/SLAM-Hive/slam_hive_results/mapping_results/2994/2202_vins-fusion-stereo+MH_02_easy+Image_comb_test-12.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720498053.843599763]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720498053.845478562]: init begins[0m
[31m[ERROR] [1720498053.846548513]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c4e526e4-3da8-11ef-98cf-0242ac110005/roslaunch-3f74aec02d7f-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://3f74aec02d7f:38865/[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
[1mROS_MASTER_URI=http://3f74aec02d7f:11311/[0m
]2;roscore http://3f74aec02d7f:11311/
[1msetting /run_id to c4e526e4-3da8-11ef-98cf-0242ac110005[0m
[0m[ INFO] [1720498054.999253111]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720498055.002147577]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720498055.009557411]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720498055.009813586]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720498055.009846176]: 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] [1720498055.010191624]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720498055.010459721]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720498055.010657487]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [223][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720498063.998069593]: 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: 316861207.36 
[0m[ INFO] [1720498070.440356271]: Initialization finish![0m
time: 1403636862.851666, t: 0.273893 0.059789 -0.038572 q: 0.998167 -0.045971 -0.038398 -0.008639 
time: 1403636863.251667, t: 0.328239 0.076233 -0.048880 q: 0.998610 -0.047771 -0.020071 -0.009653 
time: 1403636863.651666, t: 0.098944 0.008256 0.160060 q: 0.975736 -0.134892 -0.143897 -0.095067 
time: 1403636864.051666, t: 0.090543 0.002659 0.150299 q: 0.970995 -0.132291 -0.179039 -0.087246 
time: 1403636864.451667, t: 0.349276 -0.064568 0.128733 q: 0.975269 -0.135558 -0.145542 -0.096390 
time: 1403636864.851666, t: 0.532082 -0.150419 0.170428 q: 0.971109 -0.149769 -0.139623 -0.122566 
time: 1403636865.251667, t: 0.132025 -0.014068 0.157190 q: 0.972695 -0.146594 -0.158790 -0.084619 
time: 1403636865.651666, t: 0.120907 -0.018881 0.164878 q: 0.967980 -0.145202 -0.183718 -0.090433 
time: 1403636866.051666, t: 0.362321 -0.089465 0.165489 q: 0.980400 -0.134732 -0.110968 -0.091369 
time: 1403636866.451667, t: 0.413325 -0.102516 0.147896 q: 0.978146 -0.147258 -0.096684 -0.110439 
time: 1403636866.851666, t: 0.229667 -0.036256 0.152501 q: 0.972927 -0.146921 -0.142546 -0.107277 
time: 1403636867.251667, t: 0.159511 -0.027210 0.126221 q: 0.970529 -0.127284 -0.185804 -0.085723 
time: 1403636867.651666, t: 0.165251 -0.042728 0.094142 q: 0.951799 -0.133838 -0.263023 -0.083578 
time: 1403636868.051666, t: 0.215987 0.010742 0.082668 q: 0.902559 -0.126925 -0.408320 -0.050510 
time: 1403636868.451667, t: 0.159729 -0.059647 0.063501 q: 0.921242 -0.153408 -0.354238 -0.047899 
time: 1403636868.851666, t: 0.157059 -0.089570 0.042821 q: 0.922089 -0.161576 -0.347329 -0.054840 
time: 1403636869.251667, t: 0.155913 -0.105221 0.042763 q: 0.927210 -0.149008 -0.338844 -0.057117 
time: 1403636869.651666, t: 0.157380 -0.087420 0.045569 q: 0.926769 -0.148431 -0.340223 -0.057589 
time: 1403636870.051666, t: 0.195645 0.048119 0.047476 q: 0.926265 -0.174640 -0.330319 -0.049230 
time: 1403636870.451667, t: 0.267488 0.249880 0.041213 q: 0.922310 -0.193776 -0.331308 -0.045064 
time: 1403636870.851666, t: 0.267654 0.362959 0.042746 q: 0.923430 -0.216121 -0.315007 -0.036605 
time: 1403636871.251667, t: 0.267713 0.375017 0.035847 q: 0.919837 -0.215395 -0.326819 -0.026360 
time: 1403636871.651666, t: 0.241858 0.245012 0.053620 q: 0.921711 -0.208842 -0.325496 -0.029774 
time: 1403636872.051666, t: 0.192512 0.038264 0.115792 q: 0.929920 -0.173591 -0.323244 -0.025070 
time: 1403636872.451667, t: 0.180656 0.048131 0.042771 q: 0.938794 -0.013558 -0.344204 -0.002576 
time: 1403636872.851666, t: 0.674759 0.666703 -2.936717 q: 0.988686 -0.019711 -0.125141 -0.080321 
time: 1403636873.251667, t: 1.969154 0.754050 -4.010229 q: 0.981158 -0.162093 -0.105072 -0.003968 
feature tracking not enough, please slowly move you device! 
