/SLAM-Hive/slam_hive_results/mapping_results/2982/2190_vins-fusion-stereo+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720495750.032565815]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720495750.037623862]: init begins[0m
[31m[ERROR] [1720495750.038773596]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/67b71acc-3da3-11ef-b509-0242ac110005/roslaunch-5d52ac3aaace-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://5d52ac3aaace:38955/[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] [1720495751.138956091]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720495751.144044708]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720495751.149480473]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720495751.149678057]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720495751.149705469]: ROW: 480 COL: 752 [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] [1720495751.149938166]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720495751.150133467]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720495751.150287699]: 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://5d52ac3aaace:11311/[0m
]2;roscore http://5d52ac3aaace:11311/
[1msetting /run_id to 67b71acc-3da3-11ef-b509-0242ac110005[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_02_easy.bag  --clock 
[0m[ INFO] [1720495760.166970554]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316858903.55 
[0m[ INFO] [1720495763.538355486]: Initialization finish![0m
time: 1403636859.701667, t: 0.276301 0.066602 -0.081819 q: 0.998226 -0.055147 -0.017536 -0.013975 
time: 1403636859.801666, t: 0.314711 0.065071 -0.090029 q: 0.997841 -0.062366 -0.006708 -0.019451 
time: 1403636859.901666, t: 0.359844 0.056859 -0.099073 q: 0.997374 -0.068366 -0.000553 -0.023913 
time: 1403636860.001667, t: 0.390684 0.058009 -0.111364 q: 0.997155 -0.071184 0.001321 -0.024750 
time: 1403636860.101666, t: 0.397917 0.062450 -0.111142 q: 0.996978 -0.074478 -0.002166 -0.021972 
time: 1403636860.201667, t: 0.376828 0.070792 -0.106629 q: 0.996988 -0.074797 -0.010111 -0.017828 
time: 1403636860.301666, t: 0.329925 0.076884 -0.094076 q: 0.997068 -0.072021 -0.023434 -0.010932 
time: 1403636860.401666, t: 0.271807 0.082281 -0.080872 q: 0.996353 -0.072815 -0.044248 -0.004478 
time: 1403636860.501667, t: 0.215907 0.087101 -0.071315 q: 0.995042 -0.072616 -0.067862 0.003557 
time: 1403636860.601666, t: 0.170206 0.089152 -0.061361 q: 0.993740 -0.070172 -0.086407 0.009529 
time: 1403636860.701667, t: 0.141127 0.089631 -0.057076 q: 0.993469 -0.065355 -0.092997 0.009996 
time: 1403636860.801666, t: 0.131944 0.091318 -0.058708 q: 0.993479 -0.064349 -0.094077 0.002734 
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time: 1403636861.401666, t: 0.420273 0.083020 -0.133890 q: 0.998029 -0.060597 -0.009355 -0.013380 
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time: 1403636861.701667, t: 0.399924 0.091212 -0.123329 q: 0.997891 -0.063161 -0.009293 -0.011781 
time: 1403636861.801666, t: 0.349305 0.094442 -0.108629 q: 0.997759 -0.062128 -0.021450 -0.012511 
time: 1403636861.901666, t: 0.293824 0.095250 -0.094911 q: 0.997611 -0.058383 -0.035443 -0.010345 
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time: 1403636862.101666, t: 0.184657 0.092237 -0.067032 q: 0.995913 -0.053823 -0.072530 0.000749 
time: 1403636862.201667, t: 0.146822 0.090974 -0.058246 q: 0.995381 -0.050778 -0.081414 0.003055 
time: 1403636862.301666, t: 0.134732 0.090966 -0.057329 q: 0.994636 -0.051811 -0.089443 -0.003876 
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time: 1403636862.701667, t: 0.327287 0.086214 -0.104470 q: 0.995254 -0.069099 -0.065654 -0.019602 
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time: 1403636863.701667, t: 0.179882 0.097635 -0.069129 q: 0.994971 -0.073852 -0.067648 -0.001554 
time: 1403636863.801666, t: 0.143050 0.100425 -0.061326 q: 0.993992 -0.072230 -0.082077 0.005034 
time: 1403636863.901666, t: 0.138155 0.101316 -0.063128 q: 0.993094 -0.071193 -0.093089 0.005501 
time: 1403636864.001667, t: 0.168175 0.099784 -0.073127 q: 0.993143 -0.067633 -0.095258 0.004389 
time: 1403636864.101666, t: 0.225146 0.096252 -0.090304 q: 0.993811 -0.066283 -0.089124 -0.001771 
time: 1403636864.201667, t: 0.295984 0.092627 -0.109869 q: 0.994091 -0.071649 -0.081014 -0.009275 
