/SLAM-Hive/slam_hive_results/mapping_results/3086/2294_vins-fusion-stereo+MH_05_difficult+Image_comb_test-14.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720512961.412287333]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720512961.414236568]: init begins[0m
[31m[ERROR] [1720512961.415552259]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/7a7ef4fe-3dcb-11ef-a7e6-0242ac110005/roslaunch-cabe64db4dc6-118.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://cabe64db4dc6:45077/[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] [1720512962.567814111]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://cabe64db4dc6:11311/[0m
]2;roscore http://cabe64db4dc6:11311/
[1msetting /run_id to 7a7ef4fe-3dcb-11ef-a7e6-0242ac110005[0m
[0m[ INFO] [1720512962.570747702]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720512962.578390321]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720512962.578621925]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720512962.578657183]: 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] [1720512962.578925235]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720512962.579122230]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720512962.579286035]: 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 [235][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720512971.569900715]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316874453.63 
[0m[ INFO] [1720512976.159678899]: Initialization finish![0m
time: 1403638522.277829, t: 0.095145 0.125635 0.000973 q: 0.999893 0.014208 0.001053 -0.003414 
time: 1403638522.677830, t: 0.018866 -0.031173 0.055554 q: 0.998983 0.040248 0.014901 0.013827 
time: 1403638523.077830, t: 0.368663 -0.371133 0.181179 q: 0.996954 0.055046 0.045633 0.031153 
time: 1403638523.477829, t: 0.307217 -0.379826 0.202263 q: 0.997888 0.039495 0.047779 0.019431 
time: 1403638523.877830, t: 0.053056 -0.147391 0.133520 q: 0.999446 0.032631 0.004269 -0.004932 
time: 1403638524.277829, t: 0.037266 -0.266693 0.189016 q: 0.999116 0.032296 -0.010512 -0.024763 
time: 1403638524.677830, t: 0.370497 -0.280486 0.153754 q: 0.998699 0.039099 0.031521 -0.008834 
time: 1403638525.077830, t: 0.162705 -0.172954 0.251620 q: 0.997616 0.032246 0.059957 -0.011339 
time: 1403638525.477829, t: 0.197102 -0.202014 0.205879 q: 0.998685 0.045440 0.008580 -0.022123 
time: 1403638525.877830, t: 0.008933 -0.255801 0.262577 q: 0.999363 0.033945 -0.001223 -0.010930 
time: 1403638526.277829, t: 0.018888 -0.030615 0.202756 q: 0.999927 0.010950 -0.003696 -0.003602 
time: 1403638526.677830, t: 0.038474 0.127562 0.161524 q: 0.999014 -0.020354 0.031620 0.023613 
time: 1403638527.077830, t: 0.104885 0.297210 0.059072 q: 0.997258 -0.064333 0.019931 0.030659 
time: 1403638527.477829, t: 0.085178 0.493107 -0.013017 q: 0.991091 -0.123069 0.030586 0.040707 
time: 1403638527.877830, t: 0.110413 0.435251 0.074388 q: 0.994107 -0.098158 0.026582 0.037546 
time: 1403638528.277829, t: 0.145951 0.163862 0.205564 q: 0.997689 -0.051579 0.029301 0.033134 
time: 1403638528.677830, t: 0.189635 0.035179 0.388206 q: 0.997729 -0.049971 0.026557 0.036543 
time: 1403638529.077830, t: 0.201212 0.011244 0.391655 q: 0.996270 -0.058275 0.029286 0.056504 
time: 1403638529.477829, t: 0.179324 -0.101578 0.290474 q: 0.996846 -0.075368 -0.004863 0.024381 
time: 1403638529.877830, t: 0.065442 -0.174648 0.293937 q: 0.997089 -0.072433 -0.012152 0.020458 
time: 1403638530.277829, t: 0.001348 -0.170402 0.361070 q: 0.996224 -0.081559 -0.011173 0.027580 
