/SLAM-Hive/slam_hive_results/mapping_results/3125/2330_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-20.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720545064.812228931]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720545064.813870804]: init begins[0m
[31m[ERROR] [1720545064.814922282]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/399dd478-3e16-11ef-b5b6-0242ac110005/roslaunch-00b8820bc262-118.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://00b8820bc262:46431/[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://00b8820bc262:11311/[0m
]2;roscore http://00b8820bc262:11311/
[1msetting /run_id to 399dd478-3e16-11ef-b5b6-0242ac110005[0m
[0m[ INFO] [1720545066.019768638]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720545066.021050047]: 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] [1720545066.028391619]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720545066.028628241]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720545066.028654792]: 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] [1720545066.028862578]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720545066.029114823]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720545066.029295492]: 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 [168][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720545074.965168569]: 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: 316908496.23 
init first imu pose
averge acc 8.893766 -0.424314 -3.324727
init R0 
  0.352648   0.118464   0.928227
         0  -0.991954   0.126597
  0.935756 -0.0446441  -0.349811
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720545086.737007146]: Initialization finish![0m
time: 1403636590.263556, t: 14.323515 9.053454 -8.862378 q: 0.039263 0.863880 0.044336 0.500204 
time: 1403636591.263556, t: 14.132318 12.076837 -8.890833 q: 0.191061 0.817075 -0.043447 0.542214 
time: 1403636592.263556, t: -1.688449 30.676277 -2.759519 q: 0.249350 0.765897 -0.089935 0.585779 
time: 1403636593.263556, t: -21.296786 52.061772 1.476149 q: 0.151841 0.801019 0.114081 0.567713 
time: 1403636594.263556, t: -42.853413 78.738353 5.089011 q: 0.238250 0.747100 -0.061386 0.617503 
time: 1403636595.263556, t: -71.335681 106.987317 7.551940 q: 0.194278 0.738719 0.136877 0.630726 
time: 1403636596.263556, t: -96.905326 147.584222 9.214916 q: 0.252377 0.705679 0.056828 0.659616 
time: 1403636597.263556, t: -156.868786 142.879132 27.442122 q: 0.173095 0.821986 -0.063141 0.538879 
time: 1403636598.263556, t: -139.263324 223.957154 30.458029 q: 0.146952 0.809175 0.151053 0.548474 
time: 1403636599.263556, t: -125.678462 288.103960 23.796361 q: 0.127443 0.726429 0.222524 0.637607 
time: 1403636600.263556, t: -113.388998 352.357265 16.697717 q: 0.135418 0.691153 0.229382 0.671828 
time: 1403636601.263556, t: -389.585156 136.915543 74.682274 q: -0.142830 0.703565 0.044969 0.694675 
time: 1403636602.263556, t: -403.484151 -182.004467 20.527832 q: 0.501590 -0.668040 -0.186095 -0.517203 
time: 1403636603.263556, t: -459.526158 -169.312101 -106.941307 q: -0.250340 0.690311 0.247579 0.632064 
time: 1403636604.263556, t: -569.893823 -1.409839 -118.924077 q: -0.205694 0.702356 0.227110 0.642501 
time: 1403636605.263556, t: -594.397508 -170.928915 -111.663082 q: -0.187122 0.662177 0.236435 0.686007 