time: 1403636864.301666, t: 0.363884 0.086654 -0.126391 q: 0.994434 -0.072976 -0.075217 -0.010856 
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time: 1403636865.201667, t: 0.242631 0.091358 -0.077728 q: 0.994552 -0.081072 -0.065402 0.003906 
time: 1403636865.301666, t: 0.201674 0.093354 -0.065772 q: 0.994753 -0.073758 -0.068827 0.017022 
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time: 1403636865.901666, t: 0.363352 0.070599 -0.109129 q: 0.995855 -0.069077 -0.058947 0.005063 
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time: 1403636866.901666, t: 0.300738 0.086731 -0.105729 q: 0.995399 -0.076538 -0.057339 -0.005893 
time: 1403636867.001667, t: 0.272584 0.088019 -0.104322 q: 0.994917 -0.069489 -0.072855 0.001642 
time: 1403636867.101666, t: 0.254002 0.088149 -0.104452 q: 0.994024 -0.069171 -0.084382 0.003455 
time: 1403636867.201667, t: 0.243952 0.087225 -0.109605 q: 0.993928 -0.062115 -0.090601 0.006405 
time: 1403636867.301666, t: 0.239488 0.084159 -0.117670 q: 0.994081 -0.051278 -0.095512 0.007181 
time: 1403636867.401666, t: 0.241001 0.082267 -0.126026 q: 0.993456 -0.049887 -0.102551 0.006251 
time: 1403636867.501667, t: 0.245238 0.079849 -0.135946 q: 0.991809 -0.052937 -0.116146 0.004709 
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time: 1403636867.701667, t: 0.237869 0.077693 -0.153661 q: 0.978050 -0.055054 -0.200833 0.007300 
optimize pose graph 
time: 1403636867.801666, t: 0.228721 0.078533 -0.162358 q: 0.964073 -0.058172 -0.258837 0.013499 
time: 1403636867.901666, t: 0.224926 0.079339 -0.166819 q: 0.954208 -0.063441 -0.291645 0.020139 
time: 1403636868.001667, t: 0.229260 0.078088 -0.167720 q: 0.953504 -0.066125 -0.293024 0.024406 
time: 1403636868.101666, t: 0.234636 0.076628 -0.168941 q: 0.957955 -0.066307 -0.278116 0.024003 
time: 1403636868.201667, t: 0.237151 0.074671 -0.172135 q: 0.960980 -0.064670 -0.267871 0.024086 
time: 1403636868.301666, t: 0.236200 0.071936 -0.177154 q: 0.961109 -0.063586 -0.267398 0.026906 
time: 1403636868.401666, t: 0.233490 0.065920 -0.183270 q: 0.960292 -0.064172 -0.269749 0.030925 
time: 1403636868.501667, t: 0.232834 0.058090 -0.189448 q: 0.961926 -0.067221 -0.263075 0.031178 
time: 1403636868.601666, t: 0.235233 0.050635 -0.196026 q: 0.964218 -0.073233 -0.252841 0.031485 
time: 1403636868.701667, t: 0.237264 0.044656 -0.202993 q: 0.963961 -0.076290 -0.252801 0.032412 
time: 1403636868.801666, t: 0.235372 0.038711 -0.209716 q: 0.962210 -0.073797 -0.260508 0.029007 
time: 1403636868.901666, t: 0.234368 0.034000 -0.213659 q: 0.961600 -0.074301 -0.263170 0.023391 
time: 1403636869.001667, t: 0.234930 0.028812 -0.214360 q: 0.963413 -0.071730 -0.257272 0.022411 
time: 1403636869.101666, t: 0.236026 0.024898 -0.214263 q: 0.964976 -0.066515 -0.252619 0.024093 
time: 1403636869.201667, t: 0.234939 0.021788 -0.213698 q: 0.965436 -0.062774 -0.251841 0.023869 
time: 1403636869.301666, t: 0.234053 0.020314 -0.212233 q: 0.965282 -0.062048 -0.252758 0.022227 
time: 1403636869.401666, t: 0.233577 0.020086 -0.210379 q: 0.965452 -0.060502 -0.252481 0.022264 
time: 1403636869.501667, t: 0.233193 0.022254 -0.209050 q: 0.965550 -0.060244 -0.252150 0.022442 
time: 1403636869.601666, t: 0.233351 0.031074 -0.208269 q: 0.965414 -0.061074 -0.252444 0.022776 
time: 1403636869.701667, t: 0.233988 0.049785 -0.207661 q: 0.964321 -0.063002 -0.256099 0.023002 
optimize pose graph 
time: 1403636869.801666, t: 0.236569 0.077766 -0.206076 q: 0.963384 -0.066980 -0.258447 0.024699 
time: 1403636869.901666, t: 0.241916 0.114712 -0.202513 q: 0.964058 -0.073805 -0.253682 0.028115 
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time: 1403636870.101666, t: 0.249994 0.206851 -0.193428 q: 0.964059 -0.088745 -0.247670 0.037069 
time: 1403636870.201667, t: 0.257273 0.258304 -0.188352 q: 0.961367 -0.097067 -0.254788 0.037862 
time: 1403636870.301666, t: 0.264336 0.311059 -0.183853 q: 0.961027 -0.100724 -0.254281 0.040296 
time: 1403636870.401666, t: 0.270004 0.361821 -0.180175 q: 0.962322 -0.107499 -0.246508 0.040171 
time: 1403636870.501667, t: 0.271119 0.406887 -0.176183 q: 0.962063 -0.112943 -0.244616 0.042916 
time: 1403636870.601666, t: 0.269794 0.444060 -0.174515 q: 0.959292 -0.118988 -0.251610 0.047894 
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time: 1403636875.701667, t: 0.158219 -0.027192 -0.167689 q: 0.955206 -0.150244 -0.215364 0.136483 
