/SLAM-Hive/slam_hive_results/mapping_results/3044/2252_vins-fusion-stereo+MH_04_difficult+Image_comb_test-2.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720506947.516773794]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720506947.518380338]: init begins[0m
[31m[ERROR] [1720506947.519389255]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/79eef916-3dbd-11ef-909d-0242ac110005/roslaunch-4c643d3f452a-117.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://4c643d3f452a:41439/[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 [154][0m
[0m[ INFO] [1720506948.674477402]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720506948.675274828]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720506948.681767627]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720506948.681996423]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720506948.682024172]: ROW: 288 COL: 451 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720506948.682279845]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720506948.682499004]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720506948.682658390]: 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://4c643d3f452a:11311/[0m
]2;roscore http://4c643d3f452a:11311/
[1msetting /run_id to 79eef916-3dbd-11ef-909d-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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720506957.676295184]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316868830.56 
throw img0
[0m[ INFO] [1720506959.094265538]: Initialization finish![0m
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optimize pose graph 
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time: 1403638152.245097, t: 1.290936 -0.959667 1.162231 q: 0.991911 0.101179 0.074488 -0.018077 
optimize pose graph 
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time: 1403638207.045097, t: 7.573380 -8.059457 5.330366 q: 0.930169 0.332965 0.129735 -0.084191 
time: 1403638207.145097, t: 7.538497 -8.176382 5.254086 q: 0.928909 0.335610 0.132053 -0.084002 
time: 1403638207.245097, t: 7.496824 -8.285114 5.161312 q: 0.927200 0.340066 0.132641 -0.084039 
time: 1403638207.345097, t: 7.437986 -8.381581 5.076682 q: 0.922632 0.350595 0.135607 -0.086273 
time: 1403638207.445097, t: 7.372825 -8.470368 4.988380 q: 0.915667 0.365537 0.139609 -0.091905 
time: 1403638207.545097, t: 7.306553 -8.559185 4.895120 q: 0.907358 0.383832 0.139315 -0.099833 
time: 1403638207.645097, t: 7.241531 -8.644497 4.787487 q: 0.901521 0.398429 0.129874 -0.107922 
time: 1403638207.745097, t: 7.182895 -8.718781 4.677313 q: 0.897575 0.409332 0.117357 -0.114166 
time: 1403638207.845097, t: 7.123646 -8.784900 4.560488 q: 0.895073 0.416415 0.107138 -0.118169 
time: 1403638207.945097, t: 7.079121 -8.839685 4.437318 q: 0.894155 0.419802 0.096440 -0.122279 
time: 1403638208.045097, t: 7.030280 -8.892057 4.334036 q: 0.893639 0.420939 0.094124 -0.123935 
time: 1403638208.145097, t: 6.984425 -8.938306 4.228398 q: 0.893021 0.422289 0.098923 -0.120002 
time: 1403638208.245097, t: 6.935367 -8.986243 4.133340 q: 0.892726 0.421915 0.105998 -0.117443 
optimize pose graph 
time: 1403638208.345097, t: 6.884567 -9.025268 4.034511 q: 0.893841 0.419793 0.103818 -0.118505 
time: 1403638208.445097, t: 6.825583 -9.061237 3.950605 q: 0.894443 0.418740 0.099455 -0.121399 
time: 1403638208.545097, t: 6.767892 -9.089854 3.858703 q: 0.892202 0.423532 0.095529 -0.124378 
