/SLAM-Hive/slam_hive_results/mapping_results/3117/2322_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-12.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720543272.281252241]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720543272.282852191]: init begins[0m
[31m[ERROR] [1720543272.283835456]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/0d2ef466-3e12-11ef-a918-0242ac110005/roslaunch-a04ca6f0edeb-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://a04ca6f0edeb:46019/[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] [1720543273.388538427]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720543273.388870684]: 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] [1720543273.396045555]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720543273.396260305]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720543273.396286122]: ROW: 480 COL: 752 [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] [1720543273.396505341]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720543273.396726399]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720543273.396885609]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://a04ca6f0edeb:11311/[0m
]2;roscore http://a04ca6f0edeb:11311/
[1msetting /run_id to 0d2ef466-3e12-11ef-a918-0242ac110005[0m
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 [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720543282.420454653]: 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: 316906703.69 
init first imu pose
averge acc 8.132320 -0.420480 -2.900939
init R0 
   0.33909   0.134948   0.931025
         0  -0.989658   0.143447
  0.940754 -0.0486414  -0.335583
[33m[ WARN] [1720543287.841163355]: gyroscope bias initial calibration -0.00568821   0.0198703   0.0780624[0m
[0m[ INFO] [1720543287.870753237]: Initialization finish![0m
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time: 1403636701.163555, t: 5.385191 -3.535693 -1.003945 q: 0.122304 0.803503 -0.200327 0.547078 
time: 1403636701.563555, t: 5.341818 -3.646797 -0.974155 q: 0.120106 0.800789 -0.187642 0.555970 
time: 1403636701.963556, t: 5.321901 -3.766566 -0.967371 q: 0.131514 0.793315 -0.205696 0.557713 
time: 1403636702.363555, t: 5.284589 -3.890206 -1.040715 q: 0.173163 0.777282 -0.269463 0.541514 
time: 1403636702.763556, t: 5.273863 -4.013806 -1.191925 q: 0.192754 0.779876 -0.283419 0.523749 
time: 1403636703.563555, t: 5.402688 -4.302907 -1.409025 q: 0.188756 0.768646 -0.280939 0.542796 
time: 1403636703.963556, t: 5.448652 -4.464157 -1.411121 q: 0.182755 0.768227 -0.279344 0.546256 
time: 1403636704.363555, t: 5.484715 -4.621491 -1.470681 q: 0.179600 0.778761 -0.274628 0.534654 
time: 1403636704.763556, t: 5.551064 -4.792925 -1.480626 q: 0.180495 0.791482 -0.270918 0.517282 
time: 1403636705.163555, t: 5.701053 -4.991176 -1.548304 q: 0.180273 0.794243 -0.265553 0.515908 
time: 1403636705.563555, t: 5.945057 -5.204640 -1.591494 q: 0.184552 0.787981 -0.262018 0.525712 