optimize pose graph 
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time: 1403636875.901666, t: 0.134212 0.008446 -0.249540 q: 0.946775 -0.188048 -0.214062 0.149773 
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time: 1403636882.901666, t: 0.042367 0.422216 0.056973 q: 0.980084 0.138648 -0.028134 0.139360 
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time: 1403636883.201667, t: 0.012420 0.355002 0.127554 q: 0.974709 0.191790 -0.002562 0.114685 
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time: 1403636883.701667, t: -0.017466 0.309562 0.182155 q: 0.968814 0.223348 0.038775 0.100056 
optimize pose graph 
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time: 1403636883.901666, t: -0.022211 0.305351 0.189277 q: 0.965918 0.234294 0.041088 0.102077 
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time: 1403636897.901666, t: -0.036569 0.391863 0.131352 q: 0.973841 0.217991 -0.003845 0.064020 
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time: 1403636898.501667, t: 0.052682 0.444348 0.117726 q: 0.969664 0.234599 0.022801 0.064766 
time: 1403636898.601666, t: 0.075057 0.449184 0.117795 q: 0.969183 0.237034 0.022738 0.063109 
time: 1403636898.701667, t: 0.097505 0.452381 0.119818 q: 0.968977 0.238544 0.022431 0.060647 
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time: 1403636898.901666, t: 0.139022 0.451614 0.131528 q: 0.967568 0.243614 0.020674 0.063539 
time: 1403636899.001667, t: 0.158296 0.449867 0.141348 q: 0.966359 0.246703 0.018278 0.070387 
time: 1403636899.101666, t: 0.177205 0.448752 0.155184 q: 0.966812 0.242609 0.018586 0.077912 
time: 1403636899.201667, t: 0.195084 0.449512 0.173763 q: 0.969442 0.229679 0.023245 0.083002 
time: 1403636899.301666, t: 0.212895 0.453089 0.193720 q: 0.972680 0.210682 0.031511 0.092273 
time: 1403636899.401666, t: 0.227673 0.459710 0.214152 q: 0.976777 0.185671 0.036715 0.100425 
time: 1403636899.501667, t: 0.239494 0.468178 0.232272 q: 0.979273 0.165325 0.031782 0.112619 
time: 1403636899.601666, t: 0.248106 0.476923 0.250186 q: 0.980482 0.152085 0.019889 0.123001 
time: 1403636899.701667, t: 0.257332 0.489305 0.266158 q: 0.981233 0.142314 0.012750 0.129487 
time: 1403636899.801666, t: 0.265327 0.505436 0.283857 q: 0.982288 0.134069 0.007316 0.130698 
optimize pose graph 
time: 1403636899.901666, t: 0.270824 0.522167 0.305976 q: 0.983966 0.126340 0.007109 0.125695 
time: 1403636900.001667, t: 0.275104 0.540450 0.329046 q: 0.985100 0.120844 0.013148 0.121661 
time: 1403636900.101666, t: 0.278818 0.559098 0.351992 q: 0.985350 0.118225 0.021707 0.120980 
time: 1403636900.201667, t: 0.287460 0.580589 0.372351 q: 0.985464 0.117416 0.028299 0.119473 
time: 1403636900.301666, t: 0.303253 0.602758 0.386094 q: 0.985679 0.118257 0.027216 0.117093 
time: 1403636900.401666, t: 0.322619 0.624701 0.397065 q: 0.985502 0.122037 0.019672 0.116216 
time: 1403636900.501667, t: 0.344441 0.648951 0.404132 q: 0.985425 0.125724 0.013443 0.113800 
time: 1403636900.601666, t: 0.363671 0.673163 0.412637 q: 0.985122 0.129048 0.010290 0.113031 
time: 1403636900.801666, t: 0.387206 0.712919 0.446077 q: 0.984032 0.136726 -0.004459 0.113872 
time: 1403636900.901666, t: 0.395802 0.735581 0.466356 q: 0.982485 0.141089 -0.001976 0.121705 
time: 1403636901.001667, t: 0.401381 0.758126 0.490203 q: 0.981517 0.143009 0.002734 0.127145 
time: 1403636901.101666, t: 0.402123 0.781644 0.517930 q: 0.980681 0.144720 0.004985 0.131518 
time: 1403636901.201667, t: 0.398524 0.806330 0.555255 q: 0.980385 0.145083 0.006586 0.133241 
time: 1403636901.301666, t: 0.397638 0.833948 0.592519 q: 0.981178 0.143198 0.008328 0.129282 
time: 1403636901.401666, t: 0.404418 0.870807 0.629538 q: 0.981911 0.141558 0.009302 0.125401 
time: 1403636901.501667, t: 0.416274 0.910197 0.664195 q: 0.982962 0.138872 0.010766 0.119934 
time: 1403636901.601666, t: 0.424713 0.948694 0.706671 q: 0.983579 0.137064 0.012407 0.116752 
time: 1403636901.701667, t: 0.428662 0.986282 0.745816 q: 0.983702 0.135975 0.015751 0.116589 
time: 1403636901.801666, t: 0.430450 1.026703 0.786304 q: 0.983482 0.136520 0.016449 0.117709 
time: 1403636901.901666, t: 0.424003 1.065663 0.825640 q: 0.983625 0.136511 0.016414 0.116519 
optimize pose graph 
time: 1403636902.001667, t: 0.413550 1.096482 0.873131 q: 0.983871 0.136064 0.017070 0.114858 
