/SLAM-Hive/slam_hive_results/mapping_results/3135/2340_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720547331.584836430]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720547331.586223955]: init begins[0m
[31m[ERROR] [1720547331.587316805]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/80b765fe-3e1b-11ef-95ea-0242ac110005/roslaunch-e7d97efeb7cb-117.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://e7d97efeb7cb:35049/[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 [154][0m
[0m[ INFO] [1720547332.691182525]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720547332.692940309]: 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] [1720547332.698403695]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720547332.698594616]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720547332.698618383]: 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] [1720547332.698845238]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720547332.699074247]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720547332.699233059]: 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
[1mROS_MASTER_URI=http://e7d97efeb7cb:11311/[0m
]2;roscore http://e7d97efeb7cb:11311/
[1msetting /run_id to 80b765fe-3e1b-11ef-95ea-0242ac110005[0m
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 [247][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720547341.750604352]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316910485.13 
init first imu pose
averge acc 9.439445 -0.460368 -3.138128
init R0 
  0.318508   0.137589   0.937882
         0   -0.98941   0.145148
   0.94792 -0.0462307  -0.315135
[33m[ WARN] [1720547345.002424832]: gyroscope bias initial calibration -0.00582878   0.0243179   0.0801026[0m
[0m[ INFO] [1720547345.079189591]: Initialization finish![0m
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time: 1403636867.601666, t: -0.052587 -0.109027 0.232868 q: -0.052846 0.880686 0.057557 0.467211 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403636883.901666, t: 0.157413 -0.129446 0.000503 q: -0.154554 0.792340 0.158715 0.568437 
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time: 1403636899.701667, t: 0.332489 -0.227012 0.281555 q: -0.088910 0.814680 0.083023 0.567009 
optimize pose graph 
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time: 1403636899.901666, t: 0.377217 -0.255900 0.289895 q: -0.072439 0.818085 0.076412 0.565377 
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time: 1403636900.201667, t: 0.450280 -0.308947 0.298781 q: -0.063197 0.805644 0.078077 0.583822 
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time: 1403636901.701667, t: 0.867123 -0.680359 0.425701 q: -0.073912 0.813381 0.089301 0.570064 
optimize pose graph 
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time: 1403636903.801666, t: 1.578725 -1.430324 0.367962 q: -0.074565 0.819461 0.095729 0.560143 
optimize pose graph 
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time: 1403636985.701667, t: 8.634649 -7.026142 -1.515961 q: 0.193474 0.780002 -0.245155 0.542276 
time: 1403636985.801666, t: 8.728815 -7.041971 -1.504323 q: 0.193114 0.779135 -0.238599 0.546558 
time: 1403636985.901666, t: 8.822937 -7.053347 -1.490313 q: 0.194683 0.769896 -0.231869 0.561779 
time: 1403636986.001667, t: 8.914503 -7.057344 -1.481987 q: 0.197356 0.759119 -0.225816 0.577751 
time: 1403636986.101666, t: 8.998985 -7.052358 -1.484417 q: 0.197690 0.758760 -0.223550 0.578988 
