/SLAM-Hive/slam_hive_results/mapping_results/3141/2346_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-6.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720548491.561653836]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720548491.562532913]: init begins[0m
[31m[ERROR] [1720548491.563652275]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/341d5016-3e1e-11ef-85e6-0242ac110005/roslaunch-c0f29ac1e5a3-118.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://c0f29ac1e5a3:35295/[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] [1720548492.668085821]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720548492.668709856]: 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] [1720548492.674592219]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720548492.674820738]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720548492.674841901]: 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] [1720548492.675037799]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720548492.675257622]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720548492.675422269]: 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://c0f29ac1e5a3:11311/[0m
]2;roscore http://c0f29ac1e5a3:11311/
[1msetting /run_id to 341d5016-3e1e-11ef-85e6-0242ac110005[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 [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720548501.718056947]: 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: 316911645.09 
init first imu pose
averge acc 9.580116 -0.442934 -3.147281
init R0 
   0.314883    0.132273    0.939868
3.08149e-33   -0.990242    0.139362
    0.94913  -0.0438827    -0.31181
[33m[ WARN] [1720548506.047124207]: gyroscope bias initial calibration -0.00495627   0.0176729   0.0706259[0m
[0m[ INFO] [1720548506.109259527]: Initialization finish![0m
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time: 1403636899.551666, t: 0.301983 -0.216831 0.285288 q: -0.090245 0.808372 0.092866 0.574253 
optimize pose graph 
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time: 1403636899.951667, t: 0.386138 -0.268268 0.302602 q: -0.062579 0.817729 0.067459 0.568202 
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time: 1403636900.751667, t: 0.541052 -0.416391 0.416394 q: -0.063337 0.824687 0.081783 0.556049 
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time: 1403636901.551666, t: 0.795459 -0.637946 0.427853 q: -0.069430 0.816747 0.080398 0.567133 
optimize pose graph 
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time: 1403636901.951667, t: 0.956744 -0.794125 0.413208 q: -0.067994 0.813734 0.081650 0.571442 
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time: 1403636902.751667, t: 1.245770 -1.118489 0.303240 q: -0.053488 0.813474 0.080444 0.573523 
time: 1403636902.951667, t: 1.310109 -1.193902 0.290788 q: -0.056810 0.810754 0.079711 0.577145 
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time: 1403636903.551666, t: 1.481977 -1.389428 0.383290 q: -0.059862 0.814708 0.090744 0.569590 
optimize pose graph 
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time: 1403636982.551666, t: 6.007710 -5.645964 -1.468838 q: 0.177702 0.772143 -0.286416 0.538687 
time: 1403636982.751667, t: 6.149241 -5.756889 -1.454101 q: 0.175948 0.774024 -0.283479 0.538116 
time: 1403636982.951667, t: 6.288918 -5.875609 -1.444198 q: 0.178647 0.779264 -0.279062 0.531938 
time: 1403636983.151666, t: 6.429341 -5.999262 -1.454632 q: 0.184981 0.774020 -0.273885 0.540057 
time: 1403636983.351666, t: 6.572199 -6.119571 -1.486057 q: 0.192375 0.771839 -0.269918 0.542587 
time: 1403636983.551666, t: 6.706264 -6.234501 -1.523310 q: 0.194679 0.772050 -0.270509 0.541169 