time: 1403638530.677830, t: -0.009757 -0.147717 0.409938 q: 0.994809 -0.092919 -0.015882 0.038331 
time: 1403638531.077830, t: -0.035702 -0.146196 0.425452 q: 0.994999 -0.091080 -0.012120 0.039169 
time: 1403638531.477829, t: -0.040866 -0.152940 0.428623 q: 0.995124 -0.092414 -0.001164 0.034443 
time: 1403638531.877830, t: -0.033210 -0.151469 0.414052 q: 0.995042 -0.088730 -0.011138 0.043527 
time: 1403638532.277829, t: -0.051783 -0.145643 0.437565 q: 0.995239 -0.090418 -0.002428 0.036305 
time: 1403638532.677830, t: -0.059930 -0.141587 0.438854 q: 0.995192 -0.091889 -0.000835 0.033904 
time: 1403638533.077830, t: -0.061376 -0.147360 0.434517 q: 0.995173 -0.092146 -0.000878 0.033757 
time: 1403638533.477829, t: -0.061654 -0.147631 0.434767 q: 0.995171 -0.092165 -0.000837 0.033766 
time: 1403638533.877830, t: -0.061749 -0.147486 0.434688 q: 0.995205 -0.091712 -0.000904 0.033987 
time: 1403638534.277829, t: -0.056411 -0.143294 0.432995 q: 0.995202 -0.091744 -0.001096 0.033993 
time: 1403638534.677830, t: -0.056471 -0.143301 0.433277 q: 0.995218 -0.091501 -0.000994 0.034181 
time: 1403638535.077830, t: -0.058294 -0.142932 0.434373 q: 0.995179 -0.092052 -0.001021 0.033817 
time: 1403638535.477829, t: -0.058324 -0.142897 0.434429 q: 0.995186 -0.091920 -0.000903 0.033982 
time: 1403638535.877830, t: -0.058331 -0.142877 0.434470 q: 0.995195 -0.091804 -0.000907 0.034018 
time: 1403638536.277829, t: -0.058336 -0.142874 0.434480 q: 0.995194 -0.091810 -0.000916 0.034040 
time: 1403638536.677830, t: -0.058334 -0.142871 0.434492 q: 0.995201 -0.091747 -0.000916 0.034018 
time: 1403638537.077830, t: -0.058360 -0.142863 0.434502 q: 0.995200 -0.091700 -0.000781 0.034177 
time: 1403638537.477829, t: -0.058344 -0.142871 0.434489 q: 0.995190 -0.091845 -0.000817 0.034057 
time: 1403638537.877830, t: -0.058342 -0.142871 0.434495 q: 0.995191 -0.091860 -0.000681 0.034001 
time: 1403638538.277829, t: -0.058367 -0.142864 0.434502 q: 0.995191 -0.091826 -0.000370 0.034106 
time: 1403638538.677830, t: -0.058399 -0.142869 0.434462 q: 0.995169 -0.092023 0.000254 0.034208 
time: 1403638539.077830, t: -0.059129 -0.141752 0.435709 q: 0.994773 -0.092000 0.033343 0.029171 
time: 1403638539.477829, t: -0.439398 -0.125470 0.673837 q: 0.994172 -0.088760 0.050586 0.034433 
time: 1403638539.877830, t: -0.385196 -0.091840 0.703962 q: 0.995019 -0.082875 0.044338 0.033226 
time: 1403638540.277829, t: 0.064496 -0.116645 0.580510 q: 0.996017 -0.083283 0.008816 0.030585 
time: 1403638540.677830, t: 0.123535 -0.088473 0.745255 q: 0.998435 -0.048142 0.027504 0.007250 
time: 1403638541.077830, t: 0.314875 0.062957 0.891019 q: 0.997031 0.052069 0.028481 -0.049069 
time: 1403638541.477829, t: 0.622431 -0.220247 1.039674 q: 0.995867 0.072437 0.015736 -0.052478 
time: 1403638541.877830, t: 0.638027 -0.414781 1.220325 q: 0.992337 0.103107 0.031120 -0.060565 
time: 1403638542.277829, t: 0.820621 -0.648043 1.351347 q: 0.977265 0.189973 0.022120 -0.091511 
time: 1403638542.677830, t: 0.956741 -0.902909 1.499703 q: 0.958585 0.241454 0.054306 -0.140947 
time: 1403638543.077830, t: 1.086840 -1.185824 1.517795 q: 0.959195 0.256457 0.023892 -0.116635 
time: 1403638543.477829, t: 1.206422 -1.557644 1.543046 q: 0.959640 0.255613 0.018810 -0.115752 
time: 1403638543.877830, t: 1.256999 -1.901465 1.612383 q: 0.932018 0.325357 0.022468 -0.158051 
time: 1403638544.277829, t: 1.359061 -2.292834 1.684860 q: 0.906788 0.387336 0.017245 -0.165558 
