/SLAM-Hive/slam_hive_results/mapping_results/3106/2311_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-1.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720540788.296974224]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720540788.377779896]: init begins[0m
[31m[ERROR] [1720540788.379520957]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/4494c684-3e0c-11ef-a019-0242ac110005/roslaunch-c4954671c91c-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://c4954671c91c:42059/[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://c4954671c91c:11311/[0m
]2;roscore http://c4954671c91c:11311/
[1msetting /run_id to 4494c684-3e0c-11ef-a019-0242ac110005[0m
[0m[ INFO] [1720540789.485486214]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720540789.499047861]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720540789.499265953]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720540789.499288971]: ROW: 384 COL: 601 [0m
 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 9.81007
[0m[ INFO] [1720540789.499480634]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720540789.499702476]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720540789.499871389]: waiting for image and imu...[0m
[0m[ INFO] [1720540789.502896017]: Connected to master at [localhost:11311][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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [204][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720540798.380550513]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316904219.67 
init first imu pose
averge acc 7.745210 -0.452196 -2.672312
init R0 
  0.330294    0.15748   0.930648
         0  -0.985983   0.166843
  0.943878 -0.0551073  -0.325664
[33m[ WARN] [1720540800.676504047]: gyroscope bias initial calibration -0.00141715   0.0203676   0.0816214[0m
[0m[ INFO] [1720540800.742866352]: Initialization finish![0m
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time: 1403636589.913555, t: -0.117508 0.182323 -0.063742 q: -0.084206 0.906765 0.079207 0.405478 
optimize pose graph 
time: 1403636590.013556, t: -0.127122 0.212569 -0.066959 q: -0.091639 0.906568 0.084209 0.403294 
time: 1403636590.113555, t: -0.134119 0.234314 -0.066671 q: -0.096777 0.903293 0.088276 0.408538 
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time: 1403636592.313555, t: 0.086538 -0.235200 -0.106899 q: -0.021545 0.896775 -0.013000 0.441770 
time: 1403636592.413555, t: 0.115460 -0.233481 -0.107316 q: -0.027267 0.899581 -0.011869 0.435740 
time: 1403636592.513556, t: 0.146382 -0.221996 -0.105504 q: -0.035117 0.898526 -0.002778 0.437504 
time: 1403636592.613555, t: 0.176075 -0.200804 -0.103653 q: -0.043690 0.893839 0.012611 0.446077 
time: 1403636592.713556, t: 0.202506 -0.170499 -0.103634 q: -0.052555 0.890141 0.031026 0.451580 
time: 1403636592.813555, t: 0.220775 -0.130888 -0.104319 q: -0.067828 0.888471 0.052031 0.450900 
time: 1403636592.913555, t: 0.226451 -0.081947 -0.107031 q: -0.088142 0.888078 0.074918 0.444900 
time: 1403636593.013556, t: 0.215478 -0.027221 -0.108703 q: -0.106939 0.887556 0.097675 0.437342 
time: 1403636593.113555, t: 0.189303 0.029684 -0.108679 q: -0.122287 0.885800 0.120596 0.431115 
wait for imu ... 
wait for imu ... 
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time: 1403636593.313555, t: 0.101786 0.128750 -0.104762 q: -0.154030 0.881739 0.145159 0.421592 
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time: 1403636593.713556, t: -0.090083 0.131801 -0.119195 q: -0.141343 0.896102 0.121470 0.402826 
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time: 1403636593.913555, t: -0.149915 0.042965 -0.126693 q: -0.106099 0.904163 0.059740 0.409467 
time: 1403636594.013556, t: -0.164716 -0.011493 -0.126442 q: -0.082019 0.902618 0.025394 0.421792 
time: 1403636594.113555, t: -0.166073 -0.068236 -0.126061 q: -0.058511 0.901338 -0.006780 0.429092 