time: 1403636606.263556, t: -697.909589 -69.431509 -125.584920 q: -0.160621 0.676405 0.224986 0.682685 
time: 1403636607.263556, t: -753.031691 -116.408064 -147.839341 q: -0.174270 0.676535 0.231760 0.676918 
time: 1403636608.263556, t: -844.400476 -3.273054 -163.127374 q: -0.147331 0.686755 0.221732 0.676384 
time: 1403636609.263556, t: -921.673758 -7.825114 -184.654145 q: -0.147437 0.686549 0.221720 0.676574 
time: 1403636610.263556, t: -901.738931 442.008185 -190.222550 q: -0.053355 0.718523 0.188789 0.667260 
time: 1403636611.263556, t: -469.020834 913.536597 -200.999577 q: 0.026842 0.788077 0.182307 0.587349 
time: 1403636612.263556, t: -277.441554 1031.897314 -232.140733 q: 0.035402 0.822730 0.195792 0.532473 
time: 1403636613.263556, t: 283.673032 1042.021972 -246.139244 q: 0.000237 0.904442 0.238493 0.353704 
time: 1403636614.263556, t: 716.556025 877.163455 -357.779282 q: -0.155181 0.887894 0.250165 0.353526 
time: 1403636615.263556, t: 692.877953 1049.236109 -407.171164 q: -0.026981 0.887270 0.229393 0.399253 
time: 1403636616.263556, t: 734.709154 1137.018048 -463.469771 q: -0.063666 0.885867 0.242294 0.390487 
time: 1403636617.263556, t: 1030.468405 974.248897 -503.927140 q: -0.238807 0.886551 0.317328 0.237280 
time: 1403636618.263556, t: 1096.853420 1076.096027 -561.884588 q: -0.130711 0.912398 0.284726 0.263393 
time: 1403636619.263556, t: 1044.106593 1315.730271 -620.041374 q: -0.050360 0.912789 0.252269 0.317240 
time: 1403636620.263556, t: 1008.723945 1509.701167 -676.729136 q: -0.023240 0.908499 0.239785 0.341457 
time: 1403636621.263556, t: 1236.125987 1498.259541 -803.689972 q: -0.159111 0.893855 0.288126 0.304450 
time: 1403636622.263556, t: 1221.830928 1689.757349 -890.265834 q: -0.034188 0.903814 0.238867 0.353404 
time: 1403636623.263556, t: 1318.502396 1780.545113 -958.219476 q: -0.043737 0.903847 0.243317 0.349205 
time: 1403636624.263556, t: 1336.989502 1860.422063 -1085.004797 q: -0.164271 0.849376 0.269615 0.422946 
time: 1403636625.263556, t: 1296.410908 2065.492768 -1163.190089 q: 0.017582 0.877612 0.218633 0.426248 
time: 1403636626.263556, t: 1621.068265 1983.086134 -1207.680681 q: -0.093844 0.901518 0.281492 0.314994 
time: 1403636627.263556, t: 1655.727160 2148.511961 -1290.662156 q: -0.007999 0.903557 0.270612 0.332099 
time: 1403636628.263556, t: 1895.520554 2122.476120 -1410.248994 q: -0.080973 0.902025 0.278150 0.320043 
time: 1403636629.263556, t: 2075.167377 2158.260217 -1556.121674 q: -0.096145 0.888777 0.266028 0.360639 
time: 1403636630.263556, t: 2175.475981 2282.208254 -1675.543305 q: 0.014593 0.910524 0.170063 0.376578 
time: 1403636631.263556, t: 2364.477724 2154.445018 -1833.521881 q: -0.186135 0.864919 0.261337 0.385969 
time: 1403636632.263556, t: 2453.569633 2313.829463 -1948.804044 q: -0.126986 0.876005 0.248938 0.393089 
time: 1403636633.263556, t: 2592.524343 2475.458380 -2112.986638 q: -0.207629 0.861477 0.327452 0.327907 
time: 1403636634.263556, t: 2581.248107 2691.200925 -2275.340987 q: -0.236468 0.827063 0.311347 0.403873 
time: 1403636635.263556, t: 2686.948637 2819.876465 -2413.173011 q: -0.310959 0.797188 0.386925 0.343634 
time: 1403636636.263556, t: 2905.538754 2805.742103 -2554.359481 q: -0.405957 0.778220 0.416533 0.236795 
time: 1403636637.263556, t: 2934.604342 3033.825065 -2707.472123 q: -0.304712 0.839750 0.385908 0.230314 
time: 1403636638.263556, t: 3036.849310 3131.972770 -2866.428359 q: -0.376065 0.799127 0.405092 0.236371 