time: 1403638544.677830, t: 1.425242 -2.694982 1.754426 q: 0.903406 0.395297 0.029287 -0.163527 
time: 1403638545.077830, t: 1.488762 -3.080592 1.847920 q: 0.901398 0.398675 0.023757 -0.167259 
time: 1403638545.477829, t: 1.518742 -3.434673 1.931535 q: 0.899737 0.401964 0.025156 -0.168123 
time: 1403638546.277829, t: 1.621560 -4.183214 2.067631 q: 0.823563 0.517480 0.017398 -0.231638 
time: 1403638546.677830, t: 1.628390 -4.549215 2.140663 q: 0.811130 0.536241 0.012937 -0.233122 
time: 1403638547.077830, t: 1.700050 -4.958696 2.176449 q: 0.799935 0.545741 0.018379 -0.248862 
time: 1403638547.477829, t: 1.687028 -5.388154 2.193776 q: 0.800207 0.546610 0.015773 -0.246246 
time: 1403638548.277829, t: 1.569309 -6.359085 2.173694 q: 0.786396 0.563115 0.008847 -0.253780 
time: 1403638548.677830, t: 1.610950 -6.885083 2.111587 q: 0.747778 0.606860 0.005432 -0.269294 
time: 1403638549.077830, t: 1.632431 -7.417908 2.020159 q: 0.739695 0.615709 0.004512 -0.271539 
time: 1403638549.477829, t: 1.750528 -7.990867 1.880238 q: 0.742252 0.616504 0.000235 -0.262650 
time: 1403638549.877830, t: 1.810998 -8.560359 1.757559 q: 0.745071 0.614326 0.002002 -0.259749 
time: 1403638550.277829, t: 1.968686 -9.143256 1.611141 q: 0.746557 0.612827 -0.001152 -0.259026 
time: 1403638550.677830, t: 2.166812 -9.716652 1.536475 q: 0.746112 0.618511 0.000094 -0.246497 
time: 1403638551.077830, t: 2.229972 -10.344297 1.426818 q: 0.751797 0.619467 0.024243 -0.224665 
time: 1403638551.477829, t: 2.408991 -10.770167 1.476817 q: 0.766698 0.605990 0.008640 -0.211838 
time: 1403638551.877830, t: 2.619260 -11.063418 1.690971 q: 0.821311 0.543816 -0.001735 -0.172366 
time: 1403638552.277829, t: 2.906185 -11.330677 1.937916 q: 0.842816 0.507847 0.005360 -0.178110 
time: 1403638552.677830, t: 3.193362 -11.491293 2.259615 q: 0.839852 0.517730 0.015845 -0.162338 
time: 1403638553.077830, t: 3.357530 -11.566705 2.585508 q: 0.836329 0.515844 0.020736 -0.184467 
time: 1403638553.477829, t: 3.488289 -11.533782 2.877555 q: 0.833909 0.519335 0.050073 -0.179943 
time: 1403638553.877830, t: 3.696192 -11.313592 3.131909 q: 0.833488 0.515108 0.055606 -0.192011 
time: 1403638554.277829, t: 3.962107 -11.032929 3.280079 q: 0.836556 0.504736 0.024888 -0.211650 
time: 1403638554.677830, t: 4.079689 -10.669571 3.429457 q: 0.837333 0.503199 0.011091 -0.213405 
time: 1403638555.077830, t: 4.247425 -10.329019 3.587376 q: 0.841807 0.501378 0.010262 -0.199687 
time: 1403638555.477829, t: 4.368161 -9.969694 3.829542 q: 0.861634 0.468338 0.013439 -0.195106 
time: 1403638555.877830, t: 4.476428 -9.616367 4.052797 q: 0.864533 0.463380 0.011241 -0.194254 
time: 1403638556.277829, t: 4.644922 -9.300919 4.273099 q: 0.863089 0.463657 -0.000296 -0.200247 
time: 1403638556.677830, t: 4.798040 -9.035002 4.503316 q: 0.864254 0.464033 -0.017936 -0.193433 
time: 1403638557.077830, t: 5.020873 -8.820719 4.775001 q: 0.864816 0.469802 -0.004282 -0.177089 
time: 1403638557.477829, t: 5.226233 -8.598703 5.130996 q: 0.864045 0.466119 0.004883 -0.190092 
time: 1403638557.877830, t: 5.453841 -8.358014 5.471541 q: 0.864320 0.460925 0.014389 -0.200731 
time: 1403638558.277829, t: 5.645816 -8.160194 5.814038 q: 0.865833 0.454170 -0.011957 -0.209571 
time: 1403638558.677830, t: 5.887652 -8.081790 6.167480 q: 0.867150 0.451456 -0.024143 -0.208940 
time: 1403638559.077830, t: 6.138296 -8.089039 6.553861 q: 0.868412 0.456669 -0.000398 -0.193169 
time: 1403638559.477829, t: 6.315653 -8.119514 7.003890 q: 0.866426 0.455648 0.017860 -0.203399 