time: 1403638208.645097, t: 6.709127 -9.116418 3.768409 q: 0.886769 0.433059 0.095469 -0.130327 
time: 1403638208.745097, t: 6.663658 -9.135875 3.667486 q: 0.881372 0.443594 0.094015 -0.132552 
time: 1403638208.845097, t: 6.618970 -9.150773 3.569684 q: 0.876699 0.451821 0.095427 -0.134725 
time: 1403638208.945097, t: 6.577677 -9.164282 3.474453 q: 0.873054 0.456859 0.098228 -0.139313 
time: 1403638209.045097, t: 6.534211 -9.185184 3.395343 q: 0.870547 0.460931 0.098783 -0.141180 
time: 1403638209.145097, t: 6.490901 -9.196235 3.320620 q: 0.868649 0.464411 0.097518 -0.142347 
time: 1403638209.245097, t: 6.434525 -9.203114 3.245994 q: 0.867792 0.466172 0.096494 -0.142511 
time: 1403638209.345097, t: 6.372552 -9.205310 3.168124 q: 0.867537 0.467377 0.094189 -0.141658 
time: 1403638209.445097, t: 6.301868 -9.209850 3.104282 q: 0.867159 0.468522 0.093797 -0.140447 
time: 1403638209.545097, t: 6.228272 -9.209661 3.046392 q: 0.866543 0.469522 0.097854 -0.138115 
time: 1403638209.645097, t: 6.145908 -9.209250 2.997077 q: 0.866652 0.469846 0.097844 -0.136328 
time: 1403638209.745097, t: 6.047072 -9.216251 2.948520 q: 0.867790 0.467758 0.096166 -0.137459 
time: 1403638209.845097, t: 5.939575 -9.214949 2.912219 q: 0.868144 0.465254 0.099285 -0.141445 
time: 1403638209.945097, t: 5.818003 -9.213625 2.892278 q: 0.867904 0.464476 0.105014 -0.141337 
time: 1403638210.045097, t: 5.694513 -9.212251 2.871406 q: 0.867187 0.464749 0.112282 -0.139241 
time: 1403638210.145097, t: 5.562716 -9.200572 2.843821 q: 0.866459 0.465996 0.118651 -0.134231 
time: 1403638210.245097, t: 5.446386 -9.183568 2.822165 q: 0.865840 0.467381 0.121170 -0.131125 
time: 1403638210.345097, t: 5.328478 -9.151900 2.800974 q: 0.865653 0.467187 0.121855 -0.132410 
optimize pose graph 
time: 1403638210.445097, t: 5.211273 -9.107357 2.761694 q: 0.865847 0.467248 0.120104 -0.132529 
time: 1403638210.545097, t: 5.084004 -9.074083 2.726625 q: 0.865975 0.467305 0.120782 -0.130863 
time: 1403638210.645097, t: 4.953130 -9.027927 2.697347 q: 0.865809 0.467714 0.122322 -0.129055 
time: 1403638210.745097, t: 4.815347 -8.985071 2.645435 q: 0.866762 0.466797 0.121583 -0.126657 
time: 1403638210.845097, t: 4.680282 -8.934889 2.602884 q: 0.867494 0.466212 0.119209 -0.126055 
time: 1403638210.945097, t: 4.558115 -8.878971 2.546387 q: 0.868949 0.465042 0.111890 -0.127064 
time: 1403638211.045097, t: 4.451354 -8.796874 2.498474 q: 0.869505 0.465329 0.105120 -0.127985 
time: 1403638211.145097, t: 4.341493 -8.725624 2.452702 q: 0.869913 0.465264 0.099620 -0.129834 
time: 1403638211.245097, t: 4.242298 -8.643960 2.391820 q: 0.870519 0.464981 0.095182 -0.130114 
time: 1403638211.345097, t: 4.140563 -8.564989 2.338246 q: 0.872307 0.462081 0.093796 -0.129473 
time: 1403638211.445097, t: 4.021170 -8.478342 2.277750 q: 0.877535 0.453176 0.094097 -0.125337 
time: 1403638211.545097, t: 3.912158 -8.383893 2.236490 q: 0.884526 0.441582 0.093142 -0.118083 
time: 1403638211.645097, t: 3.814886 -8.274891 2.202439 q: 0.892779 0.428211 0.091251 -0.106086 
time: 1403638211.745097, t: 3.697125 -8.178350 2.162507 q: 0.903541 0.408763 0.089453 -0.092330 
time: 1403638211.845097, t: 3.597442 -8.077508 2.137891 q: 0.914732 0.387874 0.083985 -0.075934 
time: 1403638211.945097, t: 3.494321 -7.975002 2.098207 q: 0.925843 0.363662 0.081887 -0.062126 
time: 1403638212.045097, t: 3.412507 -7.847355 2.061942 q: 0.935572 0.340359 0.079709 -0.050071 