time: 1403636986.201667, t: 9.078585 -7.039801 -1.496689 q: 0.192928 0.766978 -0.226486 0.568531 
time: 1403636986.301666, t: 9.151960 -7.020389 -1.512594 q: 0.188937 0.776429 -0.229582 0.555655 
time: 1403636986.401666, t: 9.226080 -6.996441 -1.531112 q: 0.184764 0.781134 -0.232448 0.549236 
time: 1403636986.501667, t: 9.300766 -6.967693 -1.549455 q: 0.177197 0.782122 -0.237434 0.548189 
time: 1403636986.601666, t: 9.375319 -6.935697 -1.560478 q: 0.170382 0.781190 -0.241707 0.549809 
time: 1403636986.701667, t: 9.447175 -6.903571 -1.560146 q: 0.165373 0.780614 -0.244993 0.550701 
time: 1403636986.901666, t: 9.587598 -6.843920 -1.531385 q: 0.158840 0.778379 -0.249535 0.553740 
time: 1403636987.001667, t: 9.651902 -6.816320 -1.502509 q: 0.161546 0.777822 -0.248357 0.554269 
time: 1403636987.101666, t: 9.711775 -6.789901 -1.470348 q: 0.167240 0.777430 -0.246005 0.554179 
time: 1403636987.201667, t: 9.770869 -6.762554 -1.440852 q: 0.170278 0.776308 -0.245818 0.554909 
time: 1403636987.301666, t: 9.825790 -6.735610 -1.418397 q: 0.171681 0.774553 -0.246751 0.556514 
time: 1403636987.401666, t: 9.880618 -6.706701 -1.401919 q: 0.171466 0.773225 -0.246132 0.558696 
time: 1403636987.501667, t: 9.932499 -6.678488 -1.390485 q: 0.172657 0.771407 -0.240627 0.563222 
time: 1403636987.601666, t: 9.982976 -6.645964 -1.384083 q: 0.175423 0.769167 -0.234735 0.567898 
time: 1403636987.701667, t: 10.027336 -6.610736 -1.382047 q: 0.175449 0.768321 -0.231343 0.570421 
time: 1403636987.801666, t: 10.067241 -6.572068 -1.377331 q: 0.172786 0.768457 -0.229674 0.571725 
optimize pose graph 
time: 1403636987.901666, t: 10.101717 -6.530479 -1.363233 q: 0.167605 0.769366 -0.230642 0.571654 
time: 1403636988.001667, t: 10.131281 -6.486460 -1.345723 q: 0.158530 0.771553 -0.234974 0.569527 
time: 1403636988.101666, t: 10.157633 -6.440553 -1.329760 q: 0.149669 0.774074 -0.240997 0.565976 
time: 1403636988.201667, t: 10.178570 -6.397039 -1.317998 q: 0.143853 0.774940 -0.245614 0.564312 
time: 1403636988.301666, t: 10.194507 -6.356575 -1.310600 q: 0.141054 0.771178 -0.248487 0.568896 
time: 1403636988.401666, t: 10.204230 -6.322219 -1.299620 q: 0.142160 0.764725 -0.248449 0.577286 
time: 1403636988.501667, t: 10.206611 -6.287451 -1.281076 q: 0.145708 0.760585 -0.246163 0.582823 
time: 1403636988.601666, t: 10.198077 -6.254087 -1.256601 q: 0.146323 0.758341 -0.245469 0.585879 
time: 1403636988.701667, t: 10.180846 -6.223463 -1.233312 q: 0.146040 0.757283 -0.245605 0.587259 
time: 1403636988.801666, t: 10.153760 -6.194646 -1.214935 q: 0.147263 0.755606 -0.244512 0.589565 
time: 1403636988.901666, t: 10.119032 -6.166688 -1.203174 q: 0.146733 0.753064 -0.244660 0.592879 
time: 1403636989.001667, t: 10.072319 -6.139118 -1.196417 q: 0.145966 0.750440 -0.245332 0.596109 
time: 1403636989.101666, t: 10.015201 -6.113092 -1.194327 q: 0.145428 0.748651 -0.246260 0.598103 
time: 1403636989.201667, t: 9.946034 -6.087659 -1.194935 q: 0.145454 0.748621 -0.247057 0.597806 
time: 1403636989.301666, t: 9.866373 -6.063551 -1.192711 q: 0.151212 0.754884 -0.244884 0.589336 
time: 1403636989.401666, t: 9.779410 -6.039954 -1.183234 q: 0.157662 0.764791 -0.242318 0.575777 
time: 1403636989.501667, t: 9.686293 -6.016755 -1.167085 q: 0.159356 0.772468 -0.242357 0.564944 
time: 1403636989.601666, t: 9.590023 -5.993259 -1.145488 q: 0.162169 0.776195 -0.241163 0.559520 