time: 1403636873.651666, t: 1.969154 0.754050 -4.010229 q: 0.981158 -0.162093 -0.105072 -0.003968 
time: 1403636874.051666, t: 1.969153 0.754050 -4.010229 q: 0.981158 -0.162093 -0.105072 -0.003968 
time: 1403636874.451667, t: 1.969153 0.754050 -4.010229 q: 0.981158 -0.162093 -0.105072 -0.003968 
feature tracking not enough, please slowly move you device! 
time: 1403636874.851666, t: 1.969140 0.754014 -4.010206 q: 0.981171 -0.161852 -0.105316 -0.004012 
time: 1403636875.251667, t: 1.989117 0.951090 -4.122651 q: 0.993468 0.050296 -0.096182 -0.035216 
time: 1403636875.651666, t: 1.948506 0.971604 -4.191598 q: 0.989251 0.043487 -0.133408 0.041163 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636876.451667, t: 1.948506 0.971604 -4.191598 q: 0.989251 0.043487 -0.133408 0.041163 
unstable tracking...
time: 1403636876.851666, t: 1.958303 1.067004 -4.260606 q: 0.992809 0.079878 -0.077623 0.043856 
unstable tracking...
time: 1403636877.251667, t: 1.971044 1.033626 -4.549284 q: 0.970323 0.225650 -0.079089 -0.036074 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636877.651666, t: 1.971044 1.033626 -4.549284 q: 0.970323 0.225650 -0.079089 -0.036074 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636878.051666, t: 1.971044 1.033626 -4.549284 q: 0.970323 0.225650 -0.079089 -0.036074 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636878.851666, t: 1.971044 1.033626 -4.549284 q: 0.970323 0.225650 -0.079089 -0.036074 
unstable tracking...
time: 1403636879.251667, t: 2.075906 1.027161 -4.410222 q: 0.969277 0.244316 -0.022409 -0.017590 
unstable tracking...
time: 1403636879.651666, t: 2.091867 1.449828 -4.319573 q: 0.883230 0.439783 0.003267 -0.162746 
unstable tracking...
time: 1403636880.051666, t: 2.090752 1.670842 -4.166424 q: 0.793730 0.571263 -0.023273 -0.207628 
unstable tracking...
time: 1403636880.451667, t: 2.048392 1.715824 -4.292233 q: 0.847675 0.486027 0.009603 -0.212445 
unstable tracking...
time: 1403636880.851666, t: 1.986682 1.933190 -4.376272 q: 0.875745 0.452070 -0.026142 -0.167393 
unstable tracking...
unstable tracking...
time: 1403636881.651666, t: 2.033319 1.741097 -4.449967 q: 0.802862 0.551609 0.034397 -0.223510 
unstable tracking...
time: 1403636882.051666, t: 2.164801 1.704220 -4.243671 q: 0.816437 0.532827 0.030543 -0.220437 
unstable tracking...
time: 1403636882.451667, t: 2.126417 1.728373 -4.129894 q: 0.829335 0.522505 0.039451 -0.194001 
unstable tracking...
time: 1403636882.851666, t: 2.053951 1.661894 -4.159163 q: 0.782063 0.594321 0.088121 -0.165512 
unstable tracking...
unstable tracking...