time: 1403638212.145097, t: 3.317650 -7.725044 2.026107 q: 0.944612 0.315254 0.081169 -0.041654 
time: 1403638212.245097, t: 3.246692 -7.583504 1.993411 q: 0.952846 0.290119 0.082285 -0.033825 
time: 1403638212.345097, t: 3.155486 -7.457672 1.958284 q: 0.960284 0.265303 0.082972 -0.024198 
time: 1403638212.445097, t: 3.113098 -7.332902 1.892778 q: 0.967435 0.238773 0.082269 -0.017008 
time: 1403638212.545097, t: 3.056476 -7.174192 1.861885 q: 0.972633 0.217102 0.082666 -0.004295 
time: 1403638212.645097, t: 2.994864 -7.023174 1.817819 q: 0.977763 0.193370 0.080765 0.008081 
time: 1403638212.745097, t: 2.947267 -6.871541 1.768390 q: 0.982685 0.167085 0.078442 0.016102 
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time: 1403638213.045097, t: 2.828353 -6.390167 1.613512 q: 0.991990 0.085984 0.074980 0.054223 
time: 1403638213.145097, t: 2.802786 -6.221458 1.563260 q: 0.993300 0.058616 0.070920 0.069920 
time: 1403638213.245097, t: 2.761046 -6.047977 1.494867 q: 0.993611 0.033180 0.060793 0.089113 
time: 1403638213.345097, t: 2.703439 -5.885032 1.442608 q: 0.992495 0.008040 0.050404 0.111122 
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time: 1403638213.845097, t: 2.493945 -4.923729 1.301079 q: 0.983658 -0.102857 0.070807 0.129707 
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time: 1403638214.645097, t: 2.293041 -3.340795 1.152081 q: 0.987840 -0.089948 0.058048 0.112743 
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time: 1403638215.245097, t: 2.066391 -2.321057 1.198373 q: 0.987947 -0.086453 0.077517 0.102364 
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time: 1403638216.045097, t: 1.738664 -1.121671 1.166600 q: 0.986283 -0.097782 0.079312 0.106745 
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time: 1403638216.245097, t: 1.665523 -0.867198 1.148835 q: 0.985679 -0.104386 0.079905 0.105620 
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time: 1403638216.645097, t: 1.548283 -0.414996 1.067497 q: 0.985433 -0.110687 0.079741 0.101549 
time: 1403638216.745097, t: 1.510994 -0.313998 1.048022 q: 0.985815 -0.111491 0.077146 0.098925 
time: 1403638216.845097, t: 1.470922 -0.216298 1.030456 q: 0.984998 -0.115759 0.082503 0.097834 
time: 1403638216.945097, t: 1.426374 -0.130423 1.011287 q: 0.983399 -0.123562 0.085696 0.101561 
time: 1403638217.045097, t: 1.375035 -0.048768 0.998410 q: 0.981194 -0.132961 0.084209 0.111757 
time: 1403638217.145097, t: 1.321296 0.027869 0.977479 q: 0.978616 -0.145057 0.079086 0.122531 
time: 1403638217.245097, t: 1.276512 0.098336 0.961396 q: 0.976341 -0.156960 0.073604 0.129245 
time: 1403638217.345097, t: 1.226762 0.164853 0.943048 q: 0.974617 -0.165969 0.070360 0.132758 
time: 1403638217.445097, t: 1.191148 0.229072 0.923120 q: 0.973372 -0.172236 0.067298 0.135474 
time: 1403638217.545097, t: 1.160518 0.285146 0.901241 q: 0.972800 -0.178867 0.064100 0.132505 
time: 1403638217.645097, t: 1.136087 0.340790 0.876009 q: 0.972777 -0.183866 0.061438 0.126975 
time: 1403638217.745097, t: 1.114229 0.393621 0.850582 q: 0.972942 -0.188207 0.059224 0.120223 
time: 1403638217.845097, t: 1.100831 0.440819 0.822968 q: 0.973363 -0.190446 0.056161 0.114629 
time: 1403638217.945097, t: 1.098564 0.482034 0.790768 q: 0.973526 -0.191342 0.058196 0.110675 
time: 1403638218.045097, t: 1.089375 0.512397 0.770407 q: 0.973599 -0.190597 0.061804 0.109348 
time: 1403638218.145097, t: 1.080044 0.539269 0.748935 q: 0.973644 -0.189175 0.064714 0.109738 