time: 1403636902.101666, t: 0.406109 1.137146 0.911696 q: 0.983926 0.136581 0.018164 0.113598 
time: 1403636902.201667, t: 0.402930 1.175018 0.952102 q: 0.984022 0.136840 0.018063 0.112464 
time: 1403636902.301666, t: 0.400605 1.214397 0.990553 q: 0.983549 0.137534 0.017593 0.115782 
time: 1403636902.401666, t: 0.393738 1.252872 1.028336 q: 0.983454 0.136926 0.015985 0.117534 
time: 1403636902.601666, t: 0.349193 1.321797 1.117008 q: 0.985121 0.130108 0.013976 0.111416 
time: 1403636902.701667, t: 0.327777 1.356255 1.161418 q: 0.985990 0.126045 0.015471 0.108154 
time: 1403636902.801666, t: 0.315663 1.390375 1.200908 q: 0.986026 0.124681 0.016186 0.109291 
time: 1403636902.901666, t: 0.308708 1.425179 1.237951 q: 0.985633 0.125903 0.020207 0.110760 
time: 1403636903.001667, t: 0.306677 1.461159 1.271168 q: 0.985332 0.127972 0.020473 0.111016 
time: 1403636903.101666, t: 0.318093 1.497171 1.300130 q: 0.984996 0.130450 0.019652 0.111263 
time: 1403636903.201667, t: 0.331070 1.534141 1.323776 q: 0.984667 0.132971 0.018589 0.111369 
time: 1403636903.301666, t: 0.351005 1.570503 1.346151 q: 0.984674 0.134880 0.016366 0.109343 
time: 1403636903.401666, t: 0.370721 1.606125 1.368401 q: 0.985000 0.135352 0.015405 0.105915 
time: 1403636903.501667, t: 0.382019 1.640905 1.391984 q: 0.985060 0.136076 0.015405 0.104413 
time: 1403636903.601666, t: 0.391939 1.672265 1.417584 q: 0.984966 0.137167 0.014743 0.103968 
time: 1403636903.701667, t: 0.394091 1.698486 1.446175 q: 0.984335 0.139697 0.009460 0.107145 
time: 1403636903.801666, t: 0.392824 1.723237 1.476072 q: 0.983520 0.142405 0.004968 0.111286 
time: 1403636903.901666, t: 0.398197 1.751285 1.505659 q: 0.982685 0.144506 0.004174 0.115893 
optimize pose graph 
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time: 1403636904.101666, t: 0.427754 1.814912 1.565569 q: 0.981439 0.146305 0.010494 0.123537 
time: 1403636904.201667, t: 0.451825 1.854370 1.593409 q: 0.980831 0.147306 0.011287 0.127056 
time: 1403636904.301666, t: 0.481797 1.896536 1.623947 q: 0.980874 0.146443 0.012543 0.127609 
time: 1403636904.401666, t: 0.505578 1.941366 1.654736 q: 0.981265 0.144548 0.014587 0.126542 
time: 1403636904.501667, t: 0.526431 1.987275 1.686974 q: 0.981884 0.142482 0.015171 0.123987 
time: 1403636904.601666, t: 0.542177 2.032899 1.722054 q: 0.982669 0.139953 0.015320 0.120580 
time: 1403636904.701667, t: 0.554144 2.079787 1.757742 q: 0.983479 0.137020 0.014798 0.117366 
time: 1403636904.801666, t: 0.564761 2.125539 1.794865 q: 0.984157 0.134315 0.015020 0.114755 
time: 1403636904.901666, t: 0.572859 2.170462 1.831279 q: 0.984954 0.131300 0.014319 0.111451 
time: 1403636905.001667, t: 0.577037 2.210981 1.871298 q: 0.985533 0.128596 0.014097 0.109498 
time: 1403636905.101666, t: 0.576982 2.252688 1.909827 q: 0.986002 0.125977 0.014972 0.108193 
time: 1403636905.201667, t: 0.580322 2.291398 1.947561 q: 0.986375 0.123521 0.015623 0.107528 
time: 1403636905.301666, t: 0.588925 2.329461 1.984598 q: 0.986845 0.121296 0.013725 0.105995 
time: 1403636905.401666, t: 0.602390 2.365846 2.016936 q: 0.987087 0.120335 0.009118 0.105339 
time: 1403636905.501667, t: 0.621976 2.401778 2.047475 q: 0.987155 0.123396 0.008598 0.101115 
time: 1403636905.601666, t: 0.645122 2.430757 2.079260 q: 0.987252 0.126946 0.009275 0.095565 
time: 1403636905.701667, t: 0.660966 2.455516 2.112538 q: 0.986534 0.132164 0.008669 0.095962 
time: 1403636905.801666, t: 0.668832 2.476901 2.149263 q: 0.985597 0.137110 0.008976 0.098586 
time: 1403636906.001667, t: 0.673489 2.503402 2.229879 q: 0.984641 0.143646 0.003982 0.099159 
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optimize pose graph 
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time: 1403636989.201667, t: 0.468135 6.104910 10.171551 q: 0.937539 -0.232187 0.012156 0.258770 
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time: 1403636989.501667, t: 0.427962 6.033490 9.909345 q: 0.940053 -0.234824 -0.028766 0.245623 
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time: 1403636989.801666, t: 0.404158 5.973071 9.606752 q: 0.941429 -0.237030 -0.043283 0.235914 
time: 1403636989.901666, t: 0.389237 5.948855 9.510247 q: 0.941408 -0.237101 -0.040492 0.236420 
time: 1403636990.001667, t: 0.371700 5.923302 9.415567 q: 0.941403 -0.238109 -0.032392 0.236675 
