/SLAM-Hive/slam_hive_results/mapping_results/3113/2318_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-8.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720542375.397704755]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720542375.399551350]: init begins[0m
[31m[ERROR] [1720542375.400678505]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/f698acee-3e0f-11ef-b895-0242ac110005/roslaunch-73e00ba65a8a-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://73e00ba65a8a:36791/[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://73e00ba65a8a:11311/[0m
]2;roscore http://73e00ba65a8a:11311/
[1msetting /run_id to f698acee-3e0f-11ef-b895-0242ac110005[0m
[0m[ INFO] [1720542376.554046487]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720542376.556288959]: 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] [1720542376.562815896]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720542376.563057509]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720542376.563085115]: ROW: 288 COL: 451 [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] [1720542376.563323869]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720542376.563573535]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720542376.563760923]: 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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [222][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720542385.565407226]: 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: 316905806.84 
init first imu pose
averge acc 7.915898 -0.433127 -2.692743
init R0 
  0.325749   0.150146   0.933458
         0  -0.987309   0.158808
  0.945456 -0.0517317  -0.321615
[33m[ WARN] [1720542388.877924832]: gyroscope bias initial calibration -0.00342432    0.022216   0.0796025[0m
[0m[ INFO] [1720542388.912098639]: Initialization finish![0m
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time: 1403636626.863555, t: 0.229567 -0.109181 -0.004589 q: -0.108213 0.795351 0.140588 0.579605 
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time: 1403636627.663555, t: 0.190847 -0.197386 0.043801 q: -0.103058 0.805974 0.129171 0.568419 
optimize pose graph 
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time: 1403636628.863555, t: 0.291173 -0.363695 0.120256 q: -0.070465 0.814782 0.078395 0.570105 
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time: 1403636629.663555, t: 0.428842 -0.578713 0.153261 q: -0.036129 0.822967 0.011855 0.566815 
optimize pose graph 
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optimize pose graph 
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time: 1403636732.463556, t: 2.984093 -3.052417 -0.699680 q: -0.026341 0.808324 0.045026 0.586423 
time: 1403636732.663555, t: 2.933960 -3.055654 -0.700006 q: -0.010989 0.800556 0.057167 0.596424 
time: 1403636732.863555, t: 2.865479 -3.041499 -0.677111 q: -0.025644 0.799565 0.048552 0.598064 
time: 1403636733.063555, t: 2.780094 -3.014770 -0.669638 q: -0.028135 0.804847 0.048002 0.590868 
