracking...
unstable tracking...
time: 1403636604.263556, t: 0.109412 0.872641 1.231807 q: 0.977722 -0.186769 -0.045796 0.084144 
unstable tracking...
time: 1403636605.263556, t: 0.109410 0.872641 1.231808 q: 0.977714 -0.186778 -0.045857 0.084177 
unstable tracking...
time: 1403636606.263556, t: 0.109410 0.872641 1.231808 q: 0.977714 -0.186779 -0.045861 0.084178 
unstable tracking...
time: 1403636607.263556, t: 0.109410 0.872641 1.231808 q: 0.977713 -0.186780 -0.045865 0.084179 
time: 1403636608.263556, t: 0.109410 0.872642 1.231809 q: 0.977713 -0.186776 -0.045887 0.084184 
unstable tracking...
unstable tracking...
time: 1403636610.263556, t: 0.109410 0.872642 1.231809 q: 0.977712 -0.186777 -0.045892 0.084186 
time: 1403636611.263556, t: 0.109410 0.872642 1.231809 q: 0.977712 -0.186778 -0.045896 0.084187 
time: 1403636612.263556, t: 0.109410 0.872642 1.231809 q: 0.977713 -0.186777 -0.045884 0.084183 
time: 1403636613.263556, t: 0.109410 0.872642 1.231809 q: 0.977712 -0.186778 -0.045884 0.084184 
time: 1403636614.263556, t: 0.109410 0.872642 1.231809 q: 0.977713 -0.186779 -0.045878 0.084182 
time: 1403636615.263556, t: 0.109410 0.872642 1.231809 q: 0.977713 -0.186779 -0.045879 0.084182 
time: 1403636616.263556, t: 0.109410 0.872642 1.231809 q: 0.977713 -0.186779 -0.045880 0.084183 
time: 1403636618.263556, t: 0.109410 0.872642 1.231809 q: 0.977712 -0.186780 -0.045883 0.084184 
time: 1403636619.263556, t: 0.109410 0.872642 1.231808 q: 0.977712 -0.186781 -0.045883 0.084184 
time: 1403636620.263556, t: 0.109410 0.872642 1.231809 q: 0.977712 -0.186780 -0.045889 0.084185 
time: 1403636621.263556, t: 0.109410 0.872642 1.231809 q: 0.977712 -0.186781 -0.045886 0.084185 
time: 1403636622.263556, t: 0.109410 0.872642 1.231809 q: 0.977712 -0.186779 -0.045893 0.084186 
time: 1403636623.263556, t: 0.109410 0.872642 1.231808 q: 0.977712 -0.186781 -0.045881 0.084183 
time: 1403636624.263556, t: 0.109410 0.872641 1.231808 q: 0.977709 -0.186789 -0.045905 0.084190 
time: 1403636625.263556, t: 0.109411 0.872641 1.231808 q: 0.977696 -0.186820 -0.046003 0.084216 
feature tracking not enough, please slowly move you device! 
time: 1403636626.263556, t: 0.109411 0.872641 1.231808 q: 0.977696 -0.186820 -0.046003 0.084216 
time: 1403636627.263556, t: 0.163015 0.932617 1.062871 q: 0.977876 -0.178658 -0.039621 0.101338 
time: 1403636628.263556, t: 0.179234 1.021022 1.043236 q: 0.964586 -0.241823 -0.053564 0.090694 
time: 1403636629.263556, t: 0.280522 1.243330 0.984774 q: 0.952026 -0.279527 -0.072815 0.101041 
time: 1403636630.263556, t: 0.135135 1.759295 1.063934 q: 0.900431 -0.409046 -0.052919 0.138220 
time: 1403636631.263556, t: 0.216946 2.324401 1.346508 q: 0.902753 -0.404013 -0.048845 0.139373 
time: 1403636632.263556, t: 0.166918 2.734673 1.337332 q: 0.905936 -0.401957 -0.056991 0.120257 
time: 1403636633.263556, t: 0.149710 3.154991 1.603701 q: 0.947983 -0.295829 -0.067924 0.095913 
time: 1403636634.263556, t: 0.157791 3.728988 1.962070 q: 0.945894 -0.292530 -0.069054 0.122235 
time: 1403636635.263556, t: 0.262939 4.349865 2.372348 q: 0.959997 -0.255951 -0.069597 0.089729 
time: 1403636636.263556, t: 0.549273 5.023265 2.776108 q: 0.959745 -0.256236 -0.067465 0.093175 
time: 1403636637.263556, t: 0.745044 5.572254 3.251761 q: 0.960874 -0.256214 -0.066606 0.081477 