time: 1403638218.245097, t: 1.067550 0.558364 0.732448 q: 0.973643 -0.187909 0.069839 0.108778 
time: 1403638218.345097, t: 1.050239 0.565250 0.725679 q: 0.973281 -0.185395 0.077543 0.111085 
time: 1403638218.445097, t: 1.039282 0.570700 0.708638 q: 0.973379 -0.181210 0.079581 0.115597 
time: 1403638218.545097, t: 1.035772 0.567074 0.690933 q: 0.973577 -0.179224 0.078696 0.117620 
optimize pose graph 
time: 1403638218.645097, t: 1.036711 0.561760 0.661643 q: 0.973890 -0.176925 0.075983 0.120262 
time: 1403638218.745097, t: 1.036039 0.552867 0.632662 q: 0.973828 -0.177986 0.067864 0.123993 
time: 1403638218.845097, t: 1.030098 0.543948 0.604003 q: 0.972598 -0.183925 0.060858 0.128532 
time: 1403638218.945097, t: 1.021667 0.532567 0.580635 q: 0.970547 -0.186459 0.059798 0.140339 
time: 1403638219.045097, t: 1.012053 0.514816 0.567937 q: 0.967926 -0.185848 0.063246 0.156782 
time: 1403638219.145097, t: 0.999043 0.499216 0.552481 q: 0.966056 -0.187813 0.066998 0.164234 
time: 1403638219.245097, t: 0.986206 0.484501 0.538758 q: 0.965459 -0.194501 0.072548 0.157466 
time: 1403638219.345097, t: 0.971676 0.468456 0.522624 q: 0.964712 -0.201064 0.081476 0.149219 
time: 1403638219.445097, t: 0.957601 0.453089 0.501734 q: 0.963595 -0.205002 0.093188 0.144133 
time: 1403638219.545097, t: 0.944719 0.436240 0.473620 q: 0.963272 -0.205773 0.096388 0.143087 
time: 1403638219.645097, t: 0.931533 0.417145 0.439820 q: 0.963457 -0.203110 0.093294 0.147623 
time: 1403638219.745097, t: 0.917431 0.391379 0.403322 q: 0.963442 -0.199228 0.089791 0.154999 
time: 1403638219.845097, t: 0.895005 0.366811 0.366705 q: 0.963219 -0.194049 0.085606 0.165003 
time: 1403638219.945097, t: 0.866190 0.335730 0.332564 q: 0.962654 -0.189939 0.082741 0.174282 
time: 1403638220.045097, t: 0.833031 0.313779 0.292511 q: 0.962466 -0.186780 0.079043 0.180348 
time: 1403638220.145097, t: 0.796702 0.293096 0.253513 q: 0.963035 -0.187836 0.075039 0.177904 
time: 1403638220.245097, t: 0.764478 0.277564 0.207159 q: 0.964619 -0.194783 0.070158 0.163240 
time: 1403638220.345097, t: 0.736181 0.268053 0.152938 q: 0.965842 -0.200447 0.065417 0.150637 
time: 1403638220.445097, t: 0.715450 0.258661 0.096289 q: 0.966178 -0.203153 0.063640 0.145530 
time: 1403638220.545097, t: 0.701633 0.248148 0.039911 q: 0.966103 -0.204400 0.064038 0.144097 
time: 1403638220.645097, t: 0.685357 0.236508 -0.014041 q: 0.965839 -0.205995 0.064180 0.143534 
optimize pose graph 
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time: 1403638220.845097, t: 0.640396 0.205529 -0.107965 q: 0.965063 -0.207317 0.065027 0.146437 
time: 1403638220.945097, t: 0.607456 0.187953 -0.149859 q: 0.964791 -0.207725 0.063764 0.148200 
time: 1403638221.045097, t: 0.571655 0.168112 -0.187122 q: 0.964704 -0.208131 0.062696 0.148650 
time: 1403638221.145097, t: 0.538062 0.146074 -0.223679 q: 0.964550 -0.208879 0.061031 0.149292 
time: 1403638221.245097, t: 0.510816 0.130639 -0.262854 q: 0.964618 -0.208325 0.058522 0.150627 
time: 1403638221.345097, t: 0.486492 0.106335 -0.303669 q: 0.964446 -0.207451 0.056219 0.153774 
time: 1403638221.445097, t: 0.467189 0.085317 -0.344096 q: 0.964117 -0.206445 0.055583 0.157382 
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time: 1403638221.945097, t: 0.366749 -0.000384 -0.504711 q: 0.963319 -0.206910 0.065968 0.157651 
time: 1403638222.045097, t: 0.355515 -0.016105 -0.540511 q: 0.963621 -0.208532 0.065237 0.153924 
time: 1403638222.145097, t: 0.345410 -0.029657 -0.580801 q: 0.964150 -0.208668 0.059586 0.152715 