time: 1403636733.263556, t: 2.683373 -2.981784 -0.650671 q: -0.025560 0.808364 0.051289 0.585887 
time: 1403636733.463556, t: 2.574081 -2.941882 -0.609301 q: -0.032991 0.812762 0.047840 0.579690 
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time: 1403636733.863555, t: 2.357794 -2.849927 -0.534853 q: -0.034879 0.818764 0.048330 0.571027 
time: 1403636734.063555, t: 2.255092 -2.797371 -0.522726 q: -0.029750 0.813379 0.051181 0.578715 
time: 1403636734.263556, t: 2.151995 -2.739347 -0.511913 q: -0.033723 0.811460 0.048268 0.581434 
time: 1403636734.463556, t: 2.046434 -2.683021 -0.474783 q: -0.038445 0.815108 0.047153 0.576106 
time: 1403636734.663555, t: 1.943251 -2.625575 -0.441202 q: -0.039566 0.819430 0.048680 0.569736 
time: 1403636734.863555, t: 1.846233 -2.573149 -0.429261 q: -0.039982 0.820130 0.051719 0.568431 
time: 1403636735.063555, t: 1.759939 -2.522077 -0.434908 q: -0.041680 0.819997 0.052006 0.568474 
time: 1403636735.263556, t: 1.681694 -2.467902 -0.440936 q: -0.044629 0.821532 0.048545 0.566337 
time: 1403636735.463556, t: 1.618335 -2.417521 -0.408215 q: -0.044617 0.821867 0.042808 0.566314 
time: 1403636735.663555, t: 1.563474 -2.371134 -0.350982 q: -0.038270 0.819694 0.038741 0.570208 
time: 1403636735.863555, t: 1.511811 -2.329005 -0.304967 q: -0.035857 0.820058 0.035360 0.570061 
time: 1403636736.063555, t: 1.471342 -2.288360 -0.277585 q: -0.036603 0.818328 0.040259 0.572170 
time: 1403636736.263556, t: 1.434324 -2.245613 -0.229333 q: -0.051077 0.813185 0.058953 0.576754 
time: 1403636736.463556, t: 1.396433 -2.206533 -0.182518 q: -0.056471 0.810883 0.077798 0.577258 
time: 1403636736.663555, t: 1.369582 -2.158882 -0.164340 q: -0.050692 0.807899 0.092731 0.579767 
time: 1403636736.863555, t: 1.337861 -2.106571 -0.163899 q: -0.051741 0.806954 0.096747 0.580334 
time: 1403636737.063555, t: 1.296428 -2.037513 -0.177162 q: -0.061154 0.807781 0.095426 0.578484 
time: 1403636737.263556, t: 1.239701 -1.969375 -0.198249 q: -0.072736 0.808062 0.094113 0.576964 
time: 1403636737.463556, t: 1.190617 -1.903120 -0.221022 q: -0.075332 0.812761 0.098167 0.569305 
time: 1403636737.663555, t: 1.144504 -1.841350 -0.216463 q: -0.081963 0.815881 0.096534 0.564182 
time: 1403636737.863555, t: 1.104156 -1.788284 -0.185342 q: -0.089720 0.818047 0.090763 0.560813 
time: 1403636738.063555, t: 1.072208 -1.751440 -0.119179 q: -0.088509 0.817958 0.089527 0.561335 
time: 1403636738.263556, t: 1.058036 -1.726257 -0.050420 q: -0.081659 0.815743 0.090670 0.565397 
time: 1403636738.463556, t: 1.049204 -1.705834 -0.007137 q: -0.077867 0.816866 0.087816 0.564761 
time: 1403636738.663555, t: 1.053131 -1.695074 0.007008 q: -0.066280 0.821718 0.067552 0.561982 
time: 1403636738.863555, t: 1.059317 -1.698336 0.000303 q: -0.048220 0.819109 0.026940 0.570973 
time: 1403636739.063555, t: 1.071971 -1.716995 -0.032667 q: -0.027057 0.817085 -0.024783 0.575348 
time: 1403636739.263556, t: 1.083865 -1.752101 -0.082983 q: 0.018102 0.815153 -0.066406 0.575142 