time: 1403636638.263556, t: 0.923589 5.804050 3.647461 q: 0.963018 -0.251145 -0.058568 0.078049 
time: 1403636639.263556, t: 1.102644 6.178492 4.050763 q: 0.961513 -0.238090 -0.078712 0.112296 
time: 1403636640.263556, t: 0.956325 6.724339 4.254278 q: 0.970990 -0.221365 -0.063821 0.064060 
time: 1403636641.263556, t: 0.983581 7.114187 4.456129 q: 0.975108 -0.202743 -0.070243 0.055906 
time: 1403636642.263556, t: 1.047074 7.439240 4.620341 q: 0.968660 -0.230490 -0.068519 0.062262 
time: 1403636643.263556, t: 1.004312 7.604411 4.687193 q: 0.960197 -0.257312 -0.075659 0.078024 
time: 1403636644.263556, t: 1.069378 7.960652 4.794019 q: 0.961061 -0.244381 -0.096718 0.085357 
time: 1403636645.263556, t: 0.994920 8.522276 5.072911 q: 0.955415 -0.248177 -0.130288 0.092818 
time: 1403636646.263556, t: 0.770327 9.163429 5.396679 q: 0.950322 -0.288754 -0.050268 0.104799 
time: 1403636647.263556, t: 1.235645 9.713191 5.781921 q: 0.901916 -0.407066 -0.071988 0.125148 
time: 1403636648.263556, t: 0.914297 10.169589 5.477172 q: 0.874826 -0.462898 -0.020173 0.141415 
time: 1403636650.263556, t: 1.518210 11.130179 5.241920 q: 0.763045 -0.619441 -0.061252 0.174078 
time: 1403636651.263556, t: 1.304904 11.109199 4.707590 q: 0.690255 -0.694374 -0.055125 0.195839 
time: 1403636652.263556, t: 1.263377 10.834787 4.686219 q: 0.591516 -0.774105 -0.043754 0.221259 
time: 1403636653.263556, t: 1.222887 10.606386 4.374665 q: -0.490129 0.836034 0.056669 -0.240019 
time: 1403636654.263556, t: 1.196440 10.497874 3.949971 q: 0.501290 -0.833639 -0.044253 0.227589 
time: 1403636655.263556, t: 1.190739 10.226981 3.601860 q: -0.409123 0.881901 0.036958 -0.231305 
time: 1403636656.263556, t: 1.092753 9.685187 3.592886 q: -0.276903 0.920480 0.039686 -0.272886 
time: 1403636657.263556, t: 1.105904 9.152979 3.341650 q: -0.289434 0.926479 0.031104 -0.238529 
time: 1403636658.263556, t: 1.033462 8.327901 3.112083 q: -0.277275 0.920784 0.046824 -0.270340 
time: 1403636659.263556, t: 0.710760 7.543214 2.865045 q: -0.283896 0.934585 0.053348 -0.207624 
time: 1403636660.263556, t: 0.451449 7.293322 2.667451 q: -0.265050 0.928288 0.067476 -0.251945 
time: 1403636661.263556, t: 0.264902 7.307516 2.651312 q: -0.261163 0.931683 0.064020 -0.244260 
time: 1403636662.263556, t: 0.113178 7.384362 2.849034 q: -0.280524 0.930385 0.046262 -0.231408 
time: 1403636663.263556, t: 0.105305 7.512351 3.134685 q: -0.265128 0.919228 0.035224 -0.288940 
time: 1403636664.263556, t: -0.083416 7.872523 3.031710 q: -0.272458 0.925761 0.083195 -0.248620 
time: 1403636665.263556, t: -0.336783 8.690109 3.113211 q: -0.316077 0.911607 0.052794 -0.257451 
time: 1403636666.263556, t: 0.300681 9.143473 3.687280 q: -0.275710 0.925811 0.061633 -0.251118 
time: 1403636667.263556, t: -0.257229 10.214274 4.300077 q: -0.242804 0.945284 0.056572 -0.210437 
time: 1403636668.263556, t: -0.199673 10.390653 4.087353 q: -0.276959 0.928083 0.063648 -0.240633 
time: 1403636669.263556, t: -0.054794 11.203213 3.888939 q: -0.229098 0.930127 0.038307 -0.284447 
time: 1403636670.263556, t: -0.059556 11.827136 4.175362 q: -0.244474 0.924831 -0.049545 -0.287169 
time: 1403636671.263556, t: 0.366431 10.125436 4.107626 q: -0.486059 0.818779 -0.088276 -0.292498 
feature tracking not enough, please slowly move you device! 