time: 1403636639.263556, t: 2990.645384 3413.041440 -3026.392950 q: -0.304110 0.856570 0.363007 0.205015 
time: 1403636640.263556, t: 3028.682996 3573.027834 -3189.783546 q: -0.386828 0.790996 0.417784 0.223931 
time: 1403636641.263556, t: 3130.606690 3731.362139 -3341.616266 q: -0.357084 0.831874 0.401856 0.137801 
time: 1403636642.263556, t: 2914.898560 3994.519090 -3519.102037 q: -0.400483 0.772326 0.419443 0.259217 
time: 1403636643.263556, t: 2480.990447 4260.672685 -3710.126929 q: -0.467447 0.734930 0.429163 0.239146 
time: 1403636644.263556, t: 2246.060292 4460.569801 -3866.180569 q: -0.354915 0.829997 0.401448 0.154855 
time: 1403636645.263556, t: 2091.275199 4567.174940 -4014.984496 q: -0.434638 0.777866 0.438667 0.116560 
time: 1403636646.263556, t: 2035.850637 4680.713334 -4167.011253 q: -0.432038 0.815673 0.371573 0.099767 
time: 1403636647.263556, t: 2378.315282 4839.196725 -4303.762300 q: -0.331575 0.884268 0.325072 0.049567 
time: 1403636648.263556, t: 2731.585910 4870.298749 -4456.929449 q: -0.294421 0.906403 0.293931 0.073174 
time: 1403636649.263556, t: 2968.887301 4870.237905 -4624.379950 q: -0.213772 0.931504 0.261696 0.134602 
time: 1403636650.263556, t: 3170.273355 4840.471189 -4814.667743 q: -0.254671 0.910091 0.259103 0.199357 
time: 1403636651.263556, t: 3401.395396 4753.543420 -5010.029823 q: -0.187891 0.932442 0.218119 0.218340 
time: 1403636652.263556, t: 3468.325585 4816.468763 -5208.051877 q: -0.062928 0.948783 0.119008 0.285812 
time: 1403636653.263556, t: 3410.472883 4996.809046 -5420.761172 q: -0.021866 0.942483 0.066978 0.326744 
time: 1403636654.263556, t: 3205.288574 5267.623155 -5623.200920 q: -0.016384 0.938165 0.063636 0.339895 
time: 1403636655.263556, t: 3170.663477 5405.193847 -5823.134039 q: -0.061021 0.949925 0.084585 0.294556 
time: 1403636656.263556, t: 3357.643131 5447.985332 -6011.400055 q: -0.058602 0.984238 0.120089 0.115841 
time: 1403636657.263556, t: 3647.000082 5439.957037 -6173.258931 q: 0.038745 0.987967 0.092063 0.118084 
time: 1403636658.263556, t: 3946.699741 5304.287156 -6374.199062 q: -0.102207 0.972303 0.130306 0.164930 
time: 1403636659.263556, t: 4048.916671 5434.353704 -6572.564005 q: 0.124745 0.973861 0.084488 0.169983 
time: 1403636660.263556, t: 4068.174306 5559.636527 -6821.070137 q: 0.086346 0.937592 0.015326 0.336498 
time: 1403636661.263556, t: 3597.982591 5895.007630 -7103.772025 q: -0.320545 0.858429 0.227738 0.329370 
time: 1403636662.263556, t: 3289.048764 6110.611064 -7333.785443 q: -0.121767 0.973078 0.138066 0.138672 
time: 1403636663.263556, t: 3300.930381 6179.531558 -7596.980585 q: -0.289056 0.924001 0.179682 0.174305 
time: 1403636664.263556, t: 3538.968472 6255.111233 -7830.132011 q: -0.424668 0.875499 0.220839 0.066253 
time: 1403636665.263556, t: 3555.963947 6446.145662 -8084.763385 q: -0.160532 0.954488 0.173860 0.181533 
time: 1403636666.263556, t: 3682.243117 6606.413162 -8342.161577 q: -0.020893 0.963311 0.144556 0.225165 
time: 1403636667.263556, t: 4209.571167 6566.828987 -8587.490829 q: 0.021423 0.981234 0.151235 0.117681 
time: 1403636668.263556, t: 4567.277992 6519.820346 -8851.279387 q: 0.025585 0.967825 0.145210 0.203895 
time: 1403636669.263556, t: 4739.861720 6616.925183 -9111.351246 q: -0.052013 0.949980 0.164181 0.260534 