time: 1403636884.051666, t: 1.943131 1.486063 -4.141345 q: 0.686435 0.686711 0.154907 -0.182315 
time: 1403636884.451667, t: 1.983577 1.545482 -4.153984 q: 0.686476 0.677959 0.167002 -0.203058 
time: 1403636884.851666, t: 1.948593 1.505596 -4.142398 q: 0.684524 0.686466 0.163153 -0.183226 
time: 1403636885.251667, t: 1.944099 1.499580 -4.135647 q: 0.682612 0.691646 0.161622 -0.171885 
time: 1403636885.651666, t: 1.943860 1.502199 -4.135490 q: 0.682675 0.691674 0.161445 -0.171688 
time: 1403636886.051666, t: 1.943840 1.502135 -4.135491 q: 0.682670 0.691692 0.161416 -0.171667 
time: 1403636886.451667, t: 1.943843 1.502184 -4.135481 q: 0.682680 0.691703 0.161337 -0.171652 
time: 1403636886.851666, t: 1.943847 1.502223 -4.135475 q: 0.682667 0.691730 0.161324 -0.171611 
time: 1403636887.251667, t: 1.943855 1.502283 -4.135469 q: 0.682644 0.691762 0.161325 -0.171574 
time: 1403636887.651666, t: 1.943856 1.502278 -4.135471 q: 0.682669 0.691728 0.161330 -0.171602 
time: 1403636888.051666, t: 1.943855 1.502254 -4.135474 q: 0.682671 0.691719 0.161326 -0.171638 
time: 1403636888.451667, t: 1.943841 1.502236 -4.135464 q: 0.682642 0.691788 0.161227 -0.171568 
time: 1403636888.851666, t: 1.943596 1.502510 -4.135383 q: 0.682407 0.692011 0.161328 -0.171507 
time: 1403636889.251667, t: 1.943574 1.502337 -4.135349 q: 0.682623 0.691951 0.161106 -0.171096 
time: 1403636889.651666, t: 1.943609 1.502439 -4.135398 q: 0.682714 0.691791 0.161427 -0.171079 
time: 1403636890.051666, t: 1.943678 1.502567 -4.135429 q: 0.683025 0.691401 0.161524 -0.171323 
time: 1403636890.451667, t: 1.943659 1.502605 -4.135412 q: 0.682982 0.691497 0.161739 -0.170906 
time: 1403636890.851666, t: 1.943822 1.500901 -4.135847 q: 0.682922 0.691863 0.161642 -0.169747 
time: 1403636891.251667, t: 1.943742 1.501010 -4.135927 q: 0.682574 0.692156 0.161588 -0.170003 
time: 1403636891.651666, t: 1.943752 1.500935 -4.135939 q: 0.682600 0.692139 0.161564 -0.169994 
time: 1403636892.051666, t: 1.943736 1.500933 -4.135934 q: 0.682572 0.692148 0.161607 -0.170028 
time: 1403636892.451667, t: 1.943830 1.501070 -4.135875 q: 0.682647 0.692016 0.161861 -0.170027 
time: 1403636892.851666, t: 1.943794 1.501069 -4.135870 q: 0.682566 0.692110 0.161703 -0.170114 
time: 1403636893.251667, t: 1.943782 1.501071 -4.135885 q: 0.682551 0.692132 0.161690 -0.170100 
time: 1403636893.651666, t: 1.943778 1.501126 -4.135879 q: 0.682542 0.692114 0.161762 -0.170139 
time: 1403636894.051666, t: 1.943754 1.501093 -4.135898 q: 0.682543 0.692159 0.161630 -0.170076 
time: 1403636894.451667, t: 1.943739 1.501036 -4.135913 q: 0.682583 0.692147 0.161552 -0.170038 
time: 1403636894.851666, t: 1.943761 1.500997 -4.135888 q: 0.682619 0.692091 0.161588 -0.170087 
time: 1403636895.251667, t: 1.943834 1.501058 -4.135826 q: 0.682687 0.691986 0.161738 -0.170100 
time: 1403636895.651666, t: 1.943832 1.501118 -4.135821 q: 0.682610 0.692037 0.161822 -0.170123 
time: 1403636896.051666, t: 1.943878 1.501103 -4.135784 q: 0.682577 0.692050 0.161621 -0.170396 
time: 1403636896.451667, t: 1.943943 1.500876 -4.135756 q: 0.682572 0.692040 0.161122 -0.170930 