time: 1403636705.963556, t: 6.245456 -5.411560 -1.652832 q: 0.176172 0.775525 -0.268618 0.543478 
time: 1403636706.363555, t: 6.529410 -5.633266 -1.676068 q: 0.180701 0.775256 -0.258900 0.547079 
time: 1403636706.763556, t: 6.790738 -5.841709 -1.721129 q: 0.185989 0.786211 -0.254567 0.531485 
time: 1403636707.163555, t: 7.097418 -6.027101 -1.689399 q: 0.191594 0.782235 -0.261218 0.532133 
time: 1403636707.563555, t: 7.442231 -6.190747 -1.612762 q: 0.195134 0.782146 -0.269095 0.527028 
optimize pose graph 
time: 1403636707.963556, t: 7.816634 -6.353251 -1.561195 q: 0.177458 0.778496 -0.277578 0.534231 
time: 1403636708.363555, t: 8.195973 -6.536621 -1.640298 q: 0.167414 0.770620 -0.273986 0.550499 
time: 1403636708.763556, t: 8.520869 -6.747253 -1.702448 q: 0.184606 0.767976 -0.263832 0.553647 
time: 1403636709.163555, t: 8.789115 -6.931442 -1.754906 q: 0.210252 0.761966 -0.260946 0.554174 
time: 1403636709.563555, t: 9.031151 -7.015764 -1.752826 q: 0.209351 0.771530 -0.266649 0.538341 
optimize pose graph 
time: 1403636709.963556, t: 9.293636 -7.032961 -1.795530 q: 0.206193 0.774002 -0.262237 0.538179 
time: 1403636710.363555, t: 9.586819 -6.993119 -1.818080 q: 0.187648 0.771553 -0.261847 0.548571 
time: 1403636710.763556, t: 9.873426 -6.930488 -1.923231 q: 0.139890 0.779067 -0.233317 0.564843 
time: 1403636711.163555, t: 10.102350 -6.884498 -1.986703 q: 0.133852 0.796952 -0.159792 0.566937 
time: 1403636711.563555, t: 10.300794 -6.786427 -1.981699 q: 0.127280 0.781045 -0.154247 0.591588 
optimize pose graph 
time: 1403636712.363555, t: 10.443167 -6.414294 -1.856311 q: 0.112689 0.790537 -0.150769 0.582770 
time: 1403636712.763556, t: 10.410302 -6.193424 -1.714354 q: 0.090630 0.787851 -0.112559 0.598671 
time: 1403636713.163555, t: 10.293059 -5.946480 -1.629787 q: 0.079966 0.795705 -0.107448 0.590689 
time: 1403636713.563555, t: 10.114998 -5.691137 -1.473689 q: 0.070705 0.801197 -0.115390 0.582898 
time: 1403636714.363555, t: 9.672767 -5.302538 -1.306336 q: 0.074391 0.802932 -0.133293 0.576193 
time: 1403636714.763556, t: 9.445198 -5.172812 -1.316006 q: 0.051864 0.822313 -0.101921 0.557426 
time: 1403636715.163555, t: 9.278819 -5.076560 -1.241935 q: 0.013850 0.830056 -0.018344 0.557206 
time: 1403636715.563555, t: 9.173834 -4.989951 -1.172562 q: -0.018490 0.820013 -0.015129 0.571846 
optimize pose graph 
time: 1403636715.963556, t: 9.080078 -4.944968 -1.169579 q: 0.002341 0.800904 -0.009438 0.598714 
time: 1403636716.363555, t: 8.920545 -4.925991 -1.117387 q: 0.004181 0.814107 -0.023203 0.580237 
time: 1403636716.763556, t: 8.736187 -4.918873 -1.129967 q: 0.001423 0.814022 -0.011247 0.580724 
time: 1403636717.163555, t: 8.542871 -4.904580 -1.150300 q: -0.044021 0.813487 0.056936 0.577113 
time: 1403636717.563555, t: 8.344484 -4.884717 -1.123214 q: -0.044549 0.809206 0.099530 0.577316 
optimize pose graph 