time: 1403636670.263556, t: 4711.562687 6951.218910 -9390.721671 q: 0.025947 0.947215 0.070857 0.311592 
time: 1403636671.263556, t: 5099.535318 6844.766119 -9658.653695 q: -0.345328 0.900596 0.215814 0.151988 
time: 1403636672.263556, t: 5116.485438 7175.395240 -9947.525723 q: -0.124502 0.920223 0.349818 0.123761 
time: 1403636673.263556, t: 5113.986687 7508.225747 -10245.439206 q: -0.032130 0.919169 0.321742 0.224897 
time: 1403636674.263556, t: 5412.470737 7603.777554 -10536.859002 q: -0.068301 0.915865 0.330774 0.217060 
time: 1403636675.263556, t: 5551.099443 7813.372335 -10844.829606 q: -0.160009 0.889264 0.382505 0.193124 
time: 1403636676.263556, t: 5639.139084 8091.527063 -11170.930452 q: -0.090878 0.867059 0.379775 0.309387 
time: 1403636677.263556, t: 5680.551492 8312.432023 -11488.336968 q: -0.275014 0.771625 0.501480 0.278351 
time: 1403636678.263556, t: 5849.061256 8515.385799 -11800.911644 q: -0.215009 0.814687 0.488638 0.226469 
time: 1403636679.263556, t: 6116.271324 8684.765480 -12093.819056 q: -0.390928 0.738740 0.548624 0.021205 
time: 1403636680.263556, t: 6322.414797 8873.166566 -12424.518347 q: -0.370122 0.676845 0.613999 0.167018 
time: 1403636681.263556, t: 7017.049282 8529.136554 -12772.864232 q: -0.144732 0.844773 0.441396 0.265669 
time: 1403636682.263556, t: 7671.818086 7081.320014 -13072.542513 q: 0.146643 0.921182 0.238899 0.269901 
time: 1403636683.263556, t: 7052.179223 5344.506228 -13364.255365 q: 0.285026 0.934078 0.184457 0.110604 
time: 1403636684.263556, t: 6419.407372 4693.156528 -13668.636690 q: -0.093063 0.935765 0.338545 0.032711 
time: 1403636685.263556, t: 5006.675812 4666.845636 -14006.449057 q: 0.030007 0.937061 0.314523 -0.148629 
time: 1403636686.263556, t: 4093.143658 5054.178170 -14350.919460 q: -0.039032 0.919456 0.292982 -0.259304 
time: 1403636687.263556, t: 3471.676098 5909.659464 -14722.211003 q: -0.174860 0.901514 0.250637 -0.306394 
time: 1403636688.263556, t: 3426.130884 6887.544819 -15111.349300 q: -0.321704 0.883952 0.240559 -0.239304 
time: 1403636689.263556, t: 3760.243820 7499.323523 -15514.182579 q: -0.386190 0.859263 0.245907 -0.228153 
time: 1403636690.263556, t: 4273.294385 7797.585398 -15895.810606 q: -0.359255 0.877310 0.263818 -0.177940 
time: 1403636691.263556, t: 4599.069053 7810.554563 -16234.635793 q: -0.407382 0.875130 0.261124 0.001043 
time: 1403636692.263556, t: 4722.607936 7963.840598 -16617.698284 q: -0.464987 0.830562 0.245107 -0.184057 
time: 1403636693.263556, t: 4671.460370 8200.032241 -17044.799788 q: -0.460275 0.816391 0.212137 -0.276858 
time: 1403636695.263556, t: 3630.580448 8224.040321 -17725.086857 q: -0.283673 0.909214 0.285633 -0.106176 
time: 1403636696.263556, t: 3338.757203 7975.918988 -18045.828995 q: -0.232564 0.917582 0.299259 -0.120004 
time: 1403636697.263556, t: 3336.253199 7954.112406 -18290.785000 q: -0.089633 0.929419 0.311368 -0.176624 
time: 1403636698.263556, t: 3385.257019 8073.629279 -18489.016877 q: 0.022140 0.962308 0.270150 0.022169 
time: 1403636699.263556, t: 3534.539469 8366.941613 -18682.861680 q: 0.115302 0.977337 0.153428 0.089317 
time: 1403636700.263556, t: 3310.205927 8241.278546 -19003.592473 q: 0.226850 0.968524 0.102148 0.008166 
time: 1403636701.263556, t: 3184.638792 7778.057179 -19329.277504 q: 0.170377 0.980692 0.094255 0.018196 
time: 1403636702.263556, t: 3510.785581 7393.865580 -19657.155207 q: 0.196522 0.975979 0.090830 -0.024363 