time: 1403636739.463556, t: 1.093014 -1.797653 -0.132445 q: 0.066827 0.811223 -0.102351 0.571818 
time: 1403636739.663555, t: 1.099992 -1.839685 -0.151613 q: 0.088442 0.806299 -0.138681 0.568179 
time: 1403636739.863555, t: 1.110578 -1.877785 -0.161925 q: 0.093332 0.803340 -0.155966 0.567105 
optimize pose graph 
time: 1403636740.063555, t: 1.122827 -1.919329 -0.193227 q: 0.097201 0.803922 -0.155870 0.565655 
time: 1403636740.263556, t: 1.127685 -1.965842 -0.243809 q: 0.106886 0.804787 -0.143973 0.565831 
time: 1403636740.463556, t: 1.130330 -2.003115 -0.308371 q: 0.096529 0.803235 -0.144997 0.569624 
time: 1403636740.663555, t: 1.124931 -2.040368 -0.367801 q: 0.089514 0.802383 -0.143942 0.572232 
time: 1403636740.863555, t: 1.118662 -2.072593 -0.413415 q: 0.086228 0.805266 -0.142358 0.569074 
time: 1403636741.063555, t: 1.105567 -2.108264 -0.472353 q: 0.104721 0.803322 -0.128464 0.572018 
time: 1403636741.263556, t: 1.094318 -2.126617 -0.562536 q: 0.107312 0.797648 -0.144222 0.575710 
time: 1403636741.463556, t: 1.070655 -2.137181 -0.661696 q: 0.100905 0.802780 -0.162378 0.564797 
time: 1403636741.663555, t: 1.050023 -2.148964 -0.733531 q: 0.100291 0.811507 -0.168985 0.550312 
time: 1403636741.863555, t: 1.040401 -2.171844 -0.778542 q: 0.106666 0.807660 -0.162435 0.556706 
optimize pose graph 
time: 1403636742.063555, t: 1.037695 -2.196438 -0.839667 q: 0.115007 0.809993 -0.149582 0.555256 
time: 1403636742.263556, t: 1.045176 -2.209073 -0.898234 q: 0.101145 0.815938 -0.151851 0.548595 
time: 1403636742.463556, t: 1.063184 -2.224582 -0.926507 q: 0.095593 0.808697 -0.149662 0.560778 
time: 1403636742.663555, t: 1.090278 -2.242156 -0.937276 q: 0.094971 0.804519 -0.146292 0.567740 
time: 1403636742.863555, t: 1.118573 -2.258918 -0.969258 q: 0.092884 0.800551 -0.144021 0.574237 
time: 1403636743.063555, t: 1.134701 -2.275196 -1.031671 q: 0.093589 0.803671 -0.150542 0.568060 
time: 1403636743.263556, t: 1.150202 -2.296403 -1.101613 q: 0.094931 0.822364 -0.164790 0.536236 
time: 1403636743.463556, t: 1.191055 -2.332380 -1.139827 q: 0.094404 0.822161 -0.172005 0.534372 
time: 1403636743.663555, t: 1.253205 -2.380621 -1.176735 q: 0.102509 0.812681 -0.168081 0.548444 
time: 1403636743.863555, t: 1.331831 -2.432813 -1.237037 q: 0.110830 0.801737 -0.173095 0.561224 
time: 1403636744.063555, t: 1.414403 -2.486795 -1.320127 q: 0.122006 0.795022 -0.178954 0.566596 
time: 1403636744.263556, t: 1.492841 -2.535313 -1.427066 q: 0.127887 0.788688 -0.193678 0.569303 
time: 1403636744.463556, t: 1.561000 -2.577659 -1.558227 q: 0.121878 0.785209 -0.206161 0.571043 
time: 1403636744.663555, t: 1.618553 -2.625280 -1.705859 q: 0.112362 0.780767 -0.211096 0.577249 
time: 1403636744.863555, t: 1.657977 -2.678551 -1.857593 q: 0.125491 0.782648 -0.201315 0.575488 
time: 1403636745.063555, t: 1.677408 -2.724554 -1.980054 q: 0.125972 0.792631 -0.196747 0.563167 
time: 1403636745.463556, t: 1.729677 -2.820695 -2.129581 q: 0.121314 0.792727 -0.179993 0.569622 
time: 1403636745.663555, t: 1.756622 -2.863733 -2.155700 q: 0.124548 0.788135 -0.183423 0.574184 