time: 1403636594.213556, t: -0.151360 -0.123962 -0.127465 q: -0.039111 0.901870 -0.032662 0.428993 
time: 1403636594.313555, t: -0.122764 -0.176885 -0.129313 q: -0.022439 0.902170 -0.047708 0.428148 
time: 1403636594.413555, t: -0.079007 -0.225007 -0.130222 q: -0.008151 0.900595 -0.054444 0.431159 
time: 1403636594.513556, t: -0.026008 -0.263178 -0.130851 q: 0.000843 0.896133 -0.053071 0.440600 
time: 1403636594.613555, t: 0.028637 -0.286182 -0.130783 q: 0.000054 0.891328 -0.053631 0.450175 
time: 1403636594.713556, t: 0.076251 -0.285581 -0.131949 q: -0.003832 0.888501 -0.051549 0.455953 
time: 1403636594.813555, t: 0.116687 -0.261227 -0.135550 q: -0.014745 0.887080 -0.037405 0.459862 
time: 1403636594.913555, t: 0.145156 -0.211257 -0.138589 q: -0.028485 0.885183 -0.013057 0.464187 
time: 1403636595.013556, t: 0.157403 -0.141350 -0.141687 q: -0.049565 0.882842 0.020458 0.466598 
time: 1403636595.113555, t: 0.151050 -0.063103 -0.144236 q: -0.073414 0.881635 0.055908 0.462823 
time: 1403636595.213556, t: 0.133210 0.010904 -0.147392 q: -0.097756 0.880816 0.085868 0.455229 
time: 1403636595.313555, t: 0.106328 0.070199 -0.149536 q: -0.118905 0.879374 0.110910 0.447506 
time: 1403636595.413555, t: 0.072585 0.106887 -0.150844 q: -0.130416 0.878165 0.126612 0.442478 
time: 1403636595.513556, t: 0.040711 0.116220 -0.152116 q: -0.135125 0.878606 0.132733 0.438378 
time: 1403636595.613555, t: 0.010823 0.099035 -0.154138 q: -0.134226 0.880546 0.135126 0.434008 
time: 1403636595.713556, t: -0.014818 0.058173 -0.157036 q: -0.125658 0.883652 0.128872 0.432160 
time: 1403636595.813555, t: -0.035244 0.002023 -0.162045 q: -0.106312 0.886979 0.114211 0.434652 
time: 1403636595.913555, t: -0.052291 -0.059069 -0.168527 q: -0.084228 0.890533 0.091286 0.437634 
optimize pose graph 
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time: 1403636596.113555, t: -0.101868 -0.159287 -0.175607 q: -0.046851 0.898925 0.043080 0.433456 
time: 1403636596.213556, t: -0.134439 -0.175516 -0.174267 q: -0.039579 0.900281 0.027626 0.432625 
time: 1403636596.313555, t: -0.170039 -0.163838 -0.167805 q: -0.040206 0.899329 0.019209 0.434995 
time: 1403636596.413555, t: -0.214564 -0.137370 -0.155076 q: -0.039031 0.897208 0.017589 0.439528 
time: 1403636596.513556, t: -0.259577 -0.106803 -0.142800 q: -0.038249 0.894379 0.022515 0.445102 
time: 1403636596.613555, t: -0.295165 -0.078959 -0.133487 q: -0.037025 0.893203 0.027600 0.447276 
time: 1403636596.713556, t: -0.316772 -0.058174 -0.128691 q: -0.037092 0.894329 0.029627 0.444885 
time: 1403636596.813555, t: -0.317810 -0.047166 -0.128351 q: -0.035917 0.892971 0.033807 0.447404 
time: 1403636596.913555, t: -0.295349 -0.045040 -0.130613 q: -0.032044 0.890065 0.037477 0.453160 
time: 1403636597.013556, t: -0.250771 -0.048431 -0.133952 q: -0.027674 0.891016 0.039361 0.451415 
time: 1403636597.213556, t: -0.124482 -0.057859 -0.140524 q: -0.034334 0.898953 0.052082 0.433580 
time: 1403636597.313555, t: -0.053986 -0.059413 -0.136900 q: -0.041576 0.897605 0.065914 0.433858 
time: 1403636597.413555, t: 0.014914 -0.055945 -0.132613 q: -0.050086 0.894176 0.081291 0.437416 
time: 1403636597.513556, t: 0.074041 -0.045163 -0.130562 q: -0.059329 0.890293 0.099589 0.440388 
time: 1403636597.613555, t: 0.112737 -0.027924 -0.130834 q: -0.076409 0.884725 0.116091 0.444912 
time: 1403636597.713556, t: 0.126864 -0.005107 -0.133153 q: -0.095203 0.877908 0.130915 0.450638 
time: 1403636597.813555, t: 0.115610 0.016943 -0.134380 q: -0.106983 0.871653 0.143029 0.456420 
time: 1403636597.913555, t: 0.086983 0.031659 -0.135935 q: -0.110337 0.867494 0.154278 0.459868 
time: 1403636598.013556, t: 0.046526 0.037475 -0.138133 q: -0.109442 0.867321 0.162789 0.457467 
optimize pose graph 
time: 1403636598.113555, t: 0.001828 0.036121 -0.143581 q: -0.108526 0.871733 0.164264 0.448687 
time: 1403636598.213556, t: -0.039706 0.027930 -0.152531 q: -0.102725 0.880076 0.163365 0.433849 