time: 1403636896.851666, t: 1.943995 1.500582 -4.135849 q: 0.682464 0.692188 0.160609 -0.171240 
time: 1403636897.251667, t: 1.944501 1.500810 -4.136125 q: 0.679771 0.693581 0.160394 -0.176439 
time: 1403636897.651666, t: 1.945095 1.557355 -4.103579 q: 0.699513 0.670760 0.146034 -0.198588 
time: 1403636898.051666, t: 2.008501 1.615874 -4.098172 q: 0.702771 0.660672 0.142880 -0.221835 
time: 1403636898.451667, t: 2.069915 1.620354 -4.114407 q: 0.691504 0.672200 0.148701 -0.218765 
time: 1403636898.851666, t: 2.148080 1.604198 -4.151331 q: 0.684549 0.678586 0.145725 -0.222885 
time: 1403636899.251667, t: 2.209547 1.532330 -4.177057 q: 0.702104 0.669418 0.144350 -0.195172 
time: 1403636899.651666, t: 2.282437 1.475900 -4.150357 q: 0.757320 0.619795 0.135696 -0.154620 
time: 1403636900.051666, t: 2.348489 1.422545 -4.081352 q: 0.772482 0.598403 0.147458 -0.153108 
time: 1403636900.451667, t: 2.452791 1.401589 -4.030990 q: 0.769268 0.600459 0.148498 -0.160077 
time: 1403636900.851666, t: 2.561616 1.379881 -3.977074 q: 0.764872 0.607562 0.128645 -0.171146 
time: 1403636901.251667, t: 2.635896 1.302424 -3.864570 q: 0.761089 0.617023 0.128352 -0.153468 
time: 1403636901.651666, t: 2.773422 1.236808 -3.712180 q: 0.762007 0.610081 0.144095 -0.162428 
time: 1403636902.051666, t: 2.875617 1.160646 -3.527529 q: 0.760987 0.610438 0.147145 -0.163134 
time: 1403636902.451667, t: 2.970632 1.092113 -3.338255 q: 0.762032 0.610430 0.143806 -0.161252 
time: 1403636902.851666, t: 3.015521 1.013143 -3.126173 q: 0.766630 0.601772 0.153157 -0.163376 
time: 1403636903.251667, t: 3.142647 0.970279 -2.994318 q: 0.761671 0.608646 0.149085 -0.164864 
time: 1403636903.651666, t: 3.278706 0.930416 -2.898305 q: 0.759948 0.609157 0.146339 -0.173182 
optimize pose graph 
time: 1403636904.051666, t: 3.382197 0.863321 -2.785886 q: 0.758237 0.617182 0.134012 -0.161877 
time: 1403636904.451667, t: 3.577168 0.807800 -2.683603 q: 0.759293 0.616086 0.138615 -0.157154 
time: 1403636904.851666, t: 3.743376 0.749939 -2.525350 q: 0.763919 0.606674 0.146796 -0.163784 
time: 1403636905.251667, t: 3.870147 0.680383 -2.358159 q: 0.769206 0.597655 0.152672 -0.166801 
time: 1403636905.651666, t: 4.021136 0.614161 -2.252925 q: 0.764655 0.599522 0.152302 -0.180776 
time: 1403636906.451667, t: 4.176882 0.348567 -2.084288 q: 0.751984 0.620853 0.145885 -0.166670 
time: 1403636906.851666, t: 4.276162 0.203607 -2.014592 q: 0.753130 0.617897 0.144989 -0.173136 
time: 1403636907.251667, t: 4.365583 0.047552 -1.934282 q: 0.751182 0.616996 0.142080 -0.186695 
time: 1403636907.651666, t: 4.471108 -0.137249 -1.867393 q: 0.748314 0.627249 0.124908 -0.176020 
time: 1403636908.051666, t: 4.642398 -0.348463 -1.787053 q: 0.746093 0.626731 0.140005 -0.175932 
time: 1403636908.451667, t: 4.789046 -0.573688 -1.669312 q: 0.739837 0.630595 0.148916 -0.181148 
time: 1403636908.851666, t: 4.917154 -0.796025 -1.550725 q: 0.736296 0.635499 0.136745 -0.187909 
time: 1403636909.251667, t: 5.119145 -1.029145 -1.478640 q: 0.736482 0.637095 0.129142 -0.187153 