time: 1403636672.263556, t: -0.398910 9.699445 3.708200 q: 0.516318 -0.806787 -0.265708 0.109127 
time: 1403636673.263556, t: -0.098666 9.626641 3.260630 q: 0.580896 -0.775495 -0.176634 0.173113 
time: 1403636674.263556, t: -1.212600 9.695404 0.271849 q: 0.763360 -0.606357 0.016351 0.222139 
time: 1403636675.263556, t: -1.267611 10.078480 0.896494 q: 0.792649 -0.559598 -0.015325 0.241503 
time: 1403636676.263556, t: -1.086549 10.777302 1.433328 q: 0.873161 -0.457262 0.013335 0.168297 
time: 1403636677.263556, t: -0.837546 11.325094 2.102271 q: 0.928389 -0.350387 0.013345 0.123067 
time: 1403636678.263556, t: -0.847439 11.656971 2.734985 q: 0.981531 -0.175264 0.038166 0.066504 
time: 1403636679.263556, t: -0.636652 11.675904 3.059639 q: 0.998319 0.014676 0.043346 -0.035558 
time: 1403636680.263556, t: -0.409178 11.573753 3.060578 q: 0.986988 0.112037 0.064205 -0.095818 
time: 1403636681.263556, t: -0.446169 11.075369 2.684257 q: 0.991692 0.108624 0.007608 -0.068479 
time: 1403636682.263556, t: -0.508953 10.396529 2.435734 q: 0.989744 0.126765 0.030339 -0.058454 
time: 1403636683.263556, t: -0.460604 9.858892 2.049147 q: 0.989774 0.127001 0.027662 -0.058756 
time: 1403636684.263556, t: -0.677565 9.121378 1.498785 q: 0.988567 0.140853 0.017806 -0.050784 
time: 1403636685.263556, t: -0.964052 8.881075 0.884108 q: 0.985634 0.151706 0.020812 -0.071261 
time: 1403636686.263556, t: -1.288578 8.243485 0.299723 q: 0.988501 0.140444 0.014493 -0.054143 
time: 1403636687.263556, t: -1.391950 7.683604 -0.176134 q: 0.988808 0.140168 0.015905 -0.048567 
time: 1403636688.263556, t: -1.801077 7.407900 -0.515639 q: 0.987531 0.141687 0.025946 -0.063520 
time: 1403636689.263556, t: -2.158761 7.031871 -0.756179 q: 0.982883 0.168126 0.005559 -0.075122 
time: 1403636690.263556, t: -2.085800 7.273859 0.163320 q: 0.978691 0.199426 0.034385 -0.034795 
time: 1403636691.263556, t: -2.186326 7.278066 0.542016 q: 0.955262 0.251318 0.142808 0.062609 
time: 1403636692.263556, t: -2.199991 6.845177 -0.800726 q: 0.995416 -0.017885 0.092925 -0.013826 
time: 1403636693.263556, t: -2.146848 7.260975 -1.579015 q: 0.993894 -0.051128 0.035388 -0.091146 
time: 1403636694.263556, t: -1.488742 7.584381 -1.287598 q: 0.996146 -0.003839 -0.043428 -0.076107 
time: 1403636695.263556, t: -1.577629 8.169791 -0.877132 q: 0.995482 0.035259 -0.082551 0.030960 
time: 1403636696.263556, t: -1.420383 8.456114 -0.480955 q: 0.987427 0.057532 -0.146583 0.013813 
time: 1403636697.263556, t: -1.423142 8.494123 -0.422346 q: 0.988963 0.053956 -0.137244 -0.014293 
time: 1403636698.263556, t: -1.269701 8.186578 -0.608171 q: 0.985851 -0.037027 -0.157797 0.042736 
time: 1403636699.263556, t: -1.393283 7.771120 -0.723473 q: 0.941295 -0.270630 -0.165030 0.116135 
time: 1403636700.263556, t: -1.412573 7.662644 -0.865421 q: 0.877069 -0.426743 -0.157388 0.154500 
time: 1403636701.263556, t: -1.839058 8.004752 -1.115347 q: 0.861879 -0.449294 -0.150028 0.181081 
time: 1403636702.263556, t: -2.050350 8.077231 -1.300115 q: 0.826749 -0.524785 -0.119143 0.163987 
time: 1403636703.263556, t: -2.427999 8.293312 -1.325272 q: 0.802218 -0.558948 -0.114348 0.175922 