time: 1403636983.751667, t: 6.844511 -6.334295 -1.535770 q: 0.195551 0.778325 -0.274066 0.529960 
time: 1403636983.951667, t: 6.987721 -6.434001 -1.520097 q: 0.196107 0.782172 -0.277177 0.522419 
time: 1403636984.151666, t: 7.147515 -6.530925 -1.483724 q: 0.196917 0.782353 -0.280579 0.520022 
time: 1403636984.351666, t: 7.322138 -6.632530 -1.469337 q: 0.201709 0.774646 -0.280854 0.529489 
time: 1403636984.551666, t: 7.502289 -6.731263 -1.483899 q: 0.205375 0.770806 -0.280449 0.533879 
time: 1403636984.751667, t: 7.689483 -6.821868 -1.497838 q: 0.204586 0.769527 -0.279828 0.536347 
time: 1403636984.951667, t: 7.875625 -6.900666 -1.491295 q: 0.196837 0.767217 -0.284432 0.540122 
time: 1403636985.151666, t: 8.050615 -6.972116 -1.474537 q: 0.198576 0.768992 -0.283469 0.537461 
time: 1403636985.351666, t: 8.224598 -7.035289 -1.493513 q: 0.202526 0.769325 -0.280618 0.537007 
time: 1403636985.551666, t: 8.405108 -7.087952 -1.512683 q: 0.197865 0.775585 -0.264297 0.538019 
optimize pose graph 
time: 1403636985.751667, t: 8.589001 -7.130217 -1.503239 q: 0.197480 0.777858 -0.247675 0.542766 
time: 1403636985.951667, t: 8.775172 -7.154581 -1.477949 q: 0.200208 0.761213 -0.234425 0.570540 
time: 1403636986.151666, t: 8.944833 -7.149913 -1.485029 q: 0.200017 0.760539 -0.230500 0.573099 
time: 1403636986.351666, t: 9.095681 -7.114065 -1.515559 q: 0.192488 0.777411 -0.236052 0.550327 
time: 1403636986.551666, t: 9.245383 -7.062318 -1.549722 q: 0.177351 0.779418 -0.246013 0.548208 
time: 1403636986.751667, t: 9.388767 -7.002106 -1.552354 q: 0.167050 0.777920 -0.252042 0.550826 
time: 1403636986.951667, t: 9.526250 -6.947125 -1.518669 q: 0.164122 0.775774 -0.254516 0.553588 
time: 1403636987.151666, t: 9.650026 -6.897230 -1.457734 q: 0.172672 0.774843 -0.251448 0.553694 
time: 1403636987.351666, t: 9.764919 -6.843694 -1.411767 q: 0.175625 0.772048 -0.252277 0.556286 
time: 1403636987.551666, t: 9.869666 -6.784591 -1.385792 q: 0.178466 0.768537 -0.242627 0.564476 
time: 1403636987.751667, t: 9.957256 -6.716900 -1.376280 q: 0.178138 0.766768 -0.235418 0.570011 
optimize pose graph 
time: 1403636987.951667, t: 10.025881 -6.635566 -1.350976 q: 0.167202 0.768698 -0.237318 0.569935 
time: 1403636988.151666, t: 10.075430 -6.549929 -1.319128 q: 0.149947 0.773447 -0.248209 0.563638 
time: 1403636988.351666, t: 10.106940 -6.472745 -1.303203 q: 0.144926 0.766329 -0.253200 0.572386 
time: 1403636988.551666, t: 10.110398 -6.405728 -1.268603 q: 0.149027 0.757704 -0.250331 0.583960 
time: 1403636988.751667, t: 10.074350 -6.341866 -1.220048 q: 0.150510 0.755328 -0.248939 0.587244 
time: 1403636988.951667, t: 10.003807 -6.283067 -1.194286 q: 0.149058 0.750096 -0.249604 0.594000 
time: 1403636989.151666, t: 9.891604 -6.229461 -1.188709 q: 0.148069 0.746923 -0.251403 0.597476 
time: 1403636989.351666, t: 9.741232 -6.179407 -1.182381 q: 0.158373 0.758227 -0.247832 0.581884 
time: 1403636989.551666, t: 9.560606 -6.128562 -1.149024 q: 0.163640 0.773610 -0.247447 0.559928 
time: 1403636989.751667, t: 9.377148 -6.077885 -1.110311 q: 0.171788 0.778881 -0.242899 0.552117 
time: 1403636989.951667, t: 9.194177 -6.022991 -1.091338 q: 0.171688 0.775076 -0.243184 0.557353 
time: 1403636990.151666, t: 9.007973 -5.962185 -1.074501 q: 0.173460 0.768180 -0.241547 0.566979 
time: 1403636990.351666, t: 8.812094 -5.893474 -1.036162 q: 0.174613 0.773156 -0.239143 0.560848 
time: 1403636990.551666, t: 8.611328 -5.815902 -0.993532 q: 0.170764 0.778704 -0.238088 0.554774 
time: 1403636990.751667, t: 8.413864 -5.735442 -0.976823 q: 0.168800 0.782937 -0.235971 0.550304 
time: 1403636990.951667, t: 8.223614 -5.655804 -0.985303 q: 0.168689 0.784122 -0.233969 0.549504 
time: 1403636991.151666, t: 8.047085 -5.574800 -1.007994 q: 0.169480 0.783139 -0.233923 0.550682 