time: 1403638559.877830, t: 6.457885 -8.202707 7.425759 q: 0.865638 0.456251 0.020927 -0.205106 
time: 1403638560.277829, t: 6.580160 -8.286464 7.844633 q: 0.900891 0.398366 0.022502 -0.170861 
time: 1403638560.677830, t: 6.612019 -8.311701 8.234409 q: 0.946750 0.301440 0.039279 -0.106095 
time: 1403638561.077830, t: 6.679199 -8.319553 8.580155 q: 0.974245 0.213337 0.050254 -0.052998 
time: 1403638561.477829, t: 6.828052 -8.186137 8.822333 q: 0.984437 0.162428 0.046659 -0.048199 
time: 1403638561.877830, t: 6.856245 -7.981947 9.008976 q: 0.985210 0.152288 0.040758 -0.067141 
time: 1403638562.277829, t: 6.860412 -7.794321 9.199692 q: 0.991117 0.110631 0.044959 -0.058529 
time: 1403638562.677830, t: 6.948533 -7.537134 9.282125 q: 0.997649 0.046171 0.047823 -0.016644 
time: 1403638563.077830, t: 6.981122 -7.266783 9.321230 q: 0.996909 -0.042328 0.053065 0.039562 
time: 1403638563.477829, t: 6.912255 -6.972757 9.313862 q: 0.990346 -0.094862 0.080187 0.061529 
time: 1403638563.877830, t: 6.816685 -6.626776 9.214181 q: 0.991147 -0.093871 0.070535 0.061969 
time: 1403638564.277829, t: 6.742378 -6.258754 9.003740 q: 0.992333 -0.081184 0.074753 0.055641 
time: 1403638564.677830, t: 6.663231 -5.823677 8.650834 q: 0.993198 -0.072627 0.072481 0.055037 
time: 1403638565.077830, t: 6.421069 -5.281398 8.290992 q: 0.992715 -0.069180 0.074134 0.065076 
time: 1403638565.477829, t: 6.120674 -4.669367 7.869155 q: 0.993366 -0.074103 0.064410 0.059864 
time: 1403638565.877830, t: 5.856624 -3.943392 7.359378 q: 0.994019 -0.091488 0.052669 0.027952 
time: 1403638566.277829, t: 5.528868 -3.391250 6.807734 q: 0.993691 -0.098167 0.044319 0.031274 
time: 1403638566.677830, t: 5.175245 -3.266913 6.119071 q: 0.993206 -0.109305 0.008597 0.038987 
time: 1403638567.077830, t: 4.627882 -2.780337 5.525553 q: 0.993539 -0.102918 -0.024064 0.041343 
time: 1403638567.477829, t: 5.050393 -2.470632 4.660938 q: 0.992094 -0.119170 -0.030267 0.025138 
time: 1403638567.877830, t: 3.686297 -1.368977 4.806346 q: 0.994455 -0.100981 -0.012088 0.026758 
time: 1403638568.277829, t: 3.412627 -1.131064 4.515392 q: 0.993746 -0.109214 -0.011676 0.020099 
time: 1403638568.677830, t: 3.215844 -0.909902 4.220972 q: 0.993364 -0.111643 -0.020756 0.018258 
time: 1403638569.077830, t: 2.999103 -0.693538 4.095966 q: 0.993544 -0.110875 -0.018126 0.015750 
time: 1403638569.477829, t: 2.975155 -0.571926 3.977256 q: 0.993199 -0.113667 -0.021927 0.012467 
time: 1403638569.877830, t: 2.966795 -0.517326 3.943812 q: 0.993310 -0.114094 -0.015065 0.009505 
time: 1403638570.677830, t: 2.863353 -0.506298 4.017852 q: 0.985535 -0.135735 0.003003 0.101434 
time: 1403638571.077830, t: 2.719899 -0.398533 4.012470 q: 0.961505 -0.230540 0.036772 0.144938 
time: 1403638571.477829, t: 2.579199 -0.196669 3.883651 q: 0.945603 -0.295084 0.018148 0.135763 
time: 1403638571.877830, t: 2.475266 0.052526 3.666264 q: 0.925905 -0.344130 0.004725 0.155733 
time: 1403638572.677830, t: 2.258823 0.738241 3.028840 q: 0.853153 -0.482101 -0.016555 0.198580 
time: 1403638573.077830, t: 2.190127 1.183458 2.701184 q: 0.851067 -0.488307 -0.033390 0.190069 
time: 1403638573.477829, t: 2.159822 1.639582 2.426513 q: 0.852595 -0.485938 -0.038375 0.188345 
time: 1403638573.877830, t: 2.211233 2.201683 2.223532 q: 0.839407 -0.511323 -0.031085 0.181600 
time: 1403638574.277829, t: 2.269397 2.792394 2.110779 q: 0.781621 -0.581250 0.028101 0.224561 
time: 1403638574.677830, t: 2.185416 3.325142 1.945820 q: 0.718894 -0.650458 0.021061 0.244238 