time: 1403636717.963556, t: 8.133447 -4.800593 -1.154920 q: -0.053153 0.807813 0.116085 0.575445 
time: 1403636718.363555, t: 7.895868 -4.644356 -1.148437 q: -0.108909 0.802028 0.159415 0.565223 
time: 1403636718.763556, t: 7.667287 -4.473743 -1.222072 q: -0.160645 0.797086 0.188123 0.550869 
time: 1403636719.163555, t: 7.485874 -4.341624 -1.289416 q: -0.149819 0.785192 0.213479 0.561654 
time: 1403636719.563555, t: 7.287204 -4.227029 -1.333807 q: -0.155800 0.780788 0.203570 0.569785 
optimize pose graph 
time: 1403636719.963556, t: 7.062852 -4.155109 -1.363943 q: -0.149827 0.793282 0.194811 0.557049 
time: 1403636720.363555, t: 6.866135 -4.104960 -1.402448 q: -0.148988 0.794944 0.193103 0.555498 
time: 1403636720.763556, t: 6.702581 -4.078817 -1.440361 q: -0.152899 0.794994 0.194057 0.554029 
time: 1403636721.163555, t: 6.575505 -4.078936 -1.448582 q: -0.126065 0.800285 0.152143 0.566131 
time: 1403636721.563555, t: 6.453021 -4.109038 -1.446210 q: -0.095222 0.805361 0.112604 0.574149 
time: 1403636721.963556, t: 6.327587 -4.159262 -1.470556 q: -0.075188 0.807644 0.100809 0.576104 
optimize pose graph 
time: 1403636722.363555, t: 6.193770 -4.189423 -1.469963 q: -0.078035 0.808368 0.105156 0.573929 
time: 1403636722.763556, t: 6.051041 -4.210859 -1.494307 q: -0.065769 0.809754 0.095674 0.575170 
time: 1403636723.163555, t: 5.900222 -4.214905 -1.478186 q: -0.069742 0.810182 0.090785 0.574891 
time: 1403636723.563555, t: 5.748841 -4.210111 -1.472430 q: -0.051909 0.804284 0.076009 0.587073 
time: 1403636723.963556, t: 5.576747 -4.191463 -1.440231 q: -0.041357 0.816509 0.047649 0.573875 
time: 1403636724.363555, t: 5.408201 -4.177521 -1.470662 q: -0.005503 0.823317 0.002376 0.567550 
time: 1403636724.763556, t: 5.273613 -4.158054 -1.456135 q: 0.022190 0.816178 -0.033249 0.576417 
time: 1403636725.163555, t: 5.155196 -4.117996 -1.324006 q: 0.008811 0.818822 -0.040371 0.572558 
time: 1403636725.563555, t: 5.059259 -4.097403 -1.189277 q: 0.015430 0.819743 -0.033254 0.571557 
time: 1403636725.963556, t: 4.980523 -4.079677 -1.151177 q: 0.013419 0.819602 -0.033742 0.571782 
optimize pose graph 
time: 1403636726.363555, t: 4.919066 -4.065275 -1.177556 q: 0.014132 0.816112 -0.027663 0.577058 
time: 1403636726.763556, t: 4.859829 -4.055566 -1.136869 q: -0.008612 0.811254 -0.037681 0.583415 
time: 1403636727.163555, t: 4.781133 -4.086595 -1.002187 q: 0.008166 0.811733 -0.011699 0.583854 
time: 1403636727.563555, t: 4.672943 -4.096904 -0.905184 q: 0.012029 0.812017 -0.006678 0.583471 
time: 1403636727.963556, t: 4.550121 -4.065291 -0.762086 q: 0.021404 0.812990 -0.000817 0.581884 
optimize pose graph 
time: 1403636728.363555, t: 4.417306 -3.987512 -0.666343 q: 0.011387 0.811203 -0.009549 0.584576 
time: 1403636728.763556, t: 4.262654 -3.903558 -0.638433 q: -0.007458 0.812226 -0.002030 0.583292 
time: 1403636729.163555, t: 4.093316 -3.823724 -0.587492 q: -0.023326 0.807734 0.043335 0.587489 