time: 1403636598.313555, t: -0.069228 0.016548 -0.165545 q: -0.094219 0.887976 0.163009 0.419582 
time: 1403636598.413555, t: -0.079840 0.003778 -0.179400 q: -0.084844 0.891663 0.161069 0.414483 
time: 1403636598.513556, t: -0.069952 -0.005930 -0.194547 q: -0.081804 0.890538 0.160772 0.417615 
time: 1403636598.613555, t: -0.043182 -0.011487 -0.207404 q: -0.088165 0.884376 0.163567 0.428197 
time: 1403636598.713556, t: -0.007718 -0.013896 -0.221081 q: -0.099299 0.875108 0.168445 0.442664 
time: 1403636598.913555, t: 0.059879 -0.015308 -0.262354 q: -0.122220 0.851676 0.172001 0.479714 
time: 1403636599.013556, t: 0.086212 -0.016207 -0.285778 q: -0.124122 0.843055 0.171779 0.494312 
time: 1403636599.113555, t: 0.105414 -0.016002 -0.304123 q: -0.133593 0.833113 0.170501 0.508926 
time: 1403636599.213556, t: 0.120580 -0.015113 -0.315590 q: -0.142666 0.817433 0.168312 0.532090 
time: 1403636599.313555, t: 0.133184 -0.013295 -0.324319 q: -0.148943 0.801558 0.161622 0.556057 
time: 1403636599.413555, t: 0.143640 -0.012093 -0.333428 q: -0.147274 0.793432 0.157350 0.569225 
time: 1403636599.513556, t: 0.151522 -0.011447 -0.342850 q: -0.140379 0.794296 0.152689 0.571028 
time: 1403636599.613555, t: 0.156300 -0.011344 -0.351472 q: -0.135915 0.799318 0.147238 0.566515 
time: 1403636599.713556, t: 0.158321 -0.012452 -0.358856 q: -0.133916 0.800394 0.145358 0.565957 
time: 1403636599.813555, t: 0.158108 -0.014944 -0.359003 q: -0.136897 0.790112 0.144486 0.579746 
time: 1403636599.913555, t: 0.156999 -0.016743 -0.360073 q: -0.140130 0.785249 0.142282 0.586092 
time: 1403636600.013556, t: 0.157298 -0.017839 -0.360864 q: -0.140062 0.786730 0.139143 0.584874 
optimize pose graph 
time: 1403636600.113555, t: 0.157348 -0.019686 -0.362026 q: -0.144696 0.784954 0.135966 0.586876 
time: 1403636600.213556, t: 0.157171 -0.019863 -0.362066 q: -0.144657 0.784817 0.136089 0.587041 
time: 1403636600.313555, t: 0.156930 -0.019831 -0.362084 q: -0.145241 0.784904 0.135778 0.586851 
time: 1403636600.413555, t: 0.156826 -0.019823 -0.362028 q: -0.145655 0.784882 0.135426 0.586860 
time: 1403636600.513556, t: 0.156759 -0.019879 -0.361992 q: -0.145726 0.784844 0.135051 0.586979 
time: 1403636600.613555, t: 0.156805 -0.019788 -0.362015 q: -0.145971 0.784941 0.134976 0.586807 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636600.713556, t: 0.156807 -0.019863 -0.362013 q: -0.145656 0.785061 0.135039 0.586709 
wait for imu ... 
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time: 1403636600.913555, t: 0.156814 -0.019899 -0.362016 q: -0.145462 0.785120 0.135018 0.586683 
time: 1403636601.013556, t: 0.156773 -0.019933 -0.362017 q: -0.145265 0.785191 0.135022 0.586636 
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time: 1403636601.313555, t: 0.156765 -0.019944 -0.362041 q: -0.145215 0.785294 0.134911 0.586537 
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time: 1403636601.613555, t: 0.156732 -0.019933 -0.362093 q: -0.145308 0.785362 0.134674 0.586476 
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time: 1403636601.813555, t: 0.156769 -0.019938 -0.362124 q: -0.145345 0.785410 0.134636 0.586412 
time: 1403636601.913555, t: 0.156764 -0.019928 -0.362121 q: -0.145261 0.785425 0.134596 0.586422 
time: 1403636602.013556, t: 0.156751 -0.019932 -0.362110 q: -0.145205 0.785449 0.134589 0.586406 
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optimize pose graph 
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time: 1403636630.013556, t: 0.561719 -0.673044 0.056453 q: -0.000705 0.834132 -0.021967 0.551127 
optimize pose graph 
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time: 1403636694.113555, t: 6.170130 -3.420684 -0.631318 q: -0.246901 0.739522 0.340788 0.525366 
optimize pose graph 
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time: 1403636694.913555, t: 6.369758 -3.392143 -0.606777 q: -0.253359 0.744767 0.334033 0.519185 