time: 1403636990.101666, t: 0.357574 5.897303 9.317473 q: 0.941558 -0.239363 -0.025734 0.235610 
time: 1403636990.201667, t: 0.347892 5.869799 9.219634 q: 0.941908 -0.239819 -0.025507 0.233765 
time: 1403636990.301666, t: 0.343348 5.841656 9.113765 q: 0.942368 -0.238580 -0.030892 0.232527 
optimize pose graph 
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time: 1403636990.501667, t: 0.342085 5.780825 8.902829 q: 0.943016 -0.233874 -0.040002 0.233287 
time: 1403636990.601666, t: 0.330946 5.746005 8.802135 q: 0.943418 -0.231818 -0.041870 0.233390 
time: 1403636990.701667, t: 0.324393 5.708784 8.703882 q: 0.943788 -0.230114 -0.045285 0.232939 
time: 1403636990.801666, t: 0.303830 5.668390 8.610858 q: 0.944283 -0.229120 -0.046510 0.231668 
time: 1403636990.901666, t: 0.283715 5.626804 8.518552 q: 0.944441 -0.228129 -0.046929 0.231917 
time: 1403636991.001667, t: 0.258494 5.584455 8.432569 q: 0.944618 -0.228213 -0.046944 0.231111 
time: 1403636991.101666, t: 0.230182 5.540486 8.348077 q: 0.944646 -0.228862 -0.046337 0.230474 
time: 1403636991.201667, t: 0.202231 5.495001 8.267756 q: 0.944533 -0.229954 -0.047148 0.229686 
time: 1403636991.301666, t: 0.178871 5.450791 8.185532 q: 0.944242 -0.230203 -0.048019 0.230452 
time: 1403636991.501667, t: 0.160409 5.368310 8.022569 q: 0.943364 -0.232145 -0.050782 0.231506 
time: 1403636991.601666, t: 0.162137 5.335143 7.940706 q: 0.942381 -0.232413 -0.050280 0.235319 
time: 1403636991.701667, t: 0.168837 5.298895 7.859180 q: 0.940354 -0.231895 -0.048787 0.244089 
time: 1403636991.801666, t: 0.178906 5.267622 7.781534 q: 0.938326 -0.232128 -0.047339 0.251833 
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time: 1403636992.201667, t: 0.177892 5.157337 7.471946 q: 0.937599 -0.245999 -0.042485 0.242048 
time: 1403636992.301666, t: 0.166675 5.133797 7.397696 q: 0.937661 -0.248394 -0.041710 0.239486 
time: 1403636992.401666, t: 0.151161 5.107890 7.326443 q: 0.937193 -0.249507 -0.046433 0.239288 
time: 1403636992.501667, t: 0.137602 5.077892 7.254573 q: 0.936427 -0.250271 -0.052520 0.240231 
time: 1403636992.601666, t: 0.130617 5.047743 7.188466 q: 0.935804 -0.252064 -0.056414 0.239901 
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time: 1403636992.801666, t: 0.134418 4.993701 7.053916 q: 0.934746 -0.255533 -0.060206 0.239433 
time: 1403636992.901666, t: 0.132439 4.964400 6.994725 q: 0.934505 -0.258053 -0.060784 0.237515 
time: 1403636993.001667, t: 0.126381 4.934286 6.937919 q: 0.934218 -0.260206 -0.058426 0.236888 
time: 1403636993.101666, t: 0.116769 4.904069 6.888055 q: 0.933797 -0.260162 -0.051470 0.240186 
time: 1403636993.201667, t: 0.112719 4.871457 6.835815 q: 0.935270 -0.253707 -0.044491 0.242742 
time: 1403636993.301666, t: 0.115722 4.838387 6.783581 q: 0.938869 -0.242354 -0.040030 0.241222 
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time: 1403636993.801666, t: 0.200499 4.695076 6.498287 q: 0.962205 -0.161404 -0.031489 0.217070 
time: 1403636993.901666, t: 0.207505 4.662675 6.442395 q: 0.964501 -0.154245 -0.031298 0.212055 
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time: 1403636994.701667, t: 0.153685 4.307736 5.947841 q: 0.965808 -0.147830 -0.011455 0.212672 
time: 1403636994.801666, t: 0.152804 4.254654 5.866257 q: 0.963696 -0.143291 -0.020727 0.224341 
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time: 1403636995.001667, t: 0.149305 4.156500 5.694989 q: 0.961611 -0.141373 -0.021711 0.234194 
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time: 1403636995.201667, t: 0.127628 4.066814 5.524366 q: 0.964519 -0.147547 -0.011702 0.218624 
time: 1403636995.301666, t: 0.119300 4.026667 5.436239 q: 0.965477 -0.148428 -0.008962 0.213875 
time: 1403636995.401666, t: 0.117517 3.986056 5.344194 q: 0.966353 -0.147662 -0.012346 0.210252 
time: 1403636995.501667, t: 0.120059 3.947118 5.246993 q: 0.966579 -0.145360 -0.019587 0.210268 
time: 1403636995.601666, t: 0.128619 3.910027 5.144118 q: 0.966659 -0.144029 -0.022274 0.210546 
time: 1403636995.701667, t: 0.139312 3.872401 5.043425 q: 0.966228 -0.143097 -0.022239 0.213147 
time: 1403636995.801666, t: 0.143340 3.831107 4.942166 q: 0.965181 -0.141479 -0.022283 0.218889 
time: 1403636995.901666, t: 0.137519 3.789801 4.846452 q: 0.963535 -0.138581 -0.024338 0.227601 
time: 1403636996.001667, t: 0.128476 3.750260 4.749241 q: 0.962575 -0.137208 -0.026462 0.232215 