time: 1403636729.563555, t: 3.895211 -3.733600 -0.585823 q: -0.032125 0.809347 0.048873 0.584412 
time: 1403636729.963556, t: 3.676483 -3.634972 -0.537810 q: -0.032483 0.816203 0.046919 0.574941 
optimize pose graph 
time: 1403636730.363555, t: 3.467980 -3.529494 -0.550272 q: -0.036092 0.818585 0.046113 0.571393 
time: 1403636730.763556, t: 3.298941 -3.428124 -0.546320 q: -0.036051 0.829530 0.047678 0.555254 
time: 1403636731.163555, t: 3.209224 -3.330100 -0.474430 q: -0.060044 0.819918 0.028000 0.568635 
time: 1403636731.563555, t: 3.155303 -3.290050 -0.474258 q: -0.045135 0.815040 0.036184 0.576510 
time: 1403636731.963556, t: 3.100218 -3.291346 -0.535954 q: -0.041978 0.814355 0.039589 0.577491 
time: 1403636732.363555, t: 3.041229 -3.316711 -0.636343 q: -0.038987 0.811262 0.044775 0.581661 
time: 1403636732.763556, t: 2.940381 -3.324532 -0.636513 q: -0.022365 0.799826 0.059180 0.596889 
time: 1403636733.163555, t: 2.762357 -3.277657 -0.607540 q: -0.029545 0.807294 0.056991 0.586648 
time: 1403636733.563555, t: 2.552151 -3.198136 -0.523388 q: -0.037516 0.815060 0.054555 0.575582 
time: 1403636733.963556, t: 2.340979 -3.103781 -0.471478 q: -0.034089 0.816826 0.058192 0.572928 
time: 1403636734.363555, t: 2.134916 -2.997704 -0.444694 q: -0.039974 0.813092 0.054421 0.578205 
time: 1403636734.763556, t: 1.932419 -2.888606 -0.383820 q: -0.042292 0.819482 0.058160 0.568576 
time: 1403636735.163555, t: 1.760213 -2.782602 -0.397833 q: -0.046756 0.819979 0.057970 0.567528 
time: 1403636735.563555, t: 1.632750 -2.679971 -0.340402 q: -0.044745 0.820477 0.048138 0.567889 
time: 1403636735.963556, t: 1.545523 -2.593045 -0.253753 q: -0.038171 0.819703 0.043003 0.569896 
time: 1403636736.363555, t: 1.472884 -2.517301 -0.169271 q: -0.059290 0.811579 0.076378 0.576186 
time: 1403636736.763556, t: 1.397890 -2.433705 -0.127266 q: -0.054412 0.807011 0.103317 0.578876 
time: 1403636737.163555, t: 1.297841 -2.317446 -0.147204 q: -0.072586 0.806730 0.102376 0.577441 
time: 1403636737.563555, t: 1.181958 -2.193647 -0.173491 q: -0.081563 0.813294 0.107702 0.565951 
time: 1403636737.963556, t: 1.096713 -2.092140 -0.101561 q: -0.095373 0.817232 0.098204 0.559814 
optimize pose graph 
time: 1403636738.363555, t: 1.066901 -2.037628 0.029251 q: -0.084910 0.815471 0.097442 0.564183 
time: 1403636738.763556, t: 1.071996 -2.016774 0.057797 q: -0.062129 0.820839 0.057069 0.564895 
time: 1403636739.163555, t: 1.096356 -2.049000 -0.009827 q: -0.011046 0.816862 -0.039042 0.575405 
time: 1403636739.563555, t: 1.107234 -2.140754 -0.104739 q: 0.074820 0.808786 -0.116206 0.571632 
time: 1403636739.963556, t: 1.128703 -2.224526 -0.138460 q: 0.089734 0.803906 -0.150347 0.568400 
optimize pose graph 
time: 1403636740.363555, t: 1.143648 -2.307640 -0.233277 q: 0.097967 0.804473 -0.135833 0.569891 
time: 1403636740.763556, t: 1.143567 -2.371102 -0.352569 q: 0.083300 0.806396 -0.135592 0.569563 
time: 1403636741.163555, t: 1.122967 -2.430806 -0.473189 q: 0.105680 0.801531 -0.124457 0.575230 