time: 1403636704.263556, t: -2.440119 8.674844 -1.444504 q: 0.804705 -0.552260 -0.130398 0.174515 
time: 1403636705.263556, t: -2.540100 9.101320 -1.411842 q: 0.807139 -0.548378 -0.150647 0.158471 
time: 1403636706.263556, t: -2.608762 9.851947 -1.074462 q: 0.813502 -0.544669 -0.122628 0.162827 
time: 1403636707.263556, t: -2.623799 10.542199 -0.731164 q: 0.803152 -0.555276 -0.150060 0.155231 
time: 1403636708.263556, t: -2.668304 11.493317 -0.167942 q: 0.811175 -0.547404 -0.130823 0.158835 
time: 1403636709.263556, t: -2.704192 12.191712 0.240046 q: 0.801014 -0.567186 -0.133452 0.137359 
time: 1403636710.263556, t: -2.737243 12.616264 0.662358 q: 0.813110 -0.546409 -0.145194 0.138593 
time: 1403636711.263556, t: -3.020435 12.945748 1.397328 q: 0.878649 -0.442237 -0.138052 0.115515 
time: 1403636712.263556, t: -2.932433 12.742223 1.927594 q: 0.878466 -0.445167 -0.113335 0.131454 
time: 1403636713.263556, t: -2.564107 12.130026 2.203675 q: 0.902630 -0.398888 -0.112119 0.116516 
time: 1403636714.263556, t: -2.310012 11.347700 1.871621 q: 0.898205 -0.403888 -0.112667 0.131940 
time: 1403636715.263556, t: -2.913644 10.713725 2.005204 q: 0.942678 -0.308806 -0.106311 0.068518 
time: 1403636716.263556, t: -2.396982 10.649066 1.450845 q: 0.949758 -0.283607 -0.098250 0.088738 
time: 1403636717.263556, t: -2.289482 10.308995 1.077289 q: 0.972973 -0.186286 -0.123345 0.058361 
time: 1403636718.263556, t: -2.235846 9.937418 0.681193 q: 0.986808 -0.092000 -0.125591 0.044412 
time: 1403636719.263556, t: -0.556788 10.588276 -0.406097 q: 0.968773 0.071329 -0.235358 0.031591 
time: 1403636720.263556, t: -0.575879 10.189162 -0.773582 q: 0.964828 0.053082 -0.253300 0.046126 
time: 1403636721.263556, t: -0.811398 8.504473 0.050811 q: 0.962270 -0.107815 -0.238013 0.075911 
time: 1403636722.263556, t: -0.189258 9.017441 -0.744649 q: 0.950344 -0.152347 -0.217720 0.161971 
time: 1403636723.263556, t: 0.342662 9.140595 -1.238584 q: 0.921693 -0.185738 -0.165277 0.297769 
time: 1403636724.263556, t: 0.317360 8.436360 -1.118409 q: 0.901133 -0.274661 -0.231959 0.242314 
time: 1403636725.263556, t: 0.484553 8.147730 -1.262343 q: 0.886314 -0.331010 -0.235675 0.222120 
time: 1403636726.263556, t: 0.322506 7.718251 -1.232239 q: 0.902303 -0.320931 -0.265790 0.110492 
time: 1403636727.263556, t: 0.041588 7.644336 -1.461945 q: 0.912717 -0.262731 -0.308066 -0.054908 
time: 1403636728.263556, t: 0.463142 7.557507 -1.644773 q: 0.914905 -0.254457 -0.308890 -0.052801 
time: 1403636730.263556, t: 0.710402 6.774274 -2.231001 q: 0.925523 -0.182791 -0.328763 -0.043708 
time: 1403636732.263556, t: 0.734165 6.330006 -2.519521 q: 0.929152 -0.181995 -0.319204 -0.040788 
time: 1403636733.263556, t: 0.839800 6.113883 -2.750276 q: 0.928922 -0.176941 -0.319835 -0.059169 
time: 1403636734.263556, t: 1.080510 5.644114 -3.058142 q: 0.928422 -0.174717 -0.324085 -0.049759 
time: 1403636735.263556, t: 1.177550 5.191537 -3.315131 q: 0.924617 -0.170118 -0.338727 -0.037506 
time: 1403636736.263556, t: 1.402240 4.891425 -3.377539 q: 0.930627 -0.156155 -0.328515 -0.040341 