time: 1403636996.101666, t: 0.116848 3.711485 4.658034 q: 0.963535 -0.139181 -0.029913 0.226571 
time: 1403636996.201667, t: 0.101782 3.678025 4.564172 q: 0.964563 -0.141208 -0.032031 0.220573 
time: 1403636996.301666, t: 0.091291 3.646468 4.470735 q: 0.965544 -0.142153 -0.032898 0.215490 
time: 1403636996.401666, t: 0.091327 3.617417 4.375228 q: 0.966690 -0.137808 -0.032668 0.213195 
time: 1403636996.501667, t: 0.098433 3.590698 4.280808 q: 0.968995 -0.129040 -0.031683 0.208312 
optimize pose graph 
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time: 1403636996.701667, t: 0.129722 3.540171 4.087897 q: 0.975352 -0.098402 -0.030009 0.195207 
time: 1403636996.801666, t: 0.127719 3.510004 4.010716 q: 0.978568 -0.077834 -0.028372 0.188527 
time: 1403636996.901666, t: 0.115119 3.475047 3.934496 q: 0.981220 -0.054799 -0.026147 0.183089 
time: 1403636997.001667, t: 0.094724 3.440718 3.862201 q: 0.983580 -0.031119 -0.023204 0.176249 
time: 1403636997.101666, t: 0.073425 3.405055 3.793909 q: 0.985267 -0.009834 -0.021267 0.169410 
time: 1403636997.201667, t: 0.048020 3.370633 3.730937 q: 0.986111 0.005986 -0.020384 0.164723 
time: 1403636997.301666, t: 0.020150 3.337687 3.670571 q: 0.986785 0.016607 -0.019712 0.159973 
time: 1403636997.401666, t: -0.002238 3.307507 3.615981 q: 0.987223 0.022575 -0.019692 0.156504 
time: 1403636997.501667, t: -0.014294 3.282348 3.561905 q: 0.987449 0.025033 -0.018851 0.154798 
time: 1403636997.601666, t: -0.018393 3.258742 3.511830 q: 0.987418 0.025426 -0.020062 0.154780 
time: 1403636997.701667, t: -0.014949 3.238879 3.457029 q: 0.987569 0.024017 -0.020990 0.153916 
time: 1403636997.801666, t: -0.004049 3.222565 3.403347 q: 0.987733 0.021561 -0.023413 0.152876 
time: 1403636997.901666, t: 0.014617 3.209772 3.358302 q: 0.987751 0.018997 -0.024129 0.152986 
time: 1403636998.001667, t: 0.043101 3.199272 3.307631 q: 0.987615 0.016878 -0.024597 0.154032 
time: 1403636998.101666, t: 0.076817 3.188113 3.262327 q: 0.987450 0.014923 -0.025221 0.155186 
time: 1403636998.201667, t: 0.111104 3.180184 3.223995 q: 0.987018 0.013597 -0.023307 0.158326 
time: 1403636998.301666, t: 0.140985 3.169173 3.187466 q: 0.986935 0.012013 -0.024627 0.158773 
time: 1403636998.401666, t: 0.164996 3.156663 3.157542 q: 0.986731 0.011126 -0.024310 0.160147 
time: 1403636998.501667, t: 0.185732 3.143618 3.136345 q: 0.986448 0.010319 -0.023931 0.161990 
time: 1403636998.601666, t: 0.213462 3.136663 3.110569 q: 0.986716 0.008487 -0.018383 0.161188 
time: 1403636998.701667, t: 0.250516 3.131207 3.086653 q: 0.987355 0.004536 -0.004603 0.158395 
optimize pose graph 
time: 1403636998.801666, t: 0.290669 3.131491 3.059561 q: 0.987737 0.001590 0.003870 0.156068 
time: 1403636998.901666, t: 0.328808 3.127875 3.033222 q: 0.988620 -0.001311 0.006153 0.150301 
time: 1403636999.001667, t: 0.356367 3.120278 3.006067 q: 0.989159 -0.003190 0.005409 0.146713 
time: 1403636999.101666, t: 0.380277 3.107315 2.977372 q: 0.989555 -0.004508 0.004863 0.144001 
time: 1403636999.201667, t: 0.398712 3.087930 2.950724 q: 0.989739 -0.005244 0.001889 0.142777 
time: 1403636999.301666, t: 0.412370 3.064475 2.924463 q: 0.989494 -0.004715 -0.001054 0.144491 
time: 1403636999.401666, t: 0.420922 3.037168 2.896637 q: 0.988660 -0.002947 -0.001890 0.150131 
time: 1403636999.501667, t: 0.425107 3.007529 2.869470 q: 0.988111 -0.001951 -0.001244 0.153724 
time: 1403636999.601666, t: 0.425743 2.975657 2.842919 q: 0.987735 -0.002139 0.002490 0.156103 
time: 1403636999.701667, t: 0.425481 2.943260 2.813807 q: 0.987541 -0.002695 0.005373 0.157250 
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time: 1403637000.001667, t: 0.408472 2.836526 2.720346 q: 0.988362 -0.006227 0.005312 0.151897 
time: 1403637000.101666, t: 0.405152 2.801036 2.681181 q: 0.988779 -0.006666 0.003687 0.149192 
time: 1403637000.201667, t: 0.411776 2.762287 2.641251 q: 0.988731 -0.005872 0.000755 0.149585 
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time: 1403637000.501667, t: 0.427383 2.639420 2.508205 q: 0.988520 -0.005223 -0.000784 0.150996 
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time: 1403637001.601666, t: 0.497963 2.157729 1.875189 q: 0.986608 -0.005681 -0.007629 0.162830 
time: 1403637001.701667, t: 0.507330 2.116334 1.807055 q: 0.986538 -0.006314 -0.008170 0.163207 