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time: 1403636696.213556, t: 6.670210 -3.411818 -0.642738 q: -0.223319 0.753111 0.337470 0.518716 
optimize pose graph 
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time: 1403636696.913555, t: 6.720699 -3.391034 -0.698508 q: -0.233612 0.743896 0.326616 0.534198 
time: 1403636697.013556, t: 6.718279 -3.393089 -0.707583 q: -0.222528 0.740978 0.334135 0.538319 
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time: 1403636698.213556, t: 6.361199 -3.217695 -0.583154 q: -0.171752 0.779773 0.253112 0.546250 
optimize pose graph 
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time: 1403636712.013556, t: 10.905665 -5.585256 -2.060562 q: 0.091816 0.792194 -0.142539 0.586243 
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time: 1403636712.513556, t: 10.900944 -5.335463 -1.916041 q: 0.085690 0.796046 -0.097770 0.591108 
optimize pose graph 
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time: 1403636714.613555, t: 9.875276 -4.250900 -1.429429 q: 0.042744 0.819942 -0.092631 0.563283 
optimize pose graph 
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time: 1403636720.913555, t: 6.925623 -3.352127 -1.560892 q: -0.166038 0.789752 0.214467 0.550206 
optimize pose graph 
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time: 1403636721.113555, t: 6.863144 -3.358353 -1.571333 q: -0.154212 0.793003 0.189751 0.557996 
time: 1403636721.213556, t: 6.834241 -3.364099 -1.582033 q: -0.144894 0.794413 0.175205 0.563220 
time: 1403636721.313555, t: 6.804845 -3.371813 -1.588133 q: -0.137636 0.795435 0.162706 0.567333 
time: 1403636721.413555, t: 6.776221 -3.382915 -1.586836 q: -0.129953 0.796563 0.154280 0.569910 
time: 1403636721.513556, t: 6.744292 -3.394677 -1.578672 q: -0.122749 0.798632 0.147668 0.570362 
time: 1403636721.613555, t: 6.713018 -3.409302 -1.573354 q: -0.113914 0.801302 0.140099 0.570360 
time: 1403636721.713556, t: 6.681968 -3.423449 -1.574594 q: -0.106894 0.802616 0.134792 0.571150 
time: 1403636721.813555, t: 6.650201 -3.438432 -1.581593 q: -0.101969 0.803321 0.131977 0.571716 
time: 1403636721.913555, t: 6.619498 -3.452019 -1.592674 q: -0.101110 0.803272 0.130163 0.572353 
time: 1403636722.013556, t: 6.587210 -3.465988 -1.604239 q: -0.095836 0.802534 0.133931 0.573426 
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time: 1403636722.313555, t: 6.485534 -3.499071 -1.599876 q: -0.100776 0.803039 0.136591 0.571241 
time: 1403636722.413555, t: 6.452506 -3.506826 -1.597035 q: -0.100419 0.803735 0.135445 0.570597 
time: 1403636722.513556, t: 6.417440 -3.516293 -1.600742 q: -0.097960 0.803994 0.131181 0.571654 
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time: 1403636722.713556, t: 6.345306 -3.533243 -1.615862 q: -0.091170 0.804908 0.127158 0.572400 
time: 1403636722.813555, t: 6.312395 -3.539331 -1.625623 q: -0.088016 0.805667 0.127091 0.571841 
time: 1403636722.913555, t: 6.273941 -3.545064 -1.626979 q: -0.087284 0.805947 0.126268 0.571741 
time: 1403636723.013556, t: 6.234994 -3.548563 -1.621036 q: -0.089929 0.806289 0.124477 0.571241 
time: 1403636723.113555, t: 6.199391 -3.550285 -1.610825 q: -0.093065 0.805957 0.122443 0.571647 
optimize pose graph 
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time: 1403636723.813555, t: 5.932906 -3.551097 -1.571003 q: -0.067481 0.806510 0.086460 0.580959 
time: 1403636723.913555, t: 5.885841 -3.550400 -1.563908 q: -0.065439 0.811231 0.081268 0.575342 
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time: 1403636724.413555, t: 5.672398 -3.555714 -1.594593 q: -0.023206 0.821252 0.026468 0.569479 
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time: 1403636725.913555, t: 5.262012 -3.484778 -1.273738 q: -0.008863 0.820000 -0.001928 0.572292 
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time: 1403636726.113555, t: 5.228567 -3.479295 -1.278843 q: -0.009507 0.819341 -0.000031 0.573227 
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time: 1403636726.513556, t: 5.169503 -3.466575 -1.295934 q: -0.013122 0.815524 0.004186 0.578559 