time: 1403638575.077830, t: 2.152666 3.782952 1.724493 q: 0.706091 -0.659159 0.001764 0.258730 
time: 1403638575.477829, t: 2.039435 4.262692 1.528952 q: 0.711952 -0.648542 0.001409 0.269286 
time: 1403638575.877830, t: 1.942634 4.749836 1.296502 q: 0.719704 -0.643956 -0.026803 0.258126 
time: 1403638576.277829, t: 1.973955 5.280406 1.024591 q: 0.721759 -0.644794 -0.023242 0.250528 
time: 1403638576.677830, t: 1.999656 5.944992 0.803229 q: 0.721071 -0.651350 -0.043574 0.232165 
time: 1403638577.077830, t: 2.014986 6.631587 0.753204 q: 0.722155 -0.652506 -0.011639 0.229331 
time: 1403638577.477829, t: 2.119899 7.309035 0.780481 q: 0.721714 -0.655982 -0.020942 0.219950 
time: 1403638577.877830, t: 2.240480 7.971349 0.847948 q: 0.723456 -0.650848 -0.017900 0.229538 
time: 1403638578.277829, t: 2.376849 8.608451 1.025123 q: 0.725451 -0.644233 -0.000237 0.242247 
time: 1403638578.677830, t: 2.474219 9.183670 1.195074 q: 0.724171 -0.646269 0.002781 0.240635 
time: 1403638579.077830, t: 2.563834 9.669414 1.362287 q: 0.724378 -0.651120 -0.010394 0.226297 
time: 1403638579.477829, t: 2.682787 10.234155 1.526781 q: 0.726118 -0.643968 0.008358 0.240806 
time: 1403638579.877830, t: 2.729186 10.685746 1.709581 q: 0.769353 -0.605769 0.014597 0.202306 
time: 1403638580.277829, t: 2.904784 11.075839 1.988806 q: 0.870001 -0.474542 -0.003510 0.133771 
time: 1403638580.677830, t: 2.756454 11.203579 2.444116 q: 0.909158 -0.400709 -0.018329 0.111930 
time: 1403638581.077830, t: 2.757920 11.391138 2.552808 q: 0.924030 -0.367172 -0.038707 0.099275 
time: 1403638581.477829, t: 2.876860 11.714805 2.405260 q: 0.933050 -0.340971 -0.030167 0.110665 
time: 1403638581.877830, t: 3.016642 11.859523 2.462105 q: 0.929838 -0.351800 -0.015064 0.106825 
time: 1403638582.277829, t: 3.072425 11.941532 2.533093 q: 0.928816 -0.352989 -0.022590 0.110405 
time: 1403638582.677830, t: 3.229541 11.970095 2.541775 q: 0.929251 -0.354348 -0.011255 0.103938 
time: 1403638583.077830, t: 3.420063 11.923788 2.507658 q: 0.928374 -0.353678 -0.016322 0.112988 
time: 1403638583.477829, t: 3.553560 11.842259 2.518205 q: 0.927986 -0.353507 -0.017398 0.116495 
time: 1403638583.877830, t: 3.730997 11.757423 2.561345 q: 0.928239 -0.353383 -0.016936 0.114918 
time: 1403638584.277829, t: 3.831533 11.632451 2.635298 q: 0.928451 -0.356712 0.019320 0.101797 
time: 1403638584.677830, t: 3.890784 11.424774 2.712534 q: 0.928381 -0.356517 0.020515 0.102873 
time: 1403638585.077830, t: 3.979634 11.128941 2.686184 q: 0.929104 -0.349184 -0.010499 0.121350 
time: 1403638585.477829, t: 3.998540 10.805695 2.713907 q: 0.929176 -0.349030 -0.005155 0.121584 
time: 1403638585.877830, t: 4.062838 10.461777 2.729710 q: 0.928875 -0.345691 -0.028279 0.129961 
time: 1403638586.277829, t: 4.198808 10.154467 2.769283 q: 0.928072 -0.350072 -0.012868 0.126361 
time: 1403638586.677830, t: 4.262965 9.867612 2.848056 q: 0.927412 -0.356912 -0.007914 0.111614 
time: 1403638587.077830, t: 4.212500 9.521250 2.963820 q: 0.927500 -0.354689 -0.001892 0.118046 
time: 1403638587.477829, t: 4.233805 9.161464 3.032497 q: 0.927658 -0.352780 -0.010282 0.122027 
time: 1403638587.877830, t: 4.228334 8.800268 3.120765 q: 0.927073 -0.353201 -0.008567 0.125346 
time: 1403638588.277829, t: 4.166791 8.451211 3.214985 q: 0.927087 -0.357242 -0.011505 0.112939 
time: 1403638588.677830, t: 4.179151 8.072172 3.292371 q: 0.927427 -0.354695 -0.009174 0.118262 
time: 1403638589.077830, t: 4.227663 7.674354 3.347731 q: 0.926932 -0.354235 -0.006402 0.123588 