time: 1403637001.801666, t: 0.508562 2.073382 1.746830 q: 0.986327 -0.006983 -0.006855 0.164507 
time: 1403637002.001667, t: 0.494741 1.985092 1.622267 q: 0.986435 -0.007620 -0.011035 0.163602 
time: 1403637002.101666, t: 0.481792 1.938032 1.567060 q: 0.986437 -0.008102 -0.012263 0.163480 
time: 1403637002.201667, t: 0.465257 1.891864 1.511956 q: 0.986387 -0.007985 -0.012465 0.163771 
time: 1403637002.301666, t: 0.449150 1.847093 1.458430 q: 0.986655 -0.008819 -0.012805 0.162079 
time: 1403637002.401666, t: 0.432431 1.803557 1.401912 q: 0.987029 -0.009267 -0.013554 0.159701 
time: 1403637002.501667, t: 0.424073 1.762869 1.344879 q: 0.987339 -0.010017 -0.012638 0.157804 
time: 1403637002.601666, t: 0.422605 1.725715 1.283421 q: 0.987794 -0.010987 -0.011926 0.154918 
time: 1403637002.701667, t: 0.429136 1.686628 1.226246 q: 0.987890 -0.011986 -0.012478 0.154191 
time: 1403637002.801666, t: 0.436384 1.646869 1.171930 q: 0.987789 -0.012911 -0.012372 0.154765 
time: 1403637002.901666, t: 0.440687 1.603293 1.115858 q: 0.987110 -0.012720 -0.011676 0.159107 
optimize pose graph 
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time: 1403637003.101666, t: 0.432413 1.513422 1.014023 q: 0.986640 -0.014252 -0.013459 0.161730 
time: 1403637003.201667, t: 0.421225 1.466085 0.967718 q: 0.986558 -0.015676 -0.013133 0.162129 
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time: 1403637003.401666, t: 0.398727 1.372039 0.873563 q: 0.986230 -0.017757 -0.009669 0.164140 
time: 1403637003.501667, t: 0.397519 1.329069 0.822623 q: 0.985972 -0.018567 -0.007909 0.165686 
time: 1403637003.601666, t: 0.398907 1.288756 0.763939 q: 0.985746 -0.018702 -0.008451 0.166983 
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time: 1403637003.801666, t: 0.407416 1.212073 0.648864 q: 0.985466 -0.017946 -0.009391 0.168663 
time: 1403637003.901666, t: 0.408662 1.169925 0.600673 q: 0.985890 -0.017548 -0.012333 0.166014 
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time: 1403637004.101666, t: 0.392006 1.088439 0.507248 q: 0.986656 -0.014660 -0.020209 0.160895 
time: 1403637004.201667, t: 0.380085 1.046549 0.460976 q: 0.986933 -0.013603 -0.022335 0.158994 
time: 1403637004.301666, t: 0.372620 1.005086 0.418751 q: 0.986829 -0.011669 -0.022321 0.159792 
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time: 1403637004.501667, t: 0.382433 0.933446 0.331805 q: 0.986247 -0.012864 -0.012907 0.164268 
time: 1403637004.601666, t: 0.402529 0.904441 0.280089 q: 0.985784 -0.014548 -0.009203 0.167133 
time: 1403637004.701667, t: 0.425586 0.874887 0.231219 q: 0.983725 -0.013327 -0.008747 0.178969 
time: 1403637004.801666, t: 0.443169 0.843101 0.185392 q: 0.981842 -0.012802 -0.008783 0.189066 
time: 1403637004.901666, t: 0.443411 0.811945 0.142903 q: 0.981009 -0.013156 -0.014006 0.193009 
time: 1403637005.001667, t: 0.428493 0.779929 0.108949 q: 0.981304 -0.014975 -0.021764 0.190641 
time: 1403637005.101666, t: 0.407018 0.754134 0.075699 q: 0.982728 -0.019196 -0.021929 0.182749 
optimize pose graph 
time: 1403637005.201667, t: 0.384999 0.730810 0.049676 q: 0.983907 -0.022905 -0.020189 0.176052 
time: 1403637005.301666, t: 0.358245 0.707393 0.018572 q: 0.984537 -0.023960 -0.023666 0.171911 
time: 1403637005.401666, t: 0.327975 0.686256 -0.009343 q: 0.984806 -0.023384 -0.024983 0.170252 
time: 1403637005.501667, t: 0.301797 0.661796 -0.034616 q: 0.985582 -0.023113 -0.019421 0.166483 
time: 1403637005.601666, t: 0.281610 0.638191 -0.058962 q: 0.985635 -0.021223 -0.017563 0.166626 
time: 1403637005.701667, t: 0.273846 0.617580 -0.089938 q: 0.984653 -0.016513 -0.024504 0.172005 
time: 1403637005.801666, t: 0.276230 0.604512 -0.118466 q: 0.984221 -0.014115 -0.027220 0.174264 
time: 1403637005.901666, t: 0.284533 0.592463 -0.144863 q: 0.985056 -0.015356 -0.024171 0.169834 
time: 1403637006.001667, t: 0.291168 0.580252 -0.169386 q: 0.985648 -0.016934 -0.019947 0.166773 
time: 1403637006.101666, t: 0.283152 0.617173 -0.137196 q: 0.984430 -0.010261 -0.018878 0.174459 
time: 1403637006.201667, t: 0.298084 0.553959 -0.211684 q: 0.985222 -0.016066 -0.016514 0.169727 
time: 1403637006.301666, t: 0.297500 0.540320 -0.228491 q: 0.984650 -0.013987 -0.023756 0.172352 
time: 1403637006.401666, t: 0.295667 0.527138 -0.243548 q: 0.983942 -0.011199 -0.035120 0.174639 
time: 1403637006.501667, t: 0.292189 0.516281 -0.253077 q: 0.982585 -0.008053 -0.039744 0.181332 