time: 1403636989.701667, t: 9.492581 -5.969596 -1.126010 q: 0.166634 0.779159 -0.238383 0.555264 
time: 1403636989.801666, t: 9.395669 -5.943516 -1.112352 q: 0.168508 0.780458 -0.237361 0.553308 
time: 1403636989.901666, t: 9.302510 -5.918116 -1.101556 q: 0.168046 0.778942 -0.237471 0.555533 
optimize pose graph 
time: 1403636990.001667, t: 9.206197 -5.890262 -1.095899 q: 0.168039 0.774092 -0.237388 0.562309 
time: 1403636990.101666, t: 9.111579 -5.862747 -1.087727 q: 0.169124 0.770067 -0.236391 0.567902 
time: 1403636990.201667, t: 9.012202 -5.832244 -1.073649 q: 0.170482 0.769835 -0.235130 0.568335 
time: 1403636990.301666, t: 8.913028 -5.800405 -1.053354 q: 0.170786 0.773332 -0.233864 0.564001 
time: 1403636990.401666, t: 8.810465 -5.763844 -1.028206 q: 0.170888 0.776730 -0.232497 0.559851 
time: 1403636990.501667, t: 8.710240 -5.727027 -1.005510 q: 0.167558 0.779618 -0.232743 0.556732 
time: 1403636990.601666, t: 8.610203 -5.688102 -0.990111 q: 0.166116 0.781324 -0.231970 0.555093 
time: 1403636990.701667, t: 8.512603 -5.649513 -0.979032 q: 0.165295 0.783603 -0.230810 0.552604 
time: 1403636990.801666, t: 8.415558 -5.609714 -0.976650 q: 0.165320 0.784870 -0.229383 0.551392 
time: 1403636990.901666, t: 8.320229 -5.569025 -0.980364 q: 0.164423 0.785220 -0.228924 0.551351 
time: 1403636991.001667, t: 8.227402 -5.529786 -0.988756 q: 0.164941 0.785306 -0.228167 0.551387 
time: 1403636991.101666, t: 8.136154 -5.489717 -1.000107 q: 0.165793 0.784853 -0.227866 0.551902 
time: 1403636991.201667, t: 8.049105 -5.450076 -1.012441 q: 0.166995 0.784979 -0.228034 0.551290 
time: 1403636991.301666, t: 7.960144 -5.407915 -1.020076 q: 0.166803 0.785336 -0.228864 0.550496 
time: 1403636991.401666, t: 7.875699 -5.365900 -1.018410 q: 0.166816 0.785881 -0.230201 0.549155 
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time: 1403636991.701667, t: 7.637766 -5.238839 -0.961030 q: 0.159960 0.783930 -0.241491 0.549134 
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time: 1403636992.001667, t: 7.416018 -5.131025 -0.885151 q: 0.155196 0.781264 -0.254038 0.548640 
time: 1403636992.101666, t: 7.339317 -5.099818 -0.869318 q: 0.164597 0.779815 -0.250161 0.549741 
time: 1403636992.201667, t: 7.267769 -5.074572 -0.866007 q: 0.171397 0.776781 -0.247303 0.553240 
time: 1403636992.301666, t: 7.193863 -5.048377 -0.861009 q: 0.174856 0.775755 -0.246608 0.553908 
time: 1403636992.401666, t: 7.123761 -5.021667 -0.863425 q: 0.176484 0.777766 -0.247692 0.550074 
time: 1403636992.501667, t: 7.050612 -4.992336 -0.862057 q: 0.177010 0.780632 -0.249747 0.544892 
time: 1403636992.601666, t: 6.984513 -4.962319 -0.856283 q: 0.178916 0.782127 -0.250926 0.541574 
time: 1403636992.701667, t: 6.920062 -4.931952 -0.841769 q: 0.180390 0.782466 -0.252263 0.539972 
time: 1403636992.801666, t: 6.855763 -4.900863 -0.825838 q: 0.182238 0.783052 -0.253121 0.538098 
time: 1403636992.901666, t: 6.796712 -4.869487 -0.819048 q: 0.185379 0.782608 -0.253149 0.537657 
time: 1403636993.001667, t: 6.740522 -4.838332 -0.814839 q: 0.187265 0.780767 -0.253607 0.539460 
time: 1403636993.101666, t: 6.689795 -4.806734 -0.818288 q: 0.184687 0.776741 -0.255566 0.545206 
time: 1403636993.301666, t: 6.589253 -4.737572 -0.808024 q: 0.169060 0.776280 -0.244499 0.555904 
time: 1403636993.401666, t: 6.543267 -4.701993 -0.793827 q: 0.159057 0.779165 -0.231340 0.560432 
time: 1403636993.501667, t: 6.496081 -4.664375 -0.770755 q: 0.147366 0.783397 -0.215514 0.564027 