time: 1403636703.263556, t: 4014.468386 7430.700856 -20027.402632 q: 0.027502 0.992773 0.106281 -0.048467 
time: 1403636704.263556, t: 4169.283975 7758.428322 -20389.698790 q: 0.006445 0.992045 0.115558 0.049507 
time: 1403636705.263556, t: 4107.950308 8055.211410 -20763.772880 q: -0.021331 0.987332 0.155985 0.019700 
time: 1403636706.263556, t: 3883.907322 8253.516512 -21159.485357 q: -0.044034 0.988096 0.147139 0.008751 
time: 1403636707.263556, t: 3555.344795 8199.842833 -21611.117856 q: -0.048717 0.979457 0.187497 -0.055989 
time: 1403636708.263556, t: 3380.034220 7953.744151 -22056.286276 q: -0.008533 0.982977 0.167625 -0.074732 
time: 1403636709.263556, t: 3342.703070 7804.917070 -22474.137978 q: 0.077242 0.976879 0.192905 -0.050277 
time: 1403636710.263556, t: 3432.354815 7681.689735 -22914.222704 q: 0.101578 0.973725 0.199818 -0.040174 
time: 1403636711.263556, t: 3483.035542 7690.912212 -23344.145365 q: -0.020520 0.969437 0.242905 -0.027702 
time: 1403636712.263556, t: 3500.714292 7783.815297 -23777.757791 q: -0.013838 0.975856 0.217346 -0.016561 
time: 1403636713.263556, t: 3472.945619 7904.320856 -24212.445581 q: -0.068581 0.965571 0.248449 -0.035249 
time: 1403636714.263556, t: 3508.131361 8031.751839 -24652.776976 q: -0.118351 0.963403 0.231903 -0.063786 
time: 1403636715.263556, t: 3400.818386 8107.040662 -25079.399285 q: -0.218487 0.918601 0.324962 0.053239 
time: 1403636716.263556, t: 3928.880892 8369.818973 -25542.982378 q: -0.206163 0.925223 0.305904 0.088775 
time: 1403636717.263556, t: 3548.896008 8630.802299 -25962.630800 q: -0.177398 0.870839 0.367993 0.273406 
time: 1403636718.263556, t: 3809.643848 8753.121409 -26429.145097 q: -0.373429 0.833776 0.402232 0.059817 
time: 1403636719.263556, t: 3289.714183 8884.448156 -26847.524063 q: -0.278238 0.811631 0.443066 0.259869 
time: 1403636720.263556, t: 3953.557468 8909.523038 -27283.078882 q: -0.199616 0.898159 0.388636 0.049250 
time: 1403636721.263556, t: 4632.981114 8851.926439 -27653.197551 q: -0.051838 0.931009 0.343773 0.111159 
time: 1403636722.263556, t: 5100.154948 8648.095340 -28024.871989 q: 0.179358 0.925589 0.279075 0.182297 
time: 1403636723.263556, t: 5346.557260 8184.726354 -28453.536864 q: 0.074995 0.927601 0.287741 0.226134 
time: 1403636724.263556, t: 5491.302301 7705.501647 -28868.647933 q: 0.172939 0.939400 0.251625 0.155899 
time: 1403636725.263556, t: 5822.818010 7743.082679 -29271.681636 q: 0.074162 0.957505 0.231190 0.155674 
time: 1403636726.263556, t: 6044.126564 7940.275457 -29667.239584 q: 0.149886 0.943179 0.210529 0.208866 
time: 1403636727.263556, t: 6322.700346 7764.391113 -30125.374474 q: -0.025777 0.949126 0.271786 0.156930 
time: 1403636728.263556, t: 6596.975376 8213.862139 -30590.932044 q: -0.064685 0.948718 0.273857 0.144055 
time: 1403636729.263556, t: 6812.531625 8287.627673 -31103.634011 q: -0.086628 0.938226 0.302006 0.144981 
time: 1403636730.263556, t: 7009.906597 8577.733997 -31556.803492 q: -0.063950 0.946348 0.300002 0.101665 
time: 1403636731.263556, t: 7320.497780 8147.063801 -32064.376950 q: -0.117704 0.942338 0.288432 0.122275 
time: 1403636732.263556, t: 7446.926495 8197.827059 -32482.680574 q: 0.011858 0.938410 0.273349 0.211013 
time: 1403636733.263556, t: 7699.987761 8281.255901 -32903.076063 q: -0.045918 0.935288 0.309515 0.165312 
time: 1403636734.263556, t: 7849.642123 8648.568110 -33285.965546 q: 0.029312 0.941613 0.293427 0.162498 