time: 1403636737.263556, t: 1.392351 4.587963 -3.424161 q: 0.936541 -0.115011 -0.328336 -0.043111 
time: 1403636738.263556, t: 1.519291 4.280343 -3.407791 q: 0.933028 -0.114290 -0.339758 -0.031005 
time: 1403636739.263556, t: 1.442755 4.319344 -3.383156 q: 0.904231 -0.295393 -0.307490 -0.023631 
time: 1403636740.263556, t: 1.362175 4.511975 -3.504209 q: 0.863980 -0.404353 -0.296375 -0.046891 
time: 1403636741.263556, t: 1.168435 4.685342 -3.736260 q: 0.868496 -0.401589 -0.286795 -0.046779 
time: 1403636742.263556, t: 0.839994 4.767915 -3.877115 q: 0.857589 -0.406852 -0.313152 -0.030800 
time: 1403636743.263556, t: 0.644169 4.896285 -3.905465 q: 0.851904 -0.413526 -0.321006 -0.014513 
time: 1403636744.263556, t: 0.292547 5.304936 -3.837106 q: 0.849610 -0.450010 -0.272726 -0.035688 
time: 1403636745.263556, t: -0.292474 5.668343 -3.972272 q: 0.847233 -0.444471 -0.289444 -0.029387 
time: 1403636746.263556, t: -0.347258 5.934652 -3.997456 q: 0.840077 -0.468825 -0.267061 -0.056152 
time: 1403636747.263556, t: -0.357589 5.775983 -3.822047 q: 0.844372 -0.458242 -0.275657 -0.032606 
time: 1403636748.263556, t: -0.215719 5.726875 -3.463824 q: 0.839628 -0.477556 -0.258575 -0.010265 
time: 1403636749.263556, t: -0.058540 5.798311 -3.188372 q: 0.834738 -0.490821 -0.249221 -0.013993 
time: 1403636750.263556, t: 0.148557 5.856014 -3.131017 q: 0.839770 -0.477486 -0.254759 -0.043499 
time: 1403636751.263556, t: 0.623666 5.599831 -3.030173 q: 0.836964 -0.463237 -0.289226 -0.035378 
time: 1403636752.263556, t: 1.016613 5.472907 -2.866000 q: 0.851286 -0.437180 -0.288854 -0.027395 
time: 1403636753.263556, t: 1.362452 5.451254 -2.814529 q: 0.915936 -0.223749 -0.328827 -0.053570 
time: 1403636754.263556, t: 1.346922 5.212947 -2.782646 q: 0.933212 -0.170573 -0.312353 -0.049553 
time: 1403636755.263556, t: 1.454358 4.645225 -2.800434 q: 0.936013 -0.094432 -0.335414 -0.049593 
time: 1403636756.263556, t: 1.548695 3.942075 -3.029185 q: 0.936605 -0.097008 -0.333889 -0.043338 
time: 1403636757.263556, t: 1.684503 3.161000 -3.308618 q: 0.938403 -0.087908 -0.331785 -0.039883 
time: 1403636758.263556, t: 1.868178 2.392801 -3.564115 q: 0.939803 -0.050665 -0.336214 -0.034110 
time: 1403636759.263556, t: 1.747696 1.697759 -3.624053 q: 0.941761 -0.058461 -0.330837 0.014674 
time: 1403636760.263556, t: 1.582969 1.606485 -3.720744 q: 0.936417 -0.058542 -0.344963 -0.026401 
time: 1403636761.263556, t: 1.555060 1.539963 -3.864909 q: 0.924154 -0.058699 -0.375005 -0.043192 
time: 1403636762.263556, t: 1.239965 1.281266 -3.362276 q: 0.931472 -0.096799 -0.340833 -0.082596 
feature tracking not enough, please slowly move you device! 
time: 1403636763.263556, t: 1.239965 1.281266 -3.362276 q: 0.931472 -0.096799 -0.340833 -0.082596 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720494133.843564063]: Shutdown request received.[0m
[33m[ WARN] [1720494133.843606654]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720494133.844573841]: Shutdown request received.[0m
[33m[ WARN] [1720494133.844615826]: Reason given for shutdown: [user request][0m
killed