time: 1403636993.601666, t: 6.446937 -4.627484 -0.741185 q: 0.135971 0.788234 -0.198466 0.566401 
time: 1403636993.701667, t: 6.397593 -4.591142 -0.712687 q: 0.125825 0.793230 -0.185175 0.566273 
time: 1403636993.801666, t: 6.347288 -4.554269 -0.690581 q: 0.119371 0.796827 -0.175413 0.565728 
time: 1403636993.901666, t: 6.297201 -4.517250 -0.675355 q: 0.116894 0.798951 -0.166963 0.565806 
time: 1403636994.001667, t: 6.245943 -4.480922 -0.664400 q: 0.114859 0.796997 -0.161726 0.570481 
optimize pose graph 
time: 1403636994.101666, t: 6.193463 -4.443367 -0.658339 q: 0.116914 0.792320 -0.156667 0.577941 
time: 1403636994.201667, t: 6.139301 -4.404880 -0.655535 q: 0.118213 0.787398 -0.153359 0.585245 
time: 1403636994.301666, t: 6.080942 -4.363835 -0.657956 q: 0.118854 0.782862 -0.152104 0.591494 
time: 1403636994.401666, t: 6.019144 -4.319148 -0.662810 q: 0.120061 0.780343 -0.151170 0.594809 
time: 1403636994.501667, t: 5.951453 -4.269015 -0.669662 q: 0.120182 0.780969 -0.151828 0.593795 
time: 1403636994.601666, t: 5.878037 -4.217709 -0.670753 q: 0.115851 0.784208 -0.155306 0.589472 
time: 1403636994.701667, t: 5.801834 -4.162058 -0.666389 q: 0.108966 0.789586 -0.161243 0.581964 
time: 1403636994.801666, t: 5.722771 -4.106551 -0.655784 q: 0.099323 0.794941 -0.169218 0.574081 
time: 1403636994.901666, t: 5.642448 -4.053234 -0.642860 q: 0.092151 0.796782 -0.175396 0.570862 
time: 1403636995.001667, t: 5.560406 -4.003221 -0.634765 q: 0.092178 0.795062 -0.176296 0.572974 
time: 1403636995.101666, t: 5.476536 -3.956870 -0.631111 q: 0.099286 0.792001 -0.171060 0.577594 
time: 1403636995.201667, t: 5.392362 -3.911910 -0.626876 q: 0.105438 0.789380 -0.165843 0.581600 
time: 1403636995.301666, t: 5.304581 -3.867775 -0.616419 q: 0.108820 0.787997 -0.162148 0.583890 
time: 1403636995.401666, t: 5.214229 -3.822473 -0.599545 q: 0.110614 0.790436 -0.159031 0.581107 
time: 1403636995.501667, t: 5.121048 -3.776155 -0.576351 q: 0.109645 0.795089 -0.158593 0.575030 
time: 1403636995.601666, t: 5.025397 -3.728425 -0.546410 q: 0.108735 0.796867 -0.158410 0.572788 
time: 1403636995.801666, t: 4.835635 -3.633354 -0.493088 q: 0.101731 0.796847 -0.163745 0.572603 
time: 1403636995.901666, t: 4.740921 -3.589576 -0.478263 q: 0.094262 0.797946 -0.169315 0.570727 
time: 1403636996.001667, t: 4.644896 -3.546803 -0.467201 q: 0.090648 0.799000 -0.172646 0.568837 
optimize pose graph 
time: 1403636996.201667, t: 4.456328 -3.473243 -0.453144 q: 0.101139 0.802164 -0.165988 0.564582 
time: 1403636996.301666, t: 4.366215 -3.440848 -0.440775 q: 0.104951 0.802928 -0.162459 0.563825 
time: 1403636996.401666, t: 4.274885 -3.409018 -0.420400 q: 0.102646 0.803987 -0.157835 0.564054 
time: 1403636996.501667, t: 4.188932 -3.376933 -0.391567 q: 0.098362 0.805830 -0.148539 0.564712 
time: 1403636996.601666, t: 4.102609 -3.343179 -0.356746 q: 0.091457 0.808609 -0.135633 0.565147 
time: 1403636996.701667, t: 4.020851 -3.309689 -0.324834 q: 0.081534 0.811983 -0.119536 0.565462 
time: 1403636996.801666, t: 3.939847 -3.276060 -0.308893 q: 0.068953 0.815351 -0.101738 0.565772 
time: 1403636996.901666, t: 3.859753 -3.242567 -0.305468 q: 0.053390 0.818236 -0.083532 0.566271 
time: 1403636997.001667, t: 3.783633 -3.209272 -0.307734 q: 0.038194 0.820597 -0.063986 0.566628 
time: 1403636997.101666, t: 3.709974 -3.176216 -0.315008 q: 0.024842 0.822585 -0.046053 0.566230 