time: 1403636745.863555, t: 1.778997 -2.898602 -2.153306 q: 0.137056 0.787361 -0.189598 0.570378 
time: 1403636746.063555, t: 1.799212 -2.919134 -2.125602 q: 0.153685 0.786707 -0.194544 0.565354 
time: 1403636746.263556, t: 1.819311 -2.917806 -2.074049 q: 0.163048 0.782260 -0.197979 0.567705 
time: 1403636746.463556, t: 1.838167 -2.889587 -2.027402 q: 0.162853 0.772575 -0.200437 0.580028 
time: 1403636746.663555, t: 1.842792 -2.840817 -2.020796 q: 0.141388 0.793691 -0.209922 0.553169 
time: 1403636746.863555, t: 1.855966 -2.791725 -2.029686 q: 0.115811 0.803440 -0.219778 0.541082 
time: 1403636747.063555, t: 1.881417 -2.764702 -2.027002 q: 0.117940 0.799763 -0.212752 0.548823 
time: 1403636747.263556, t: 1.922107 -2.752805 -1.986394 q: 0.136917 0.793459 -0.199823 0.558343 
time: 1403636747.463556, t: 1.967872 -2.737848 -1.927723 q: 0.144056 0.791504 -0.198925 0.559641 
time: 1403636747.663555, t: 2.014190 -2.712682 -1.886328 q: 0.143935 0.792542 -0.205158 0.555940 
time: 1403636747.863555, t: 2.067247 -2.680390 -1.826239 q: 0.145264 0.791333 -0.210814 0.555202 
time: 1403636748.063555, t: 2.120829 -2.649343 -1.749504 q: 0.124954 0.783142 -0.231408 0.563494 
time: 1403636748.263556, t: 2.172821 -2.631507 -1.693701 q: 0.128084 0.784542 -0.232958 0.560195 
time: 1403636748.463556, t: 2.213190 -2.624878 -1.662065 q: 0.149700 0.788096 -0.218013 0.555846 
time: 1403636748.663555, t: 2.259093 -2.619981 -1.609341 q: 0.146410 0.785539 -0.220478 0.559358 
time: 1403636748.863555, t: 2.300242 -2.612318 -1.558487 q: 0.134977 0.781239 -0.232281 0.563465 
time: 1403636749.063555, t: 2.341275 -2.612196 -1.521238 q: 0.132930 0.777555 -0.241838 0.565024 
time: 1403636749.263556, t: 2.367639 -2.625901 -1.488956 q: 0.138403 0.775643 -0.244357 0.565254 
time: 1403636749.463556, t: 2.378487 -2.653650 -1.433918 q: 0.157027 0.778105 -0.234131 0.561318 
time: 1403636749.663555, t: 2.386625 -2.676986 -1.368461 q: 0.169017 0.780976 -0.224729 0.557680 
time: 1403636749.863555, t: 2.395257 -2.693223 -1.326090 q: 0.164847 0.773876 -0.223036 0.569383 
time: 1403636750.063555, t: 2.399177 -2.698445 -1.307245 q: 0.160016 0.770405 -0.218525 0.577163 
time: 1403636750.263556, t: 2.386520 -2.690341 -1.290471 q: 0.153679 0.776959 -0.215662 0.571146 
time: 1403636750.463556, t: 2.362887 -2.672111 -1.242539 q: 0.147325 0.783029 -0.212090 0.565843 
time: 1403636750.663555, t: 2.336626 -2.646716 -1.155909 q: 0.144553 0.785605 -0.205268 0.565504 
time: 1403636750.863555, t: 2.306890 -2.615177 -1.044495 q: 0.142600 0.788776 -0.201471 0.562945 
time: 1403636751.063555, t: 2.273620 -2.574698 -0.921715 q: 0.146006 0.792181 -0.198482 0.558333 
time: 1403636751.263556, t: 2.247411 -2.528880 -0.822740 q: 0.143135 0.798333 -0.203131 0.548557 
time: 1403636751.463556, t: 2.230140 -2.478973 -0.730882 q: 0.131974 0.794357 -0.214555 0.552762 
time: 1403636751.863555, t: 2.202483 -2.417215 -0.571046 q: 0.109937 0.801202 -0.209671 0.549570 