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time: 1403638222.345097, t: 0.315203 -0.061257 -0.646279 q: 0.964670 -0.207227 0.047523 0.155595 
time: 1403638222.445097, t: 0.293585 -0.083448 -0.663048 q: 0.964736 -0.207009 0.043001 0.156785 
time: 1403638222.545097, t: 0.278769 -0.093974 -0.690212 q: 0.964767 -0.206692 0.043320 0.156925 
time: 1403638222.645097, t: 0.261877 -0.108023 -0.701527 q: 0.964217 -0.207627 0.053174 0.156044 
time: 1403638222.745097, t: 0.240737 -0.120366 -0.712305 q: 0.963831 -0.208617 0.059450 0.154836 
time: 1403638222.845097, t: 0.218996 -0.133557 -0.721853 q: 0.963558 -0.209460 0.063771 0.153676 
time: 1403638222.945097, t: 0.197269 -0.147948 -0.729794 q: 0.962672 -0.210666 0.076620 0.151699 
optimize pose graph 
time: 1403638223.045097, t: 0.172545 -0.161749 -0.741251 q: 0.962682 -0.210078 0.077513 0.151995 
time: 1403638223.145097, t: 0.154712 -0.180387 -0.756416 q: 0.963454 -0.209736 0.067477 0.152365 
time: 1403638223.245097, t: 0.139976 -0.194445 -0.774303 q: 0.964023 -0.204950 0.051058 0.161396 
time: 1403638223.345097, t: 0.127287 -0.207595 -0.790877 q: 0.963961 -0.203224 0.047391 0.165028 
time: 1403638223.445097, t: 0.111852 -0.217269 -0.800123 q: 0.962945 -0.200724 0.054480 0.171696 
time: 1403638223.545097, t: 0.091719 -0.222760 -0.807195 q: 0.961495 -0.197113 0.063522 0.180663 
time: 1403638223.645097, t: 0.073539 -0.226486 -0.821415 q: 0.962101 -0.201146 0.064561 0.172433 
time: 1403638223.745097, t: 0.058703 -0.223680 -0.837353 q: 0.963160 -0.206627 0.062065 0.160546 
time: 1403638223.845097, t: 0.038417 -0.222430 -0.841386 q: 0.963838 -0.210449 0.059385 0.152319 
time: 1403638223.945097, t: 0.015896 -0.223218 -0.851185 q: 0.964277 -0.212903 0.058238 0.146459 
time: 1403638224.045097, t: -0.007208 -0.224414 -0.857128 q: 0.964660 -0.213066 0.054098 0.145286 
time: 1403638224.145097, t: -0.033155 -0.226022 -0.856186 q: 0.965170 -0.210716 0.044708 0.148479 
time: 1403638224.245097, t: -0.064520 -0.229038 -0.853184 q: 0.965375 -0.209230 0.039546 0.150699 
time: 1403638224.345097, t: -0.077852 -0.229338 -0.846920 q: 0.964983 -0.210075 0.046857 0.149932 
time: 1403638224.445097, t: -0.093641 -0.231957 -0.839079 q: 0.963744 -0.208359 0.058757 0.155985 
time: 1403638224.545097, t: -0.102530 -0.238566 -0.834469 q: 0.962853 -0.209627 0.070995 0.154696 
time: 1403638224.645097, t: -0.119206 -0.243227 -0.828108 q: 0.963309 -0.209766 0.067132 0.153386 
time: 1403638224.745097, t: -0.133981 -0.246781 -0.823263 q: 0.964483 -0.207531 0.049524 0.155725 
time: 1403638224.845097, t: -0.138495 -0.252610 -0.816571 q: 0.964722 -0.206499 0.044813 0.157038 
time: 1403638224.945097, t: -0.138172 -0.260128 -0.811347 q: 0.963465 -0.204059 0.058489 0.163320 
time: 1403638225.045097, t: -0.133857 -0.263583 -0.806269 q: 0.962284 -0.201501 0.070484 0.168638 
optimize pose graph 
time: 1403638225.145097, t: -0.128260 -0.263738 -0.806269 q: 0.962804 -0.203446 0.071228 0.162925 
time: 1403638225.245097, t: -0.123668 -0.262951 -0.804647 q: 0.964256 -0.203846 0.059587 0.158449 
time: 1403638225.345097, t: -0.116931 -0.261554 -0.806335 q: 0.965014 -0.204429 0.052586 0.155535 
time: 1403638225.445097, t: -0.112302 -0.259384 -0.803510 q: 0.964725 -0.205985 0.059532 0.152745 
time: 1403638225.545097, t: -0.113048 -0.258176 -0.795802 q: 0.963545 -0.209072 0.076965 0.148141 
time: 1403638225.645097, t: -0.120709 -0.259749 -0.787159 q: 0.962132 -0.211693 0.093708 0.143897 