time: 1403638589.477829, t: 4.201438 7.280997 3.393444 q: 0.927019 -0.354365 -0.006333 0.122561 
time: 1403638589.877830, t: 4.209911 6.895199 3.398922 q: 0.927091 -0.353541 -0.010279 0.124118 
time: 1403638590.277829, t: 4.200510 6.504359 3.413618 q: 0.926638 -0.354236 -0.008019 0.125679 
time: 1403638590.677830, t: 4.161468 6.106658 3.439613 q: 0.926341 -0.353581 -0.015795 0.128935 
time: 1403638591.077830, t: 4.190584 5.733237 3.449923 q: 0.925939 -0.352820 -0.021455 0.133019 
time: 1403638591.477829, t: 4.207696 5.417538 3.483150 q: 0.923982 -0.349147 -0.052600 0.146925 
time: 1403638591.877830, t: 4.214639 5.207633 3.585215 q: 0.923790 -0.348789 -0.051890 0.149216 
time: 1403638592.277829, t: 4.286250 5.134634 3.760548 q: 0.929167 -0.340002 -0.021373 0.143494 
time: 1403638592.677830, t: 4.505807 5.120230 3.870358 q: 0.950149 -0.285027 -0.022984 0.124291 
time: 1403638593.077830, t: 4.718791 5.160196 3.968974 q: 0.955496 -0.267097 -0.043421 0.117479 
time: 1403638593.477829, t: 4.946323 5.284558 4.111606 q: 0.955865 -0.278743 -0.023431 0.089864 
time: 1403638593.877830, t: 5.135246 5.391793 4.279147 q: 0.955820 -0.281320 0.005896 0.085042 
time: 1403638594.277829, t: 5.318085 5.417677 4.407800 q: 0.961966 -0.260001 -0.005738 0.083589 
time: 1403638594.677830, t: 5.515683 5.391248 4.451632 q: 0.963935 -0.252991 -0.001713 0.082594 
time: 1403638595.077830, t: 5.674448 5.316970 4.463990 q: 0.963156 -0.253261 -0.009137 0.090036 
time: 1403638595.477829, t: 5.711864 5.228505 4.465375 q: 0.962795 -0.253996 -0.011144 0.091587 
time: 1403638595.877830, t: 5.712671 5.129951 4.463634 q: 0.962890 -0.256501 -0.014780 0.082658 
time: 1403638596.277829, t: 5.643148 4.999289 4.488039 q: 0.961816 -0.268703 -0.024576 0.045873 
time: 1403638596.677830, t: 5.681130 4.735576 4.544546 q: 0.960124 -0.277801 -0.030155 0.008926 
time: 1403638597.077830, t: 5.833606 4.250831 4.624794 q: 0.959587 -0.280141 -0.026030 -0.006044 
time: 1403638597.477829, t: 5.959051 3.479983 4.810359 q: 0.960671 -0.277314 -0.004546 0.013668 
time: 1403638597.877830, t: 6.056699 2.535422 5.072214 q: 0.963219 -0.268265 0.000922 0.015591 
time: 1403638598.277829, t: 6.105388 1.426374 5.343197 q: 0.970800 -0.235207 0.004200 0.046977 
time: 1403638598.677830, t: 6.157468 0.404316 5.486197 q: 0.976860 -0.205862 -0.006919 0.057603 
time: 1403638599.077830, t: 6.189290 -0.823513 5.626323 q: 0.989074 -0.143479 -0.009964 0.032343 
time: 1403638599.477829, t: 6.272041 -1.885023 5.757064 q: 0.997791 -0.064321 -0.015606 0.005717 
time: 1403638599.877830, t: 6.419779 -3.260709 6.048056 q: 0.997513 -0.065060 -0.025597 0.008933 
time: 1403638600.277829, t: 6.510486 -4.328300 6.238229 q: 0.995744 -0.060115 -0.034567 0.060699 
time: 1403638600.677830, t: 6.655563 -5.285843 6.517826 q: 0.992915 -0.063006 -0.046899 0.089170 
time: 1403638601.077830, t: 6.589452 -5.750686 6.807045 q: 0.995276 -0.067380 -0.057684 0.039483 
time: 1403638601.477829, t: 6.679631 -6.180465 7.068285 q: 0.998197 -0.051728 -0.026528 0.014974 
time: 1403638601.877830, t: 6.844998 -6.630068 7.294233 q: 0.998465 0.043709 -0.008318 -0.032986 
time: 1403638602.277829, t: 6.965263 -7.275782 7.705721 q: 0.990946 0.113157 0.009504 -0.071636 
time: 1403638602.677830, t: 7.249109 -7.784600 7.813520 q: 0.968391 0.232562 0.080833 -0.040001 
time: 1403638603.077830, t: 7.368406 -7.961286 7.729086 q: 0.937223 0.338526 0.061636 -0.056696 
time: 1403638603.477829, t: 7.301550 -8.097187 7.606774 q: 0.922190 0.372518 0.007727 -0.103619 