time: 1403636741.563555, t: 1.084210 -2.453524 -0.654801 q: 0.092914 0.809667 -0.161674 0.556478 
time: 1403636741.963556, t: 1.065427 -2.493403 -0.762334 q: 0.108144 0.808168 -0.147685 0.559784 
optimize pose graph 
time: 1403636742.363555, t: 1.081824 -2.526618 -0.868039 q: 0.092670 0.813848 -0.143812 0.555322 
time: 1403636742.763556, t: 1.133169 -2.560461 -0.899153 q: 0.089368 0.803406 -0.137091 0.572502 
time: 1403636743.163555, t: 1.169808 -2.595968 -1.018878 q: 0.088115 0.815371 -0.151820 0.551685 
time: 1403636743.563555, t: 1.251594 -2.662005 -1.103285 q: 0.092529 0.818915 -0.164128 0.542106 
time: 1403636743.963556, t: 1.408219 -2.763064 -1.221879 q: 0.112224 0.799503 -0.167930 0.565685 
time: 1403636744.363555, t: 1.565194 -2.852679 -1.433340 q: 0.122456 0.789142 -0.192393 0.570302 
time: 1403636744.763556, t: 1.680299 -2.938433 -1.726260 q: 0.115278 0.782522 -0.198128 0.578891 
time: 1403636745.163555, t: 1.730501 -3.035559 -1.970393 q: 0.116580 0.799191 -0.188051 0.558874 
time: 1403636745.563555, t: 1.788645 -3.130786 -2.093708 q: 0.117449 0.792192 -0.172602 0.573451 
time: 1403636745.963556, t: 1.830790 -3.196016 -2.090613 q: 0.141350 0.788991 -0.184333 0.568801 
time: 1403636746.363555, t: 1.871566 -3.193950 -1.992062 q: 0.160592 0.775862 -0.189813 0.579845 
time: 1403636746.763556, t: 1.888716 -3.098434 -1.966653 q: 0.121721 0.805433 -0.207427 0.541697 
time: 1403636747.163555, t: 1.945730 -3.043235 -1.953264 q: 0.122592 0.798926 -0.196876 0.554913 
time: 1403636747.563555, t: 2.035447 -3.013150 -1.854433 q: 0.138795 0.795050 -0.193005 0.558015 
time: 1403636747.963556, t: 2.131863 -2.949815 -1.734006 q: 0.129058 0.789649 -0.212513 0.560925 
time: 1403636748.363555, t: 2.225966 -2.913926 -1.624356 q: 0.135695 0.790527 -0.214823 0.557229 
time: 1403636748.763556, t: 2.316396 -2.903909 -1.527063 q: 0.132618 0.786484 -0.217303 0.562703 
time: 1403636749.163555, t: 2.386848 -2.911232 -1.449934 q: 0.122909 0.778935 -0.236373 0.567698 
time: 1403636749.563555, t: 2.412391 -2.964796 -1.348334 q: 0.157171 0.783649 -0.217566 0.560229 
time: 1403636749.963556, t: 2.429362 -2.998030 -1.263915 q: 0.155008 0.773874 -0.209593 0.577202 
time: 1403636750.363555, t: 2.404543 -2.974642 -1.220313 q: 0.143641 0.783511 -0.202929 0.569471 
time: 1403636750.763556, t: 2.349748 -2.918184 -1.054884 q: 0.136281 0.790027 -0.192386 0.565927 
time: 1403636751.163555, t: 2.282262 -2.839534 -0.820455 q: 0.137952 0.795908 -0.189664 0.558147 
time: 1403636751.563555, t: 2.246746 -2.752556 -0.635155 q: 0.119179 0.792598 -0.205256 0.561653 
time: 1403636751.963556, t: 2.221703 -2.714408 -0.484174 q: 0.108669 0.808285 -0.190568 0.546397 
time: 1403636752.363555, t: 2.236127 -2.731187 -0.347330 q: 0.107223 0.798539 -0.162322 0.569641 
time: 1403636752.763556, t: 2.256732 -2.745106 -0.193548 q: 0.060874 0.811367 -0.093230 0.573834 