time: 1403636997.201667, t: 3.639894 -3.145839 -0.327109 q: 0.014797 0.824056 -0.033024 0.565351 
time: 1403636997.301666, t: 3.573281 -3.117936 -0.342025 q: 0.008988 0.824902 -0.023150 0.564730 
time: 1403636997.401666, t: 3.509467 -3.091857 -0.351316 q: 0.006148 0.825646 -0.016925 0.563901 
time: 1403636997.501667, t: 3.451065 -3.067745 -0.352150 q: 0.005121 0.825396 -0.013995 0.564357 
time: 1403636997.601666, t: 3.398402 -3.043225 -0.345147 q: 0.004988 0.826190 -0.013826 0.563200 
time: 1403636997.701667, t: 3.347351 -3.019601 -0.331035 q: 0.006720 0.826573 -0.014059 0.562614 
time: 1403636997.801666, t: 3.301281 -2.996376 -0.309473 q: 0.009627 0.827664 -0.014878 0.560944 
time: 1403636997.901666, t: 3.264465 -2.973331 -0.281147 q: 0.011849 0.827914 -0.016507 0.560486 
time: 1403636998.001667, t: 3.226439 -2.951563 -0.245161 q: 0.012858 0.827821 -0.018656 0.560534 
time: 1403636998.101666, t: 3.194082 -2.928658 -0.204357 q: 0.013799 0.827972 -0.020820 0.560213 
time: 1403636998.201667, t: 3.168806 -2.907486 -0.164042 q: 0.012909 0.826670 -0.023911 0.562030 
time: 1403636998.301666, t: 3.144509 -2.886532 -0.130501 q: 0.013967 0.827161 -0.025357 0.561218 
optimize pose graph 
time: 1403636998.401666, t: 3.124052 -2.865810 -0.103647 q: 0.013779 0.826800 -0.026947 0.561681 
time: 1403636998.501667, t: 3.107655 -2.846835 -0.079328 q: 0.013273 0.826524 -0.028804 0.562007 
time: 1403636998.601666, t: 3.092444 -2.828993 -0.048550 q: 0.014795 0.823289 -0.028569 0.566710 
time: 1403636998.701667, t: 3.081453 -2.812110 -0.010510 q: 0.018158 0.815136 -0.026964 0.578356 
time: 1403636998.801666, t: 3.069023 -2.796978 0.032363 q: 0.021223 0.810023 -0.025738 0.585449 
time: 1403636998.901666, t: 3.055287 -2.780770 0.073862 q: 0.026723 0.808502 -0.022328 0.587463 
time: 1403636999.001667, t: 3.038942 -2.762527 0.106816 q: 0.030438 0.808887 -0.020471 0.586818 
time: 1403636999.101666, t: 3.018906 -2.741015 0.133270 q: 0.033232 0.809092 -0.019002 0.586434 
time: 1403636999.201667, t: 2.998683 -2.716270 0.153243 q: 0.034778 0.810772 -0.018710 0.584029 
time: 1403636999.301666, t: 2.978122 -2.688900 0.167721 q: 0.033513 0.812488 -0.020140 0.581665 
time: 1403636999.401666, t: 2.954140 -2.658435 0.176494 q: 0.028777 0.813044 -0.023913 0.580999 
time: 1403636999.501667, t: 2.930266 -2.626593 0.180242 q: 0.025857 0.812702 -0.026211 0.581515 
time: 1403636999.601666, t: 2.906384 -2.594288 0.180554 q: 0.024215 0.810545 -0.027803 0.584515 
time: 1403636999.701667, t: 2.878076 -2.561040 0.177550 q: 0.023676 0.808649 -0.028787 0.587109 
time: 1403636999.801666, t: 2.847701 -2.527497 0.172158 q: 0.023697 0.808242 -0.029632 0.587627 
time: 1403636999.901666, t: 2.813406 -2.494076 0.165879 q: 0.025300 0.808455 -0.028833 0.587306 
time: 1403637000.001667, t: 2.778345 -2.459194 0.158936 q: 0.029454 0.808371 -0.026324 0.587346 
time: 1403637000.101666, t: 2.739089 -2.422767 0.158654 q: 0.031608 0.809354 -0.024552 0.585956 
time: 1403637000.201667, t: 2.698915 -2.383966 0.166953 q: 0.030792 0.811092 -0.024680 0.583585 
time: 1403637000.301666, t: 2.658525 -2.342174 0.176003 q: 0.029568 0.812514 -0.025582 0.581628 
time: 1403637000.401666, t: 2.617571 -2.299601 0.184012 q: 0.027439 0.811975 -0.026950 0.582423 
time: 1403637000.501667, t: 2.573916 -2.255565 0.185734 q: 0.029511 0.811934 -0.025674 0.582437 
time: 1403637000.601666, t: 2.530308 -2.211395 0.188515 q: 0.030230 0.812105 -0.025306 0.582178 
wait for imu ... 
wait for imu ... 