time: 1403638603.877830, t: 7.273532 -8.260091 7.403645 q: 0.920897 0.366143 0.042639 -0.126765 
time: 1403638604.277829, t: 7.123872 -8.294278 7.146973 q: 0.921640 0.360826 0.053365 -0.132424 
time: 1403638604.677830, t: 6.954025 -8.304041 6.741470 q: 0.923897 0.360476 0.015646 -0.127380 
time: 1403638605.077830, t: 6.808879 -8.275768 6.265960 q: 0.924973 0.357886 -0.016658 -0.126750 
time: 1403638605.477829, t: 6.738113 -8.266244 5.871594 q: 0.924646 0.349985 -0.001692 -0.150125 
time: 1403638605.877830, t: 6.640938 -8.340345 5.487799 q: 0.924129 0.342574 0.021662 -0.167810 
time: 1403638606.277829, t: 6.529028 -8.500975 4.982701 q: 0.924652 0.334844 0.020978 -0.180162 
time: 1403638606.677830, t: 6.289675 -8.824516 4.451647 q: 0.925869 0.344796 -0.032964 -0.150981 
time: 1403638607.077830, t: 6.039929 -9.191376 3.979823 q: 0.896178 0.406964 -0.048798 -0.169891 
time: 1403638607.477829, t: 5.883381 -9.672617 3.617398 q: 0.878925 0.450905 -0.018381 -0.154396 
time: 1403638607.877830, t: 5.665324 -10.097025 3.385744 q: 0.878868 0.451018 -0.015944 -0.154659 
time: 1403638608.277829, t: 5.387191 -10.435387 3.266657 q: 0.882005 0.445981 -0.000575 -0.152212 
time: 1403638608.677830, t: 5.098279 -10.721827 3.130525 q: 0.883311 0.445045 0.009586 -0.146982 
time: 1403638609.077830, t: 4.788100 -10.942022 2.978101 q: 0.883969 0.443387 -0.008715 -0.148089 
time: 1403638609.477829, t: 4.550111 -11.099644 2.822375 q: 0.885426 0.442702 -0.008866 -0.141271 
time: 1403638609.877830, t: 4.237651 -11.145917 2.808533 q: 0.885732 0.440247 -0.003870 -0.147127 
time: 1403638610.277829, t: 4.010789 -11.155107 2.796964 q: 0.886239 0.441997 0.011481 -0.138156 
time: 1403638610.677830, t: 3.763804 -11.086882 2.824910 q: 0.884766 0.446261 0.033938 -0.129955 
optimize pose graph 
time: 1403638611.077830, t: 3.520648 -10.916950 2.790421 q: 0.884572 0.447043 0.018043 -0.131753 
time: 1403638611.477829, t: 3.321146 -10.634198 2.780120 q: 0.883434 0.441981 0.030715 -0.152491 
time: 1403638611.877830, t: 3.217533 -10.328134 2.686628 q: 0.883904 0.442906 0.007544 -0.149971 
time: 1403638612.277829, t: 3.048403 -10.037415 2.547694 q: 0.885592 0.442076 -0.001894 -0.142450 
time: 1403638612.677830, t: 2.944368 -9.751203 2.414342 q: 0.888677 0.432013 0.010109 -0.153348 
time: 1403638613.077830, t: 2.867449 -9.449577 2.389790 q: 0.889036 0.431818 0.008483 -0.151908 
time: 1403638613.477829, t: 2.838356 -9.157977 2.222169 q: 0.890098 0.429258 0.003339 -0.153141 
time: 1403638613.877830, t: 2.723033 -8.838449 2.066160 q: 0.899824 0.416120 0.014557 -0.130187 
time: 1403638614.277829, t: 2.510389 -8.488451 1.884063 q: 0.930948 0.346944 0.005003 -0.113760 
time: 1403638614.677830, t: 2.363651 -8.100386 1.705096 q: 0.946721 0.308500 -0.001028 -0.092446 
time: 1403638615.077830, t: 2.495618 -7.584024 1.541437 q: 0.969513 0.236924 -0.028457 -0.055685 
time: 1403638615.477829, t: 2.575341 -7.140606 1.055702 q: 0.995556 0.090548 -0.006992 -0.024914 
time: 1403638616.277829, t: 2.937038 -6.210268 1.114287 q: 0.999054 -0.028322 -0.032413 0.006194 
time: 1403638616.677830, t: 2.479002 -5.760353 0.868028 q: 0.992919 -0.105974 -0.011893 0.052348 
time: 1403638617.077830, t: 2.318165 -5.291342 0.764924 q: 0.990820 -0.118585 -0.029250 0.057939 
time: 1403638617.477829, t: 2.322941 -4.748328 0.746017 q: 0.991987 -0.112179 -0.043132 0.038960 
time: 1403638617.877830, t: 2.458105 -4.300320 0.793935 q: 0.992625 -0.111491 -0.039104 0.027137 
time: 1403638618.277829, t: 2.596795 -3.760058 0.931504 q: 0.994072 -0.100000 -0.033198 0.026826 