time: 1403636726.613555, t: 5.158312 -3.462280 -1.283896 q: -0.027218 0.814375 -0.003823 0.579687 
time: 1403636726.713556, t: 5.143245 -3.463583 -1.268594 q: -0.034997 0.812796 -0.008133 0.581439 
time: 1403636726.813555, t: 5.124645 -3.469492 -1.242100 q: -0.027616 0.812085 -0.002056 0.582882 
time: 1403636726.913555, t: 5.106131 -3.478361 -1.212909 q: -0.021322 0.811585 0.007392 0.583799 
time: 1403636727.013556, t: 5.085502 -3.488181 -1.177283 q: -0.019755 0.811284 0.012993 0.584174 
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time: 1403636727.213556, t: 5.037677 -3.508605 -1.105579 q: -0.013439 0.811894 0.022340 0.583223 
optimize pose graph 
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time: 1403636727.913555, t: 4.833617 -3.507424 -0.900762 q: -0.003374 0.812320 0.030146 0.582423 
time: 1403636728.013556, t: 4.800726 -3.495037 -0.864382 q: -0.003230 0.812505 0.029831 0.582182 
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time: 1403636728.213556, t: 4.732263 -3.461791 -0.809521 q: -0.010536 0.810797 0.023886 0.584745 
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time: 1403636728.713556, t: 4.533806 -3.367503 -0.753698 q: -0.030960 0.811874 0.021583 0.582612 
time: 1403636728.813555, t: 4.492772 -3.352297 -0.744622 q: -0.031568 0.811457 0.038693 0.582274 
time: 1403636728.913555, t: 4.446573 -3.336918 -0.728317 q: -0.035678 0.809727 0.053938 0.583232 
time: 1403636729.013556, t: 4.400722 -3.320771 -0.713192 q: -0.041407 0.807604 0.064271 0.584748 
time: 1403636729.113555, t: 4.353400 -3.304558 -0.703418 q: -0.045909 0.805338 0.072228 0.586606 
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time: 1403636731.213556, t: 3.408603 -2.861762 -0.592004 q: -0.081293 0.816027 0.061167 0.568990 
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time: 1403636738.913555, t: 1.200455 -1.745471 -0.076561 q: -0.070669 0.817056 0.056731 0.569391 
time: 1403636739.013556, t: 1.206540 -1.750657 -0.091839 q: -0.060906 0.817174 0.030148 0.572371 
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time: 1403636739.313555, t: 1.227594 -1.804009 -0.161471 q: 0.002905 0.817267 -0.033916 0.575253 
optimize pose graph 
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time: 1403636739.813555, t: 1.255345 -1.922635 -0.224434 q: 0.063244 0.810512 -0.112675 0.571292 
time: 1403636739.913555, t: 1.262489 -1.944311 -0.236356 q: 0.064680 0.810307 -0.116563 0.570642 
time: 1403636740.013556, t: 1.269935 -1.964747 -0.253078 q: 0.066683 0.810562 -0.116527 0.570056 
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time: 1403636740.713556, t: 1.288082 -2.094295 -0.452755 q: 0.058596 0.810155 -0.102792 0.574151 
time: 1403636740.813555, t: 1.284062 -2.113575 -0.472968 q: 0.057371 0.812120 -0.100997 0.571812 
time: 1403636740.913555, t: 1.281863 -2.131223 -0.498468 q: 0.058963 0.811066 -0.098033 0.573660 
time: 1403636741.013556, t: 1.278177 -2.150022 -0.527883 q: 0.068670 0.809822 -0.089923 0.575661 
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time: 1403636741.213556, t: 1.269929 -2.174981 -0.608976 q: 0.079638 0.804971 -0.096187 0.580024 
time: 1403636741.313555, t: 1.262116 -2.181525 -0.659346 q: 0.074930 0.804065 -0.108214 0.579788 
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time: 1403636741.513556, t: 1.241265 -2.191431 -0.754926 q: 0.071673 0.813972 -0.123409 0.563101 
optimize pose graph 
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time: 1403636751.713556, t: 2.421590 -2.399506 -0.678627 q: 0.084263 0.802525 -0.172628 0.564847 
optimize pose graph 
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time: 1403636752.113555, t: 2.404539 -2.392126 -0.531931 q: 0.091380 0.816044 -0.152350 0.550010 
time: 1403636752.213556, t: 2.410400 -2.396310 -0.499560 q: 0.091639 0.811320 -0.146841 0.558391 