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time: 1403637000.801666, t: 2.437076 -2.116434 0.210945 q: 0.028086 0.810551 -0.027523 0.584347 
time: 1403637000.901666, t: 2.390188 -2.066230 0.228157 q: 0.027645 0.810653 -0.028552 0.584176 
time: 1403637001.001667, t: 2.340934 -2.017331 0.237619 q: 0.027886 0.810343 -0.029444 0.584550 
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time: 1403637001.201667, t: 2.234213 -1.917248 0.244212 q: 0.026749 0.809501 -0.031456 0.585665 
time: 1403637001.301666, t: 2.176806 -1.868083 0.251005 q: 0.025840 0.809650 -0.032368 0.585450 
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time: 1403637001.701667, t: 1.928948 -1.679543 0.326082 q: 0.024187 0.815601 -0.037108 0.576917 
time: 1403637001.801666, t: 1.868340 -1.634177 0.336213 q: 0.023590 0.814724 -0.038492 0.578089 
time: 1403637001.901666, t: 1.806936 -1.589680 0.339534 q: 0.024580 0.816246 -0.038470 0.575897 
time: 1403637002.001667, t: 1.747370 -1.544301 0.337818 q: 0.025234 0.817151 -0.038371 0.574592 
time: 1403637002.101666, t: 1.687195 -1.500925 0.332495 q: 0.025610 0.817788 -0.038608 0.573652 
time: 1403637002.201667, t: 1.630441 -1.458137 0.321386 q: 0.025402 0.817976 -0.038668 0.573388 
time: 1403637002.301666, t: 1.572691 -1.416370 0.307428 q: 0.026806 0.817974 -0.037867 0.573381 
time: 1403637002.401666, t: 1.514048 -1.374283 0.297872 q: 0.028845 0.818461 -0.036153 0.572698 
time: 1403637002.501667, t: 1.459295 -1.332369 0.296167 q: 0.030473 0.817922 -0.034944 0.573459 
optimize pose graph 
time: 1403637002.601666, t: 1.404795 -1.290591 0.303896 q: 0.033112 0.817555 -0.033005 0.573949 
time: 1403637002.701667, t: 1.348332 -1.247681 0.318826 q: 0.034386 0.817855 -0.032805 0.573459 
time: 1403637002.801666, t: 1.294726 -1.203402 0.331868 q: 0.034551 0.817606 -0.033784 0.573746 
time: 1403637002.901666, t: 1.240600 -1.158188 0.339426 q: 0.031501 0.817049 -0.037218 0.574503 
time: 1403637003.001667, t: 1.185651 -1.116698 0.339238 q: 0.030976 0.817263 -0.038554 0.574138 
time: 1403637003.101666, t: 1.134137 -1.071071 0.334200 q: 0.030866 0.817575 -0.040351 0.573577 
time: 1403637003.201667, t: 1.082456 -1.024631 0.324531 q: 0.031657 0.817123 -0.041476 0.574097 
time: 1403637003.301666, t: 1.032754 -0.982637 0.312743 q: 0.031606 0.816055 -0.042795 0.575520 
time: 1403637003.401666, t: 0.982594 -0.937566 0.305182 q: 0.031453 0.814732 -0.043868 0.577320 
time: 1403637003.501667, t: 0.934014 -0.893104 0.306581 q: 0.030936 0.813508 -0.045463 0.578948 
time: 1403637003.601666, t: 0.882838 -0.850972 0.314925 q: 0.030248 0.813809 -0.046423 0.578486 
time: 1403637003.701667, t: 0.831118 -0.807557 0.327888 q: 0.030092 0.813968 -0.047214 0.578205 
time: 1403637003.801666, t: 0.773848 -0.765920 0.337314 q: 0.028450 0.814416 -0.047328 0.577648 
time: 1403637003.901666, t: 0.725314 -0.724256 0.341609 q: 0.029864 0.816243 -0.045174 0.575165 
time: 1403637004.001667, t: 0.671696 -0.684527 0.339243 q: 0.030410 0.818889 -0.042437 0.571573 
time: 1403637004.101666, t: 0.624414 -0.648350 0.332218 q: 0.030978 0.821048 -0.040046 0.568609 
time: 1403637004.201667, t: 0.574884 -0.609785 0.320313 q: 0.031310 0.822288 -0.038035 0.566935 
time: 1403637004.301666, t: 0.531725 -0.570549 0.315247 q: 0.029063 0.822460 -0.037619 0.566833 