time: 1403638225.745097, t: -0.141006 -0.266365 -0.776473 q: 0.962603 -0.211820 0.090103 0.142858 
time: 1403638225.845097, t: -0.173900 -0.282119 -0.766321 q: 0.964183 -0.209287 0.071341 0.146492 
time: 1403638225.945097, t: -0.213221 -0.290166 -0.744072 q: 0.965318 -0.206564 0.054344 0.150130 
time: 1403638226.045097, t: -0.233300 -0.306840 -0.741382 q: 0.966512 -0.201321 0.037896 0.154560 
time: 1403638226.145097, t: -0.220660 -0.305392 -0.722970 q: 0.964798 -0.188840 0.043954 0.177688 
time: 1403638226.245097, t: -0.249492 -0.334007 -0.686062 q: 0.966671 -0.202980 0.032780 0.152551 
time: 1403638226.345097, t: -0.223236 -0.322239 -0.708266 q: 0.966747 -0.201436 0.037933 0.152918 
time: 1403638226.445097, t: -0.221876 -0.324479 -0.710015 q: 0.966709 -0.201645 0.037945 0.152884 
time: 1403638226.545097, t: -0.222027 -0.324705 -0.709655 q: 0.966755 -0.201485 0.038908 0.152558 
time: 1403638226.645097, t: -0.221988 -0.324991 -0.709515 q: 0.966694 -0.201363 0.038939 0.153100 
time: 1403638226.745097, t: -0.221957 -0.325143 -0.709667 q: 0.966665 -0.201179 0.038314 0.153684 
time: 1403638226.845097, t: -0.221802 -0.326495 -0.709627 q: 0.966688 -0.201210 0.038830 0.153368 
time: 1403638226.945097, t: -0.221801 -0.338129 -0.707448 q: 0.966629 -0.201853 0.038460 0.152984 
time: 1403638227.045097, t: -0.220527 -0.335305 -0.710258 q: 0.966721 -0.201873 0.038482 0.152371 
time: 1403638227.145097, t: -0.220021 -0.342510 -0.709961 q: 0.966636 -0.202026 0.038398 0.152727 
time: 1403638227.245097, t: -0.219545 -0.338643 -0.711392 q: 0.966667 -0.201637 0.038362 0.153052 
time: 1403638227.345097, t: -0.218775 -0.334072 -0.713199 q: 0.966649 -0.201586 0.038254 0.153262 
time: 1403638227.445097, t: -0.218812 -0.334119 -0.713176 q: 0.966643 -0.201606 0.038264 0.153271 
time: 1403638227.545097, t: -0.218787 -0.334024 -0.713194 q: 0.966667 -0.201655 0.038272 0.153057 
time: 1403638227.645097, t: -0.218767 -0.333917 -0.713208 q: 0.966681 -0.201720 0.038261 0.152880 
time: 1403638227.745097, t: -0.218790 -0.333972 -0.713231 q: 0.966675 -0.201731 0.038248 0.152910 
time: 1403638227.845097, t: -0.218844 -0.335960 -0.712800 q: 0.966654 -0.201662 0.038263 0.153126 
time: 1403638227.945097, t: -0.218847 -0.335941 -0.712780 q: 0.966656 -0.201652 0.038293 0.153125 
time: 1403638228.045097, t: -0.218806 -0.334025 -0.713188 q: 0.966658 -0.201665 0.038262 0.153098 
time: 1403638228.245097, t: -0.218797 -0.333990 -0.713211 q: 0.966670 -0.201685 0.038290 0.152994 
time: 1403638228.345097, t: -0.218807 -0.333709 -0.713234 q: 0.966671 -0.201656 0.038300 0.153017 
time: 1403638228.445097, t: -0.218821 -0.333991 -0.713181 q: 0.966678 -0.201670 0.038229 0.152975 
time: 1403638228.545097, t: -0.218789 -0.334021 -0.713204 q: 0.966676 -0.201653 0.038287 0.152995 
time: 1403638228.645097, t: -0.218752 -0.334144 -0.713308 q: 0.966671 -0.201676 0.038244 0.153006 
time: 1403638228.745097, t: -0.218760 -0.334139 -0.713253 q: 0.966680 -0.201623 0.038285 0.153008 
time: 1403638228.845097, t: -0.218755 -0.334072 -0.713262 q: 0.966666 -0.201662 0.038304 0.153046 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720507061.132802017]: Shutdown request received.[0m
[33m[ WARN] [1720507061.132838133]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720507061.133695010]: Shutdown request received.[0m
[33m[ WARN] [1720507061.133715018]: Reason given for shutdown: [user request][0m
killed