time: 1403636753.163555, t: 2.262944 -2.740059 -0.137000 q: 0.018027 0.818716 0.000103 0.573916 
time: 1403636753.563555, t: 2.265959 -2.686435 -0.156112 q: -0.033746 0.814272 0.065384 0.575802 
time: 1403636753.963556, t: 2.241590 -2.595982 -0.145224 q: -0.041962 0.811310 0.066807 0.579269 
optimize pose graph 
time: 1403636754.363555, t: 2.192234 -2.482043 -0.126933 q: -0.030750 0.803429 0.060800 0.591490 
time: 1403636754.763556, t: 2.082759 -2.350237 -0.068581 q: -0.052542 0.804406 0.093654 0.584294 
time: 1403636755.163555, t: 1.918928 -2.189237 -0.080381 q: -0.078995 0.800798 0.127127 0.579932 
time: 1403636755.563555, t: 1.724723 -2.010054 -0.035763 q: -0.078068 0.814087 0.132460 0.560020 
time: 1403636755.963556, t: 1.548498 -1.799594 -0.020973 q: -0.081983 0.807008 0.124849 0.571340 
optimize pose graph 
time: 1403636756.363555, t: 1.384488 -1.581478 0.013915 q: -0.083727 0.803010 0.125312 0.576594 
time: 1403636756.763556, t: 1.194155 -1.365785 0.014082 q: -0.087478 0.799949 0.127594 0.579784 
time: 1403636757.163555, t: 0.960743 -1.164919 0.055398 q: -0.092249 0.800178 0.128221 0.578588 
time: 1403636757.563555, t: 0.696127 -0.969206 0.049581 q: -0.087213 0.805592 0.139262 0.569229 
time: 1403636757.963556, t: 0.452860 -0.745316 0.118014 q: -0.104415 0.817389 0.159299 0.543688 
time: 1403636758.363555, t: 0.270812 -0.498089 0.204664 q: -0.120168 0.797374 0.157339 0.570087 
optimize pose graph 
time: 1403636758.763556, t: 0.116862 -0.277993 0.189787 q: -0.132918 0.817670 0.145887 0.540801 
time: 1403636759.563555, t: 0.037820 -0.042241 0.045350 q: -0.130554 0.796189 0.150223 0.571378 
time: 1403636759.963556, t: -0.011312 -0.041580 -0.006110 q: -0.119387 0.800906 0.160741 0.564322 
time: 1403636760.363555, t: -0.061738 -0.043345 -0.046954 q: -0.121955 0.798126 0.157421 0.568630 
optimize pose graph 
time: 1403636760.763556, t: -0.107001 -0.051651 -0.110092 q: -0.109879 0.804852 0.167780 0.558561 
time: 1403636761.163555, t: -0.160439 -0.033461 -0.161779 q: -0.112476 0.812414 0.168641 0.546710 
time: 1403636761.563555, t: -0.174604 0.025504 -0.186385 q: -0.115872 0.801901 0.166261 0.562037 
time: 1403636761.963556, t: -0.168517 0.085563 -0.169574 q: -0.132744 0.799932 0.151120 0.565376 
time: 1403636762.363555, t: -0.172249 0.121018 -0.144584 q: -0.097370 0.812332 0.172235 0.548608 
optimize pose graph 
time: 1403636762.763556, t: -0.150010 0.196111 -0.218113 q: -0.143305 0.802653 0.139624 0.561887 
time: 1403636763.163555, t: -0.170619 0.157492 -0.248807 q: -0.119077 0.790761 0.102653 0.591591 
time: 1403636763.563555, t: -0.175171 0.153082 -0.262429 q: -0.120766 0.800183 0.098027 0.579235 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720543470.891689139]: Shutdown request received.[0m
[33m[ WARN] [1720543470.891729910]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720543470.892692726]: Shutdown request received.[0m
[33m[ WARN] [1720543470.892723791]: Reason given for shutdown: [user request][0m
killed