time: 1403637004.401666, t: 0.486755 -0.534780 0.317583 q: 0.026562 0.821304 -0.039157 0.568525 
time: 1403637004.501667, t: 0.448248 -0.496070 0.331873 q: 0.026476 0.816971 -0.040630 0.574637 
time: 1403637004.601666, t: 0.405001 -0.459096 0.356585 q: 0.026008 0.814528 -0.043612 0.577897 
optimize pose graph 
time: 1403637004.701667, t: 0.364944 -0.421357 0.383929 q: 0.017846 0.813960 -0.052653 0.578255 
time: 1403637004.801666, t: 0.321515 -0.385592 0.404281 q: 0.011286 0.813479 -0.060547 0.578324 
time: 1403637004.901666, t: 0.280407 -0.353442 0.409328 q: 0.009852 0.816214 -0.064478 0.574055 
time: 1403637005.001667, t: 0.239570 -0.326850 0.399015 q: 0.013376 0.820446 -0.064345 0.567935 
time: 1403637005.101666, t: 0.201030 -0.306441 0.382669 q: 0.021460 0.820356 -0.060366 0.568253 
time: 1403637005.201667, t: 0.165864 -0.288096 0.364814 q: 0.028485 0.819243 -0.056570 0.569937 
time: 1403637005.301666, t: 0.131888 -0.271479 0.343372 q: 0.032041 0.821191 -0.054263 0.567164 
time: 1403637005.401666, t: 0.097740 -0.257221 0.318637 q: 0.032783 0.822152 -0.052432 0.565900 
time: 1403637005.501667, t: 0.059886 -0.241303 0.297046 q: 0.034080 0.819157 -0.048473 0.570500 
time: 1403637005.601666, t: 0.031007 -0.223283 0.281459 q: 0.032078 0.818356 -0.047356 0.571859 
time: 1403637005.701667, t: -0.001934 -0.207196 0.275326 q: 0.025456 0.822518 -0.049654 0.565996 
time: 1403637005.801666, t: -0.028743 -0.191294 0.281162 q: 0.022303 0.824170 -0.050590 0.563638 
time: 1403637005.901666, t: -0.051366 -0.177208 0.293711 q: 0.025615 0.822557 -0.047171 0.566144 
time: 1403637006.001667, t: -0.072450 -0.163233 0.303388 q: 0.028156 0.820089 -0.045134 0.569757 
time: 1403637006.101666, t: -0.092957 -0.148086 0.309487 q: 0.026371 0.818170 -0.046309 0.572502 
time: 1403637006.201667, t: -0.111799 -0.134117 0.313348 q: 0.025405 0.818178 -0.046624 0.572508 
time: 1403637006.301666, t: -0.131910 -0.118934 0.315534 q: 0.022858 0.822397 -0.048451 0.566385 
time: 1403637006.401666, t: -0.148257 -0.106343 0.314367 q: 0.020507 0.828847 -0.049773 0.556880 
time: 1403637006.501667, t: -0.160712 -0.095433 0.312441 q: 0.014383 0.831499 -0.053812 0.552727 
time: 1403637006.601666, t: -0.167955 -0.087953 0.310737 q: 0.010617 0.827082 -0.051652 0.559603 
time: 1403637006.701667, t: -0.172586 -0.082799 0.307951 q: 0.008733 0.822328 -0.041155 0.567457 
optimize pose graph 
time: 1403637006.801666, t: -0.175267 -0.079266 0.301796 q: 0.002870 0.818295 -0.027215 0.574146 
time: 1403637006.901666, t: -0.177729 -0.076670 0.292895 q: -0.008866 0.818446 -0.011273 0.574404 
time: 1403637007.001667, t: -0.180140 -0.075104 0.283491 q: -0.018718 0.819739 0.010784 0.572330 
time: 1403637007.101666, t: -0.182723 -0.075080 0.274306 q: -0.026626 0.818388 0.029825 0.573274 
time: 1403637007.301666, t: -0.187222 -0.077264 0.255475 q: -0.034710 0.810977 0.055934 0.581363 
time: 1403637007.401666, t: -0.192749 -0.077502 0.245995 q: -0.035690 0.807530 0.062765 0.585391 
time: 1403637007.501667, t: -0.201710 -0.076329 0.234845 q: -0.037666 0.808896 0.065451 0.583083 
time: 1403637007.601666, t: -0.212651 -0.073967 0.222036 q: -0.038921 0.813465 0.065893 0.576557 
time: 1403637007.701667, t: -0.225271 -0.069965 0.207625 q: -0.038648 0.821686 0.065294 0.564868 