time: 1403636909.651666, t: 5.286997 -1.304466 -1.350020 q: 0.737523 0.636757 0.137028 -0.178393 
time: 1403636910.051666, t: 5.383403 -1.606965 -1.181009 q: 0.737067 0.624180 0.180613 -0.185769 
time: 1403636910.451667, t: 5.459813 -1.865261 -1.065677 q: 0.737071 0.632402 0.150304 -0.184941 
time: 1403636910.851666, t: 5.548956 -2.116894 -0.997571 q: 0.735972 0.633923 0.147652 -0.186242 
time: 1403636911.251667, t: 5.625214 -2.346709 -0.912791 q: 0.733162 0.638843 0.152191 -0.176610 
time: 1403636911.651666, t: 5.760626 -2.533335 -0.871223 q: 0.735768 0.633348 0.150999 -0.186319 
time: 1403636912.051666, t: 5.840559 -2.724061 -0.807171 q: 0.737263 0.637720 0.135165 -0.177445 
time: 1403636912.451667, t: 5.925269 -2.933050 -0.722117 q: 0.738380 0.634714 0.143433 -0.177090 
time: 1403636912.851666, t: 6.006388 -3.135349 -0.602460 q: 0.739348 0.639335 0.133222 -0.163909 
time: 1403636913.251667, t: 6.079465 -3.336718 -0.424050 q: 0.738258 0.633770 0.157712 -0.168635 
time: 1403636913.651666, t: 6.193306 -3.481441 -0.265873 q: 0.740447 0.633104 0.145050 -0.172853 
time: 1403636914.051666, t: 6.309768 -3.613738 -0.098457 q: 0.740333 0.631299 0.149672 -0.175975 
time: 1403636914.851666, t: 6.601130 -3.811899 0.192025 q: 0.742038 0.627074 0.156459 -0.177985 
time: 1403636915.251667, t: 6.703750 -3.894709 0.331013 q: 0.746364 0.622080 0.144920 -0.186961 
time: 1403636915.651666, t: 6.773871 -4.026227 0.459680 q: 0.744448 0.630524 0.138385 -0.170549 
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time: 1403636980.851666, t: 4.513687 -1.117100 1.988652 q: 0.951659 0.279953 0.125280 0.016640 
time: 1403636981.251667, t: 4.633363 -1.249905 2.150905 q: 0.950779 0.284494 0.120620 0.023099 
time: 1403636981.651666, t: 4.703120 -1.366717 2.326094 q: 0.954997 0.271895 0.117781 0.013512 
time: 1403636982.051666, t: 4.835819 -1.469303 2.466076 q: 0.961190 0.261633 0.087477 0.003259 
time: 1403636982.451667, t: 5.002503 -1.636949 2.663414 q: 0.957634 0.271038 0.093725 0.026292 
time: 1403636982.851666, t: 5.223288 -1.794558 2.901478 q: 0.955237 0.276434 0.102710 0.023591 
time: 1403636983.251667, t: 5.410160 -1.950602 3.188070 q: 0.954712 0.272025 0.119520 0.015561 
time: 1403636983.651666, t: 5.552202 -2.126087 3.476806 q: 0.956891 0.266108 0.115838 0.011272 
time: 1403636984.051666, t: 5.777614 -2.299637 3.699465 q: 0.960553 0.259935 0.098537 0.007836 
time: 1403636984.451667, t: 6.020131 -2.526452 3.927534 q: 0.960278 0.253795 0.115107 0.014317 
time: 1403636984.851666, t: 6.219823 -2.792774 4.166107 q: 0.958873 0.256757 0.119172 0.020885 
time: 1403636985.251667, t: 6.448101 -3.054940 4.347816 q: 0.959531 0.254869 0.118086 0.019959 
time: 1403636985.651666, t: 6.604768 -3.348024 4.540275 q: 0.954189 0.271453 0.125837 -0.001559 
time: 1403636986.051666, t: 6.792916 -3.630058 4.644482 q: 0.942494 0.284230 0.175836 -0.000108 
time: 1403636986.451667, t: 6.847277 -3.949452 4.685731 q: 0.947754 0.290158 0.132440 -0.005579 
time: 1403636986.851666, t: 6.926579 -4.247717 4.653229 q: 0.944862 0.303096 0.123074 0.014871 