time: 1403636752.313555, t: 2.417446 -2.401542 -0.464926 q: 0.086770 0.806850 -0.137960 0.567830 
time: 1403636752.413555, t: 2.424184 -2.403504 -0.426652 q: 0.078709 0.804546 -0.125402 0.575139 
time: 1403636752.513556, t: 2.430228 -2.405309 -0.382801 q: 0.067969 0.806491 -0.109179 0.577090 
time: 1403636752.613555, t: 2.435688 -2.407466 -0.342216 q: 0.056500 0.810157 -0.090838 0.576369 
time: 1403636752.713556, t: 2.439541 -2.409487 -0.309000 q: 0.043857 0.813649 -0.072288 0.575174 
time: 1403636752.813555, t: 2.441304 -2.409674 -0.281893 q: 0.032161 0.815990 -0.051944 0.574828 
time: 1403636752.913555, t: 2.442357 -2.409163 -0.260966 q: 0.021889 0.817263 -0.029536 0.575091 
time: 1403636753.013556, t: 2.444404 -2.407814 -0.246637 q: 0.012691 0.818157 -0.005285 0.574830 
time: 1403636753.113555, t: 2.445236 -2.404111 -0.239359 q: 0.001426 0.818502 0.018691 0.574197 
time: 1403636753.213556, t: 2.447048 -2.396748 -0.238084 q: -0.011683 0.818078 0.042291 0.573431 
time: 1403636753.313555, t: 2.448092 -2.385600 -0.242739 q: -0.021625 0.816337 0.068068 0.573144 
time: 1403636753.413555, t: 2.447449 -2.370540 -0.250219 q: -0.035315 0.813291 0.085620 0.574439 
time: 1403636753.513556, t: 2.446088 -2.351611 -0.253900 q: -0.050226 0.811826 0.093272 0.574209 
time: 1403636753.613555, t: 2.441154 -2.332586 -0.250199 q: -0.060981 0.810154 0.096864 0.574935 
time: 1403636753.713556, t: 2.434017 -2.314047 -0.241488 q: -0.066478 0.809757 0.097795 0.574727 
time: 1403636753.813555, t: 2.426562 -2.295268 -0.235229 q: -0.066389 0.808582 0.099021 0.576180 
time: 1403636753.913555, t: 2.418175 -2.273763 -0.236093 q: -0.066157 0.808602 0.097358 0.576461 
optimize pose graph 
time: 1403636754.013556, t: 2.408689 -2.251527 -0.239468 q: -0.063723 0.808166 0.095941 0.577583 
time: 1403636754.113555, t: 2.399230 -2.228852 -0.237927 q: -0.063356 0.804581 0.092909 0.583099 
time: 1403636754.213556, t: 2.386131 -2.204853 -0.230847 q: -0.060079 0.801741 0.091469 0.587568 
time: 1403636754.313555, t: 2.368383 -2.179512 -0.218652 q: -0.056599 0.801142 0.090400 0.588894 
time: 1403636754.413555, t: 2.349175 -2.151807 -0.200842 q: -0.055378 0.801123 0.091219 0.588909 
time: 1403636754.513556, t: 2.322589 -2.123987 -0.182021 q: -0.058067 0.801367 0.095367 0.587661 
time: 1403636754.613555, t: 2.292283 -2.092879 -0.169324 q: -0.061502 0.802271 0.105135 0.584401 
time: 1403636754.713556, t: 2.259121 -2.057342 -0.163259 q: -0.070460 0.801545 0.116521 0.582224 
time: 1403636754.813555, t: 2.225141 -2.019569 -0.161739 q: -0.080503 0.799397 0.129935 0.581034 
time: 1403636754.913555, t: 2.186224 -1.981783 -0.163412 q: -0.089103 0.797336 0.140574 0.580134 
time: 1403636755.013556, t: 2.144996 -1.942801 -0.168989 q: -0.094513 0.796200 0.149663 0.578562 
time: 1403636755.113555, t: 2.099739 -1.903368 -0.174873 q: -0.099459 0.795305 0.154594 0.577667 
time: 1403636755.213556, t: 2.050347 -1.863822 -0.176255 q: -0.103592 0.795349 0.157234 0.576165 
time: 1403636755.313555, t: 1.998469 -1.823180 -0.170125 q: -0.104296 0.799548 0.159303 0.569621 
time: 1403636755.413555, t: 1.945655 -1.781724 -0.156332 q: -0.103021 0.806004 0.160939 0.560217 
time: 1403636755.513556, t: 1.896374 -1.738883 -0.139036 q: -0.101665 0.808565 0.160948 0.556761 
time: 1403636755.613555, t: 1.849007 -1.693253 -0.125423 q: -0.098748 0.807606 0.161278 0.558579 
time: 1403636755.713556, t: 1.803267 -1.646974 -0.118348 q: -0.099898 0.806755 0.158716 0.560336 
time: 1403636755.813555, t: 1.758234 -1.598111 -0.116076 q: -0.101756 0.804605 0.155805 0.563899 
time: 1403636755.913555, t: 1.711572 -1.547436 -0.115979 q: -0.102789 0.802279 0.154230 0.567447 
time: 1403636756.013556, t: 1.667683 -1.496056 -0.116175 q: -0.104576 0.801283 0.152669 0.568948 
time: 1403636756.113555, t: 1.622159 -1.442984 -0.108277 q: -0.103950 0.800264 0.152780 0.570464 
optimize pose graph 
time: 1403636756.213556, t: 1.577414 -1.392417 -0.096812 q: -0.104423 0.798741 0.152891 0.572479 