time: 1403637007.801666, t: -0.236006 -0.064422 0.195261 q: -0.036650 0.825328 0.064960 0.559705 
time: 1403637007.901666, t: -0.243856 -0.056555 0.186143 q: -0.040227 0.820529 0.060377 0.566982 
time: 1403637008.001667, t: -0.250342 -0.047797 0.178362 q: -0.046322 0.814124 0.053556 0.576358 
time: 1403637008.101666, t: -0.259048 -0.040522 0.170535 q: -0.042897 0.815890 0.052702 0.574200 
time: 1403637008.201667, t: -0.268150 -0.033578 0.162777 q: -0.038208 0.825061 0.052630 0.561288 
time: 1403637008.301666, t: -0.274629 -0.026109 0.158692 q: -0.032998 0.831255 0.053306 0.552344 
time: 1403637008.401666, t: -0.276779 -0.017282 0.159205 q: -0.030300 0.831499 0.052561 0.552203 
time: 1403637008.501667, t: -0.274400 -0.006685 0.164467 q: -0.033581 0.824166 0.048092 0.563303 
time: 1403637008.601666, t: -0.270087 0.004316 0.170095 q: -0.036424 0.818079 0.043723 0.572284 
time: 1403637008.701667, t: -0.266122 0.015045 0.171497 q: -0.041246 0.816055 0.038278 0.575229 
time: 1403637008.801666, t: -0.262172 0.024151 0.167530 q: -0.053354 0.819752 0.028078 0.569537 
optimize pose graph 
time: 1403637008.901666, t: -0.256964 0.029118 0.158983 q: -0.061082 0.824003 0.021619 0.562869 
time: 1403637009.001667, t: -0.249391 0.027384 0.147343 q: -0.057661 0.824415 0.022470 0.562592 
time: 1403637009.101666, t: -0.239306 0.019854 0.133114 q: -0.045605 0.823128 0.029520 0.565252 
time: 1403637009.201667, t: -0.228532 0.009212 0.117399 q: -0.033846 0.822031 0.036859 0.567240 
time: 1403637009.301666, t: -0.215878 -0.002325 0.099426 q: -0.017802 0.821904 0.047438 0.567368 
time: 1403637009.401666, t: -0.203628 -0.011062 0.085436 q: -0.031819 0.817769 0.048657 0.572603 
time: 1403637009.501667, t: -0.200940 -0.019553 0.081614 q: -0.045638 0.808142 0.062716 0.583858 
time: 1403637009.601666, t: -0.201227 -0.024605 0.074245 q: -0.088064 0.786055 0.051717 0.609662 
time: 1403637009.701667, t: -0.210071 -0.031291 0.072033 q: -0.076945 0.791815 0.038644 0.604661 
time: 1403637009.801666, t: -0.211413 -0.030824 0.071403 q: -0.076644 0.791254 0.035380 0.605633 
time: 1403637009.901666, t: -0.213542 -0.031633 0.071344 q: -0.077108 0.791253 0.036110 0.605532 
time: 1403637010.001667, t: -0.213820 -0.031627 0.071068 q: -0.077441 0.791249 0.035995 0.605502 
time: 1403637010.101666, t: -0.214738 -0.032338 0.071635 q: -0.078236 0.791386 0.035770 0.605234 
time: 1403637010.201667, t: -0.214724 -0.032450 0.071691 q: -0.078421 0.791350 0.035650 0.605264 
time: 1403637010.301666, t: -0.214646 -0.032463 0.071772 q: -0.078728 0.791574 0.035519 0.604939 
time: 1403637010.401666, t: -0.214542 -0.032474 0.071883 q: -0.078636 0.791516 0.035501 0.605028 
time: 1403637010.501667, t: -0.214474 -0.032532 0.071866 q: -0.078603 0.791595 0.035450 0.604932 

Done.
time: 1403637010.601666, t: -0.214548 -0.032563 0.071877 q: -0.078669 0.791625 0.035390 0.604888 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720547496.325841213]: Shutdown request received.[0m
[33m[ WARN] [1720547496.325872708]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720547496.326650655]: Shutdown request received.[0m
[33m[ WARN] [1720547496.326680203]: Reason given for shutdown: [user request][0m
killed
optimize pose graph 