time: 1403638618.677830, t: 2.717877 -3.308960 1.148982 q: 0.994134 -0.101271 -0.028707 0.024848 
time: 1403638619.077830, t: 2.877997 -2.916685 1.390655 q: 0.990086 -0.135797 -0.010940 0.034195 
time: 1403638619.477829, t: 2.942049 -2.601955 1.660505 q: 0.969978 -0.231424 0.004230 0.074617 
time: 1403638620.277829, t: 3.017795 -1.916848 2.137717 q: 0.956871 -0.267458 0.021020 0.111456 
time: 1403638620.677830, t: 3.093977 -1.619933 2.256053 q: 0.958210 -0.265839 0.010995 0.105084 
time: 1403638621.077830, t: 3.080044 -1.287157 2.334512 q: 0.960496 -0.263807 0.002585 0.088582 
time: 1403638621.477829, t: 3.102328 -0.974818 2.382870 q: 0.962266 -0.260144 0.009221 0.079274 
time: 1403638621.877830, t: 3.073291 -0.721505 2.429895 q: 0.962905 -0.259053 0.022700 0.072038 
time: 1403638622.277829, t: 2.963216 -0.530545 2.446135 q: 0.963014 -0.255844 0.027484 0.079950 
time: 1403638622.677830, t: 2.909915 -0.409099 2.351535 q: 0.961947 -0.262324 0.029994 0.070316 
time: 1403638623.077830, t: 2.913189 -0.402940 2.159300 q: 0.960691 -0.265073 0.038586 0.072934 
time: 1403638623.477829, t: 2.813151 -0.432027 1.904259 q: 0.961517 -0.260237 0.020545 0.085673 
time: 1403638623.877830, t: 2.719082 -0.486862 1.598082 q: 0.961081 -0.263756 0.014942 0.080825 
time: 1403638624.277829, t: 2.647615 -0.569664 1.256636 q: 0.960153 -0.264204 0.012025 0.090324 
time: 1403638624.677830, t: 2.501490 -0.660733 0.928149 q: 0.959011 -0.265446 0.032858 0.093581 
time: 1403638625.077830, t: 2.356749 -0.773030 0.554332 q: 0.965383 -0.246911 0.011325 0.083316 
time: 1403638625.477829, t: 2.216555 -0.890844 0.167319 q: 0.967444 -0.237289 0.011023 0.087318 
time: 1403638625.877830, t: 2.109215 -0.973579 -0.253816 q: 0.967444 -0.236597 -0.004923 0.089718 
time: 1403638626.277829, t: 1.967633 -1.023811 -0.620768 q: 0.966980 -0.238815 -0.006769 0.088721 
time: 1403638626.677830, t: 1.794420 -1.050432 -0.930640 q: 0.967263 -0.241534 -0.009533 0.077279 
time: 1403638627.077830, t: 1.671205 -1.112265 -1.188830 q: 0.967236 -0.239321 -0.021632 0.081932 
time: 1403638627.477829, t: 1.572549 -1.144968 -1.373734 q: 0.967388 -0.240303 -0.021318 0.077200 
time: 1403638627.877830, t: 1.478121 -1.167646 -1.476518 q: 0.966992 -0.244569 -0.011140 0.070624 
time: 1403638628.277829, t: 1.363579 -1.168604 -1.496780 q: 0.966293 -0.246352 -0.017229 0.072741 
time: 1403638628.677830, t: 1.380289 -1.251564 -1.568625 q: 0.966046 -0.239720 0.005843 0.096203 
time: 1403638629.077830, t: 1.334466 -1.265501 -1.540353 q: 0.965773 -0.246817 -0.001019 0.079763 
time: 1403638629.477829, t: 1.323085 -1.290183 -1.585407 q: 0.965459 -0.247870 -0.018177 0.078223 
time: 1403638629.877830, t: 1.321155 -1.318051 -1.581294 q: 0.965026 -0.239853 0.003041 0.105766 
time: 1403638630.277829, t: 1.245143 -1.281205 -1.539121 q: 0.965138 -0.250195 0.003906 0.076778 
time: 1403638630.677830, t: 1.218561 -1.317156 -1.467906 q: 0.966127 -0.243451 -0.028539 0.080725 
time: 1403638631.077830, t: 1.166453 -1.283865 -1.497671 q: 0.967484 -0.238019 -0.035277 0.077958 
time: 1403638631.477829, t: 1.119775 -1.297621 -1.384635 q: 0.967239 -0.238794 -0.031995 0.080020 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720513087.085772796]: Shutdown request received.[0m
[33m[ WARN] [1720513087.085812221]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720513087.086747848]: Shutdown request received.[0m
[33m[ WARN] [1720513087.086774938]: Reason given for shutdown: [user request][0m
killed