time: 1403637006.601666, t: 0.289973 0.507909 -0.259919 q: 0.982772 -0.005020 -0.031040 0.182127 
time: 1403637006.701667, t: 0.287728 0.501685 -0.262921 q: 0.984344 0.001070 -0.020595 0.175048 
time: 1403637006.801666, t: 0.282520 0.496577 -0.263115 q: 0.985722 0.012698 -0.010720 0.167556 
time: 1403637006.901666, t: 0.273880 0.491592 -0.262612 q: 0.986325 0.031288 -0.007636 0.161633 
time: 1403637007.001667, t: 0.265278 0.487375 -0.262034 q: 0.987372 0.052130 -0.006652 0.149450 
time: 1403637007.101666, t: 0.256345 0.484107 -0.260702 q: 0.987942 0.068990 -0.002295 0.138588 
time: 1403637007.201667, t: 0.246498 0.481954 -0.259965 q: 0.987987 0.082128 0.002647 0.130880 
time: 1403637007.301666, t: 0.237670 0.480801 -0.259387 q: 0.988430 0.088801 0.012068 0.122369 
optimize pose graph 
time: 1403637007.401666, t: 0.227564 0.478034 -0.262153 q: 0.988583 0.092622 0.018018 0.117474 
time: 1403637007.501667, t: 0.215470 0.473632 -0.267398 q: 0.988403 0.096138 0.015663 0.116501 
time: 1403637007.601666, t: 0.200853 0.467124 -0.273817 q: 0.988234 0.098551 0.007929 0.116699 
time: 1403637007.701667, t: 0.184798 0.458656 -0.281652 q: 0.988102 0.100046 -0.006391 0.116641 
time: 1403637007.801666, t: 0.171737 0.449135 -0.288221 q: 0.988269 0.099085 -0.012979 0.115492 
time: 1403637007.901666, t: 0.163781 0.438608 -0.293480 q: 0.987746 0.097905 -0.004536 0.121458 
time: 1403637008.001667, t: 0.157538 0.427504 -0.298116 q: 0.986650 0.097051 0.006397 0.130620 
time: 1403637008.101666, t: 0.150148 0.417476 -0.303622 q: 0.987130 0.094084 0.003064 0.129277 
time: 1403637008.201667, t: 0.142285 0.408246 -0.309518 q: 0.987578 0.092668 -0.013176 0.126208 
time: 1403637008.301666, t: 0.138599 0.399831 -0.314817 q: 0.988048 0.090442 -0.024405 0.122419 
time: 1403637008.401666, t: 0.140983 0.391290 -0.317707 q: 0.988394 0.087861 -0.025084 0.121363 
time: 1403637008.501667, t: 0.149688 0.383013 -0.317802 q: 0.988051 0.086035 -0.012092 0.127303 
time: 1403637008.601666, t: 0.159467 0.374455 -0.316105 q: 0.987562 0.084191 -0.001703 0.132779 
time: 1403637008.701667, t: 0.165102 0.364849 -0.312816 q: 0.986534 0.084399 0.001766 0.140088 
time: 1403637008.801666, t: 0.164623 0.354957 -0.307791 q: 0.983875 0.089147 -0.004719 0.154983 
time: 1403637008.901666, t: 0.159756 0.347709 -0.300560 q: 0.981949 0.092677 -0.012477 0.164410 
time: 1403637009.001667, t: 0.151836 0.346263 -0.290198 q: 0.982563 0.090490 -0.013193 0.161887 
time: 1403637009.101666, t: 0.140350 0.349920 -0.276099 q: 0.985084 0.084694 -0.010883 0.149395 
time: 1403637009.201667, t: 0.126177 0.355825 -0.260278 q: 0.987340 0.079252 -0.008957 0.137109 
time: 1403637009.301666, t: 0.110261 0.361813 -0.242345 q: 0.990161 0.072436 -0.009324 0.119359 
time: 1403637009.401666, t: 0.098580 0.367190 -0.229229 q: 0.988572 0.082980 -0.001298 0.125852 
time: 1403637009.501667, t: 0.094064 0.374231 -0.226089 q: 0.987270 0.099697 0.015918 0.122905 
optimize pose graph 
time: 1403637009.601666, t: 0.087341 0.378019 -0.224754 q: 0.979034 0.121152 0.053420 0.154796 
time: 1403637009.701667, t: 0.079084 0.383399 -0.231598 q: 0.980441 0.106822 0.041766 0.159936 
time: 1403637009.801666, t: 0.077525 0.385025 -0.232224 q: 0.980021 0.105257 0.041984 0.163456 
time: 1403637009.901666, t: 0.077625 0.385951 -0.233256 q: 0.980110 0.105619 0.041994 0.162683 
time: 1403637010.001667, t: 0.077716 0.385839 -0.233314 q: 0.980054 0.105788 0.042104 0.162880 
time: 1403637010.101666, t: 0.077432 0.385879 -0.233780 q: 0.979890 0.106199 0.042158 0.163583 
time: 1403637010.201667, t: 0.077488 0.385797 -0.233772 q: 0.979840 0.106325 0.042240 0.163783 
time: 1403637010.301666, t: 0.077469 0.385752 -0.233754 q: 0.979792 0.106532 0.042022 0.163993 
time: 1403637010.401666, t: 0.077485 0.385730 -0.233761 q: 0.979792 0.106493 0.042201 0.163970 
time: 1403637010.501667, t: 0.077478 0.385734 -0.233754 q: 0.979799 0.106486 0.042108 0.163956 

Done.
time: 1403637010.601666, t: 0.077473 0.385719 -0.233752 q: 0.979777 0.106559 0.042102 0.164039 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720495914.884346202]: Shutdown request received.[0m
[33m[ WARN] [1720495914.884393959]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720495914.885265752]: Shutdown request received.[0m
[33m[ WARN] [1720495914.885293286]: Reason given for shutdown: [user request][0m
killed