time: 1403636756.313555, t: 1.528451 -1.340371 -0.082580 q: -0.105308 0.798488 0.152926 0.572661 
time: 1403636756.413555, t: 1.481205 -1.288775 -0.073965 q: -0.104987 0.797481 0.154251 0.573767 
time: 1403636756.513556, t: 1.429187 -1.239367 -0.069137 q: -0.106481 0.797182 0.154414 0.573863 
time: 1403636756.613555, t: 1.378475 -1.188595 -0.072638 q: -0.107121 0.796552 0.155083 0.574439 
time: 1403636756.713556, t: 1.323404 -1.138995 -0.074813 q: -0.108458 0.795544 0.155420 0.575492 
time: 1403636756.813555, t: 1.268128 -1.089405 -0.072993 q: -0.109970 0.794598 0.155618 0.576458 
time: 1403636756.913555, t: 1.205362 -1.040585 -0.063475 q: -0.110371 0.794678 0.156097 0.576141 
time: 1403636757.013556, t: 1.141541 -0.994380 -0.048762 q: -0.111288 0.794556 0.156560 0.576008 
time: 1403636757.113555, t: 1.078802 -0.946372 -0.035032 q: -0.113249 0.794685 0.155893 0.575628 
time: 1403636757.213556, t: 1.011707 -0.900638 -0.027429 q: -0.113677 0.794885 0.155780 0.575298 
time: 1403636757.313555, t: 0.947437 -0.854517 -0.024169 q: -0.110781 0.795249 0.158097 0.574728 
time: 1403636757.413555, t: 0.879858 -0.809196 -0.028694 q: -0.109672 0.796659 0.159569 0.572577 
time: 1403636757.513556, t: 0.810920 -0.763562 -0.034327 q: -0.106968 0.798626 0.163715 0.569167 
time: 1403636757.613555, t: 0.741713 -0.714573 -0.034739 q: -0.108210 0.803123 0.170680 0.560494 
time: 1403636757.713556, t: 0.674379 -0.661105 -0.027138 q: -0.110444 0.808981 0.177670 0.549350 
time: 1403636757.813555, t: 0.613816 -0.609170 -0.011179 q: -0.114234 0.812899 0.183432 0.540831 
time: 1403636757.913555, t: 0.558007 -0.551894 0.015162 q: -0.119133 0.813531 0.186531 0.537755 
time: 1403636758.013556, t: 0.501765 -0.493924 0.047301 q: -0.125298 0.807100 0.187326 0.545710 
time: 1403636758.113555, t: 0.453837 -0.434257 0.075483 q: -0.131457 0.799121 0.186858 0.556065 
time: 1403636758.213556, t: 0.409144 -0.373601 0.096255 q: -0.135179 0.793117 0.186394 0.563869 
time: 1403636758.313555, t: 0.365405 -0.313202 0.107532 q: -0.138536 0.790868 0.184782 0.566737 
optimize pose graph 
time: 1403636758.413555, t: 0.317979 -0.259275 0.110318 q: -0.140811 0.795756 0.183736 0.559630 
time: 1403636758.513556, t: 0.270432 -0.205310 0.105361 q: -0.145593 0.808057 0.180172 0.541650 
time: 1403636758.613555, t: 0.225988 -0.153371 0.097690 q: -0.152937 0.819809 0.174403 0.523553 
time: 1403636758.713556, t: 0.195158 -0.104524 0.093782 q: -0.153599 0.817642 0.172829 0.527256 
time: 1403636758.813555, t: 0.173551 -0.057653 0.088342 q: -0.151734 0.808044 0.172981 0.542328 
time: 1403636758.913555, t: 0.153919 -0.014762 0.079449 q: -0.145878 0.799339 0.176621 0.555502 
time: 1403636759.013556, t: 0.136970 0.025426 0.067526 q: -0.142887 0.795131 0.178361 0.561727 
time: 1403636759.113555, t: 0.120006 0.063683 0.053194 q: -0.151381 0.793914 0.172489 0.563055 
time: 1403636759.213556, t: 0.105786 0.097637 0.035394 q: -0.169707 0.795289 0.160082 0.559543 
time: 1403636759.313555, t: 0.093567 0.123604 0.014425 q: -0.179149 0.796021 0.153660 0.557354 
time: 1403636759.413555, t: 0.083990 0.139875 -0.010050 q: -0.166867 0.794427 0.162654 0.560879 
time: 1403636759.513556, t: 0.074488 0.147768 -0.037584 q: -0.153845 0.792211 0.172319 0.564836 
time: 1403636759.613555, t: 0.064355 0.150710 -0.065413 q: -0.145166 0.790214 0.180020 0.567522 
time: 1403636759.713556, t: 0.053438 0.151884 -0.084977 q: -0.140741 0.789885 0.184272 0.567731 
time: 1403636759.813555, t: 0.041792 0.152527 -0.093578 q: -0.140624 0.788727 0.185086 0.569102 
time: 1403636759.913555, t: 0.028498 0.151907 -0.098382 q: -0.140051 0.792333 0.185452 0.564093 
time: 1403636760.013556, t: 0.012476 0.149565 -0.106521 q: -0.138301 0.798209 0.186338 0.555891 
time: 1403636760.113555, t: -0.002591 0.147281 -0.116429 q: -0.137467 0.803397 0.186252 0.548604 
time: 1403636760.213556, t: -0.014753 0.145497 -0.126082 q: -0.138189 0.803165 0.185611 0.548980 