time: 1403636987.251667, t: 7.081115 -4.476403 4.562142 q: 0.946076 0.296051 0.130917 0.012418 
time: 1403636987.651666, t: 7.163656 -4.694930 4.484743 q: 0.941999 0.299749 0.150777 0.007357 
optimize pose graph 
time: 1403636988.051666, t: 7.199713 -4.863046 4.353001 q: 0.938861 0.315502 0.136856 0.016386 
time: 1403636988.451667, t: 7.204964 -4.960674 4.212551 q: 0.935258 0.322119 0.142360 0.035569 
time: 1403636988.851666, t: 7.196992 -4.925090 4.062403 q: 0.932696 0.322799 0.155824 0.039981 
time: 1403636989.251667, t: 7.077621 -4.768439 3.914502 q: 0.932317 0.321625 0.159290 0.044383 
time: 1403636989.651666, t: 6.935091 -4.472146 3.719890 q: 0.943234 0.305430 0.130162 0.008943 
time: 1403636990.051666, t: 6.783118 -4.168919 3.522702 q: 0.942060 0.304107 0.141232 0.009792 
time: 1403636990.451667, t: 6.635908 -3.862657 3.283583 q: 0.942877 0.304354 0.135462 0.001214 
time: 1403636990.851666, t: 6.451731 -3.574879 3.053390 q: 0.942672 0.308538 0.127038 -0.005976 
time: 1403636991.251667, t: 6.214485 -3.332148 2.859025 q: 0.943019 0.307491 0.126958 -0.006746 
time: 1403636991.651666, t: 6.050141 -3.098325 2.634250 q: 0.944153 0.306292 0.121489 0.000469 
optimize pose graph 
time: 1403636992.451667, t: 5.803005 -2.653073 2.231139 q: 0.949086 0.289728 0.123505 0.006291 
time: 1403636992.851666, t: 5.695582 -2.454422 2.045554 q: 0.952784 0.280591 0.116048 0.002022 
time: 1403636993.251667, t: 5.570960 -2.315876 1.880521 q: 0.947429 0.293167 0.127689 0.011303 
time: 1403636993.651666, t: 5.511375 -2.177129 1.658769 q: 0.924244 0.356669 0.134850 -0.019399 
time: 1403636994.051666, t: 5.426084 -2.022880 1.445931 q: 0.911235 0.383835 0.144432 -0.038221 
time: 1403636994.451667, t: 5.259749 -1.870286 1.252412 q: 0.905824 0.386661 0.170293 -0.031251 
time: 1403636994.851666, t: 5.062110 -1.678419 0.988078 q: 0.909302 0.394878 0.129761 -0.020073 
time: 1403636995.251667, t: 4.871713 -1.451722 0.734667 q: 0.908213 0.390283 0.149105 -0.024396 
time: 1403636995.651666, t: 4.728742 -1.176870 0.450428 q: 0.909214 0.390733 0.139396 -0.035030 
time: 1403636996.051666, t: 4.561428 -0.895770 0.175819 q: 0.909614 0.395395 0.125057 -0.025018 
time: 1403636996.451667, t: 4.403560 -0.602527 -0.057165 q: 0.907906 0.396223 0.129638 -0.043688 
time: 1403636996.851666, t: 4.299458 -0.331726 -0.302355 q: 0.878164 0.452527 0.132994 -0.079750 
time: 1403636997.251667, t: 4.104826 -0.127497 -0.464373 q: 0.838579 0.515469 0.133330 -0.115324 
time: 1403636997.651666, t: 3.957047 0.032839 -0.596430 q: 0.831255 0.524852 0.134039 -0.124815 
optimize pose graph 
time: 1403636998.051666, t: 3.958227 0.165737 -0.776959 q: 0.837259 0.515462 0.132426 -0.125538 
time: 1403636998.451667, t: 3.997033 0.246209 -0.926889 q: 0.840144 0.512812 0.131205 -0.118185 
time: 1403636998.851666, t: 4.075874 0.297127 -1.075615 q: 0.838122 0.509216 0.162312 -0.109111 
time: 1403636999.251667, t: 4.103502 0.361838 -1.221013 q: 0.840477 0.502444 0.164687 -0.118431 
time: 1403636999.651666, t: 4.036764 0.412070 -1.362754 q: 0.839769 0.508143 0.159585 -0.105413 