time: 1403636752.063555, t: 2.197475 -2.418120 -0.499862 q: 0.120198 0.807130 -0.196512 0.543578 
time: 1403636752.263556, t: 2.208123 -2.430335 -0.434241 q: 0.120075 0.800020 -0.185145 0.557918 
time: 1403636752.463556, t: 2.218285 -2.437912 -0.356672 q: 0.104152 0.797417 -0.159894 0.572461 
time: 1403636752.663555, t: 2.226956 -2.441850 -0.277247 q: 0.081450 0.806622 -0.124078 0.572129 
time: 1403636752.863555, t: 2.230162 -2.446675 -0.223442 q: 0.056546 0.813583 -0.084631 0.572471 
time: 1403636753.063555, t: 2.233198 -2.445915 -0.197461 q: 0.037827 0.817297 -0.036440 0.573818 
time: 1403636753.263556, t: 2.237946 -2.435540 -0.194703 q: 0.012844 0.818869 0.011442 0.573723 
time: 1403636753.463556, t: 2.240244 -2.410273 -0.208711 q: -0.013613 0.815661 0.046986 0.576458 
time: 1403636753.663555, t: 2.231266 -2.370626 -0.205055 q: -0.034161 0.813225 0.054646 0.578370 
time: 1403636753.863555, t: 2.220309 -2.326839 -0.196268 q: -0.035324 0.811629 0.055639 0.580444 
time: 1403636754.063555, t: 2.201040 -2.283704 -0.199309 q: -0.033120 0.809550 0.051474 0.583852 
optimize pose graph 
time: 1403636754.263556, t: 2.179039 -2.233146 -0.185397 q: -0.027292 0.804051 0.048369 0.591961 
time: 1403636754.463556, t: 2.141613 -2.174473 -0.151013 q: -0.025826 0.804192 0.049998 0.591700 
time: 1403636754.663555, t: 2.087623 -2.106274 -0.125490 q: -0.034801 0.805777 0.067995 0.587272 
time: 1403636754.863555, t: 2.017657 -2.030120 -0.119856 q: -0.055667 0.803892 0.092917 0.584829 
time: 1403636755.063555, t: 1.944279 -1.947383 -0.131349 q: -0.067628 0.801824 0.109621 0.583513 
time: 1403636755.263556, t: 1.855123 -1.857220 -0.131405 q: -0.074204 0.803344 0.115830 0.579410 
time: 1403636755.463556, t: 1.762161 -1.762917 -0.107177 q: -0.073887 0.814777 0.117548 0.562905 
time: 1403636755.663555, t: 1.677058 -1.662924 -0.084039 q: -0.070599 0.813702 0.116219 0.565153 
time: 1403636755.863555, t: 1.597051 -1.555074 -0.081746 q: -0.073041 0.810009 0.111384 0.571090 
time: 1403636756.063555, t: 1.520532 -1.443965 -0.082225 q: -0.075566 0.806789 0.108980 0.575764 
optimize pose graph 
time: 1403636756.263556, t: 1.444094 -1.332990 -0.060997 q: -0.075301 0.804561 0.109505 0.578808 
time: 1403636756.663555, t: 1.261875 -1.108390 -0.044102 q: -0.077847 0.802426 0.111778 0.580997 
time: 1403636756.863555, t: 1.157255 -0.994963 -0.037308 q: -0.080168 0.800874 0.112540 0.582674 
time: 1403636757.063555, t: 1.037255 -0.888143 -0.007998 q: -0.082806 0.801365 0.112414 0.581653 
time: 1403636757.263556, t: 0.912595 -0.784791 0.008187 q: -0.082814 0.801375 0.113218 0.581482 
time: 1403636757.463556, t: 0.781265 -0.683773 0.005027 q: -0.077953 0.804260 0.117953 0.577214 
time: 1403636757.663555, t: 0.650502 -0.572734 0.013800 q: -0.080059 0.813485 0.131196 0.560911 
time: 1403636757.863555, t: 0.532995 -0.455100 0.048041 q: -0.089002 0.821652 0.141671 0.544882 
time: 1403636758.063555, t: 0.432310 -0.326510 0.111883 q: -0.099654 0.810851 0.144558 0.558294 
time: 1403636758.263556, t: 0.344548 -0.194631 0.156825 q: -0.107364 0.799895 0.143179 0.572836 