time: 1403636760.313555, t: -0.023846 0.144161 -0.135954 q: -0.142068 0.795245 0.182656 0.560391 
time: 1403636760.413555, t: -0.032747 0.141985 -0.149426 q: -0.140808 0.790258 0.183720 0.567374 
time: 1403636760.513556, t: -0.043145 0.139150 -0.165614 q: -0.137842 0.790172 0.185669 0.567587 
optimize pose graph 
time: 1403636760.613555, t: -0.055918 0.135985 -0.183062 q: -0.134705 0.795966 0.188445 0.559269 
time: 1403636760.713556, t: -0.068411 0.133838 -0.199286 q: -0.130365 0.799630 0.192036 0.553823 
time: 1403636760.813555, t: -0.080279 0.133205 -0.212174 q: -0.128639 0.797628 0.193938 0.556443 
time: 1403636760.913555, t: -0.091865 0.135597 -0.224532 q: -0.127543 0.793224 0.195698 0.562344 
time: 1403636761.013556, t: -0.106247 0.139149 -0.237634 q: -0.128818 0.795519 0.195508 0.558867 
time: 1403636761.113555, t: -0.119888 0.146094 -0.251847 q: -0.131070 0.802370 0.194264 0.548893 
time: 1403636761.213556, t: -0.132080 0.155004 -0.266328 q: -0.129341 0.810324 0.196146 0.536817 
time: 1403636761.313555, t: -0.140747 0.166970 -0.277305 q: -0.129026 0.813547 0.196365 0.531915 
time: 1403636761.413555, t: -0.143833 0.182477 -0.282732 q: -0.131257 0.808139 0.195156 0.539997 
time: 1403636761.513556, t: -0.143162 0.200686 -0.283974 q: -0.133482 0.799741 0.193181 0.552519 
time: 1403636761.613555, t: -0.141665 0.219245 -0.282601 q: -0.135867 0.793809 0.190627 0.561310 
time: 1403636761.713556, t: -0.141248 0.237449 -0.280064 q: -0.145067 0.792996 0.183150 0.562644 
time: 1403636761.813555, t: -0.140911 0.253426 -0.276134 q: -0.153977 0.794011 0.176114 0.561089 
time: 1403636761.913555, t: -0.140542 0.264585 -0.270362 q: -0.155105 0.794830 0.174826 0.560021 
time: 1403636762.013556, t: -0.139456 0.271373 -0.263022 q: -0.143989 0.793521 0.181829 0.562610 
time: 1403636762.113555, t: -0.138659 0.276473 -0.254040 q: -0.125487 0.790448 0.193785 0.567355 
time: 1403636762.213556, t: -0.141122 0.283357 -0.245141 q: -0.114132 0.792636 0.200804 0.564252 
time: 1403636762.313555, t: -0.145010 0.294892 -0.240840 q: -0.114540 0.802117 0.199739 0.550993 
time: 1403636762.413555, t: -0.148846 0.310902 -0.244264 q: -0.119094 0.809122 0.195888 0.541078 
time: 1403636762.513556, t: -0.149487 0.331794 -0.255003 q: -0.138526 0.810144 0.182089 0.539742 
time: 1403636762.613555, t: -0.146788 0.353135 -0.273090 q: -0.162589 0.806196 0.164882 0.544451 
optimize pose graph 
time: 1403636762.713556, t: -0.139827 0.369024 -0.299004 q: -0.167624 0.800148 0.161749 0.552724 
time: 1403636762.813555, t: -0.130076 0.378862 -0.332704 q: -0.155059 0.796359 0.171294 0.558952 
time: 1403636762.913555, t: -0.133064 0.370651 -0.332726 q: -0.162042 0.771455 0.164598 0.592880 
time: 1403636763.013556, t: -0.144156 0.352315 -0.342011 q: -0.139212 0.796120 0.161680 0.566280 
time: 1403636763.113555, t: -0.152726 0.334585 -0.350844 q: -0.140206 0.794237 0.136452 0.575249 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636763.213556, t: -0.155657 0.329447 -0.353938 q: -0.139034 0.792901 0.124788 0.580005 
time: 1403636763.313555, t: -0.150028 0.328280 -0.352117 q: -0.140312 0.796255 0.123742 0.575307 
time: 1403636763.413555, t: -0.153208 0.327208 -0.353074 q: -0.140714 0.797092 0.123418 0.574118 
time: 1403636763.513556, t: -0.158342 0.324533 -0.363821 q: -0.140720 0.796763 0.123310 0.574597 
time: 1403636763.613555, t: -0.148600 0.324700 -0.347092 q: -0.140603 0.797226 0.123558 0.573929 
time: 1403636763.713556, t: -0.145731 0.332782 -0.348676 q: -0.140239 0.797286 0.123117 0.574029 
time: 1403636763.813555, t: -0.145637 0.332831 -0.348692 q: -0.140310 0.797255 0.123011 0.574078 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720540987.147539150]: Shutdown request received.[0m
[33m[ WARN] [1720540987.147575963]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720540987.148396562]: Shutdown request received.[0m
[33m[ WARN] [1720540987.148423765]: Reason given for shutdown: [user request][0m
killed