optimize pose graph 
time: 1403637000.051666, t: 3.914181 0.473899 -1.505306 q: 0.840874 0.503597 0.164700 -0.110429 
time: 1403637000.451667, t: 3.803442 0.562610 -1.698760 q: 0.841462 0.504241 0.158876 -0.111537 
time: 1403637000.851666, t: 3.690062 0.660580 -1.925735 q: 0.841532 0.504784 0.159526 -0.107559 
time: 1403637001.251667, t: 3.547091 0.774886 -2.155798 q: 0.842476 0.504343 0.158415 -0.103818 
time: 1403637001.651666, t: 3.426308 0.925892 -2.408525 q: 0.845211 0.503431 0.146435 -0.103595 
time: 1403637002.051666, t: 3.266165 1.075339 -2.626476 q: 0.847184 0.499928 0.145063 -0.106336 
optimize pose graph 
time: 1403637002.451667, t: 3.077064 1.207106 -2.801288 q: 0.847593 0.498079 0.146438 -0.109814 
time: 1403637002.851666, t: 2.954364 1.342960 -3.019905 q: 0.848780 0.495176 0.148511 -0.110987 
time: 1403637003.251667, t: 2.786143 1.459393 -3.213200 q: 0.850980 0.493325 0.146158 -0.105361 
time: 1403637003.651666, t: 2.636516 1.563442 -3.414847 q: 0.851715 0.493247 0.147590 -0.097500 
time: 1403637004.051666, t: 2.502308 1.676509 -3.612175 q: 0.851890 0.492504 0.141268 -0.108471 
optimize pose graph 
time: 1403637004.451667, t: 2.357843 1.763532 -3.784575 q: 0.849984 0.496559 0.140274 -0.106209 
time: 1403637004.851666, t: 2.312873 1.867025 -3.986417 q: 0.851688 0.500969 0.131817 -0.079258 
time: 1403637005.251667, t: 2.176102 1.948409 -4.068497 q: 0.857604 0.486485 0.135086 -0.097975 
time: 1403637005.651666, t: 2.032687 2.012384 -4.121473 q: 0.854967 0.489360 0.137061 -0.103789 
time: 1403637006.051666, t: 1.993735 2.081896 -4.213572 q: 0.853118 0.491960 0.139446 -0.103536 
optimize pose graph 
time: 1403637006.451667, t: 1.950059 2.124261 -4.277750 q: 0.854931 0.494225 0.116095 -0.106567 
time: 1403637006.851666, t: 1.922631 2.127516 -4.290153 q: 0.832291 0.525117 0.139060 -0.110478 
time: 1403637007.251667, t: 1.888029 2.122608 -4.270065 q: 0.790087 0.573701 0.155730 -0.149590 
time: 1403637007.651666, t: 1.832321 2.138790 -4.259590 q: 0.782827 0.580236 0.152719 -0.164877 
time: 1403637008.051666, t: 1.774099 2.148693 -4.272689 q: 0.785232 0.581312 0.152959 -0.148631 
optimize pose graph 
time: 1403637008.451667, t: 1.742431 2.151205 -4.297880 q: 0.795034 0.567609 0.136781 -0.164416 
time: 1403637008.851666, t: 1.734621 2.119225 -4.326364 q: 0.794832 0.579691 0.124569 -0.129163 
time: 1403637009.251667, t: 1.712579 2.083139 -4.270515 q: 0.799554 0.562349 0.145294 -0.152859 
time: 1403637009.651666, t: 1.704826 2.079353 -4.225117 q: 0.764612 0.611695 0.172078 -0.107639 
time: 1403637010.051666, t: 1.700637 2.083472 -4.220104 q: 0.773954 0.603934 0.159446 -0.104094 
optimize pose graph 
time: 1403637010.451667, t: 1.701270 2.084026 -4.220236 q: 0.774043 0.603543 0.160095 -0.104703 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720498218.734688935]: Shutdown request received.[0m
[33m[ WARN] [1720498218.734723159]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720498218.735690748]: Shutdown request received.[0m
[33m[ WARN] [1720498218.735727526]: Reason given for shutdown: [user request][0m
killed