optimize pose graph 
time: 1403636758.463556, t: 0.259419 -0.069230 0.166310 q: -0.113425 0.809274 0.139111 0.559337 
time: 1403636758.663555, t: 0.190257 0.042569 0.155097 q: -0.126237 0.828591 0.129164 0.529923 
time: 1403636758.863555, t: 0.160977 0.141308 0.143230 q: -0.121240 0.810685 0.130564 0.557713 
time: 1403636759.063555, t: 0.136535 0.226805 0.118806 q: -0.115515 0.801866 0.133988 0.570714 
time: 1403636759.263556, t: 0.126285 0.295555 0.076694 q: -0.147759 0.802657 0.111726 0.566945 
time: 1403636759.463556, t: 0.112131 0.329558 0.025833 q: -0.130836 0.800428 0.124750 0.571519 
time: 1403636759.663555, t: 0.094241 0.341605 -0.030315 q: -0.112243 0.798120 0.139867 0.575190 
time: 1403636759.863555, t: 0.071499 0.345231 -0.050330 q: -0.110489 0.797657 0.142345 0.575564 
time: 1403636760.063555, t: 0.041769 0.346439 -0.067679 q: -0.109344 0.809085 0.142330 0.559613 
time: 1403636760.263556, t: 0.019484 0.345836 -0.088851 q: -0.109588 0.807239 0.141097 0.562537 
time: 1403636760.463556, t: 0.002372 0.343624 -0.116508 q: -0.108946 0.797392 0.141661 0.576394 
optimize pose graph 
time: 1403636760.663555, t: -0.023969 0.338294 -0.150657 q: -0.102405 0.806198 0.147241 0.563807 
time: 1403636760.863555, t: -0.047267 0.340364 -0.176352 q: -0.097804 0.803916 0.151749 0.566680 
time: 1403636761.063555, t: -0.073911 0.351408 -0.202278 q: -0.099949 0.807182 0.151278 0.561767 
time: 1403636761.263556, t: -0.096092 0.371467 -0.229987 q: -0.100928 0.821709 0.151515 0.540048 
time: 1403636761.463556, t: -0.099124 0.402794 -0.239927 q: -0.102316 0.812436 0.150616 0.553890 
time: 1403636761.663555, t: -0.091872 0.440895 -0.239726 q: -0.108919 0.801444 0.144208 0.570112 
time: 1403636761.863555, t: -0.086905 0.472370 -0.230970 q: -0.125836 0.802044 0.130785 0.569021 
time: 1403636762.063555, t: -0.083588 0.486714 -0.215226 q: -0.105143 0.800507 0.143588 0.572290 
time: 1403636762.263556, t: -0.086745 0.501010 -0.198100 q: -0.083108 0.806321 0.157333 0.564079 
time: 1403636762.463556, t: -0.090319 0.534154 -0.204667 q: -0.096348 0.819403 0.146955 0.545618 
time: 1403636762.663555, t: -0.078803 0.574528 -0.240892 q: -0.139852 0.810003 0.115911 0.557585 
time: 1403636762.863555, t: -0.061501 0.587347 -0.291107 q: -0.134773 0.785240 0.121014 0.592107 
time: 1403636763.063555, t: -0.084484 0.554317 -0.305542 q: -0.109375 0.805353 0.103210 0.573404 
time: 1403636763.263556, t: -0.092041 0.541307 -0.314519 q: -0.108386 0.802958 0.081200 0.580446 
time: 1403636763.463556, t: -0.096922 0.538601 -0.316617 q: -0.108943 0.801841 0.080437 0.581990 
time: 1403636763.663555, t: -0.081864 0.545232 -0.301239 q: -0.108938 0.802409 0.080090 0.581255 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720542574.137170287]: Shutdown request received.[0m
[33m[ WARN] [1720542574.137209771]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720542574.138043837]: Shutdown request received.[0m
[33m[ WARN] [1720542574.138068798]: Reason given for shutdown: [user request][0m
killed