time: 1403636735.263556, t: 8188.515310 8281.969878 -33739.188857 q: -0.053712 0.942641 0.309412 0.113168 
time: 1403636736.263556, t: 8275.671376 7957.993448 -34172.539508 q: 0.064412 0.926985 0.270586 0.251662 
time: 1403636737.263556, t: 8507.289667 7975.903052 -34576.136017 q: -0.034841 0.926045 0.314224 0.206132 
time: 1403636738.263556, t: 8756.375716 8708.608097 -34984.176553 q: -0.099428 0.937646 0.319519 0.094030 
time: 1403636740.263556, t: 8952.374002 7395.687902 -35944.675164 q: 0.212365 0.900141 0.120712 0.360662 
time: 1403636741.263556, t: 9215.351906 7745.294309 -36308.090858 q: 0.279511 0.887732 0.098136 0.352384 
time: 1403636742.263556, t: 9647.468280 8064.153321 -36795.839625 q: 0.028050 0.960912 0.210278 0.177890 
time: 1403636743.263556, t: 9908.087146 7963.840436 -37324.347591 q: 0.110144 0.954244 0.169374 0.220452 
time: 1403636744.263556, t: 10100.079257 7738.103749 -37827.281211 q: 0.170682 0.922286 0.124602 0.323621 
time: 1403636745.263556, t: 10286.285527 8414.213452 -38218.460455 q: 0.222456 0.929091 0.128187 0.266216 
time: 1403636746.263556, t: 10705.291832 7746.100454 -38755.472959 q: 0.126850 0.940824 0.190340 0.250061 
time: 1403636747.263556, t: 10957.733089 7464.269495 -39319.911936 q: 0.064679 0.940740 0.163856 0.289787 
time: 1403636748.263556, t: 11214.937787 8566.769307 -39807.080274 q: 0.101953 0.970240 0.161331 0.149036 
time: 1403636749.263556, t: 11511.299525 8641.687246 -40242.744147 q: 0.216598 0.947303 0.154460 0.178452 
time: 1403636750.263556, t: 11872.960030 7475.056651 -40755.660740 q: 0.114020 0.941936 0.188580 0.253365 
time: 1403636751.263556, t: 12192.478435 7393.314212 -41305.890103 q: 0.013408 0.949503 0.209702 0.233002 
time: 1403636752.263556, t: 12434.231095 8272.227526 -41787.964335 q: 0.080778 0.957381 0.206112 0.185512 
time: 1403636753.263556, t: 12729.259478 8332.669765 -42235.378982 q: -0.043992 0.933105 0.338489 0.113160 
time: 1403636754.263556, t: 13070.578207 7869.431380 -42706.244567 q: -0.123467 0.914520 0.358003 0.142274 
time: 1403636755.263556, t: 13093.066858 8854.897971 -43130.839281 q: -0.070033 0.919779 0.363165 0.131195 
time: 1403636756.263556, t: 13444.511752 8078.454908 -43575.709353 q: -0.048839 0.916912 0.368753 0.144596 
time: 1403636757.263556, t: 13733.196072 8085.249509 -44024.400938 q: -0.141299 0.901690 0.380868 0.148087 
time: 1403636758.263556, t: 13826.032792 8641.534734 -44441.587947 q: -0.008187 0.921789 0.342639 0.181209 
time: 1403636759.263556, t: 14003.463294 8875.648214 -44692.760980 q: 0.103415 0.946590 0.256697 0.165464 
time: 1403636760.263556, t: 14369.933300 8665.303350 -44980.046476 q: 0.080162 0.937274 0.325444 0.095801 
time: 1403636761.263556, t: 14479.933117 9203.593375 -45308.711896 q: 0.138622 0.936337 0.300842 0.116406 
time: 1403636762.263556, t: 14962.892297 8112.508181 -45700.434399 q: 0.057225 0.925854 0.371116 0.042332 
time: 1403636763.263556, t: 15189.994007 8729.432248 -46097.010552 q: 0.011591 0.945394 0.279368 0.167480 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720545263.606339719]: Shutdown request received.[0m
[33m[ WARN] [1720545263.606379121]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720545263.607280162]: Shutdown request received.[0m
[33m[ WARN] [1720545263.607316203]: Reason given for shutdown: [user request][0m
killed