time: 1403636991.351666, t: 7.874114 -5.491721 -1.020817 q: 0.169719 0.783815 -0.235619 0.548920 
time: 1403636991.551666, t: 7.709353 -5.403602 -0.996514 q: 0.170224 0.784013 -0.238312 0.547317 
time: 1403636991.751667, t: 7.558587 -5.321374 -0.949097 q: 0.160633 0.781684 -0.250426 0.548137 
time: 1403636991.951667, t: 7.411313 -5.247427 -0.894943 q: 0.156541 0.779579 -0.259352 0.548167 
time: 1403636992.151666, t: 7.263607 -5.186622 -0.867659 q: 0.171231 0.776772 -0.254074 0.550229 
time: 1403636992.351666, t: 7.117653 -5.127784 -0.863056 q: 0.179313 0.774614 -0.252482 0.551428 
time: 1403636992.551666, t: 6.979440 -5.072090 -0.859478 q: 0.181809 0.780092 -0.255377 0.541465 
time: 1403636992.751667, t: 6.849603 -5.011442 -0.829896 q: 0.183809 0.781544 -0.258338 0.537275 
time: 1403636992.951667, t: 6.731840 -4.949212 -0.808686 q: 0.189818 0.781030 -0.258161 0.536017 
time: 1403636993.151666, t: 6.628947 -4.882126 -0.807834 q: 0.184512 0.773977 -0.260430 0.546892 
time: 1403636993.351666, t: 6.531937 -4.809244 -0.791825 q: 0.167482 0.776444 -0.243690 0.556506 
time: 1403636993.551666, t: 6.435522 -4.732338 -0.749800 q: 0.145498 0.784319 -0.212182 0.564493 
time: 1403636993.751667, t: 6.334359 -4.656237 -0.696876 q: 0.125900 0.794196 -0.185415 0.564821 
time: 1403636993.951667, t: 6.232000 -4.582006 -0.664077 q: 0.118217 0.797382 -0.170242 0.566766 
time: 1403636994.151666, t: 6.128677 -4.505278 -0.650322 q: 0.121033 0.789210 -0.160526 0.580284 
time: 1403636994.351666, t: 6.015197 -4.419562 -0.654907 q: 0.123282 0.780923 -0.156889 0.591902 
time: 1403636994.551666, t: 5.882240 -4.319944 -0.666328 q: 0.120595 0.781314 -0.159745 0.591174 
time: 1403636994.751667, t: 5.730766 -4.208032 -0.658163 q: 0.107705 0.791556 -0.170843 0.576760 
time: 1403636994.951667, t: 5.568870 -4.099824 -0.634585 q: 0.094690 0.795183 -0.182090 0.570580 
time: 1403636995.151666, t: 5.402925 -4.004754 -0.623974 q: 0.106352 0.789367 -0.173451 0.579227 
time: 1403636995.351666, t: 5.228144 -3.914422 -0.602482 q: 0.113356 0.787822 -0.165600 0.582292 
time: 1403636995.551666, t: 5.041552 -3.817551 -0.553284 q: 0.111830 0.794907 -0.164015 0.573337 
time: 1403636995.751667, t: 4.852850 -3.719700 -0.496496 q: 0.108350 0.796070 -0.166363 0.571714 
optimize pose graph 
time: 1403636995.951667, t: 4.662223 -3.625626 -0.465099 q: 0.095101 0.797500 -0.177218 0.568808 
time: 1403636996.151666, t: 4.473417 -3.545667 -0.452434 q: 0.102151 0.800472 -0.173176 0.564642 
time: 1403636996.351666, t: 4.291313 -3.476578 -0.428474 q: 0.107579 0.802667 -0.166048 0.562654 
time: 1403636996.551666, t: 4.117790 -3.407594 -0.371707 q: 0.099304 0.806142 -0.147718 0.564316 
time: 1403636996.751667, t: 3.952405 -3.338588 -0.312529 q: 0.078205 0.812963 -0.116996 0.565055 
time: 1403636996.951667, t: 3.793595 -3.268432 -0.302900 q: 0.048185 0.819048 -0.080088 0.566060 
time: 1403636997.151666, t: 3.646120 -3.201569 -0.314337 q: 0.022676 0.823232 -0.044776 0.565482 
time: 1403636997.351666, t: 3.511768 -3.142459 -0.340132 q: 0.010212 0.825227 -0.025823 0.564118 
time: 1403636997.551666, t: 3.395644 -3.093033 -0.343410 q: 0.008156 0.825604 -0.019284 0.563861 
time: 1403636997.751667, t: 3.298353 -3.044240 -0.315632 q: 0.011508 0.826933 -0.020145 0.561822 
time: 1403636997.951667, t: 3.219255 -2.997045 -0.259285 q: 0.014972 0.827623 -0.023556 0.560590 
optimize pose graph 
time: 1403636998.151666, t: 3.152427 -2.953612 -0.175879 q: 0.017080 0.827179 -0.027588 0.561001 
time: 1403636998.351666, t: 3.107030 -2.911782 -0.106691 q: 0.016975 0.826788 -0.031731 0.561362 
time: 1403636998.551666, t: 3.075658 -2.872882 -0.053446 q: 0.017841 0.825099 -0.034018 0.563681 
time: 1403636998.751667, t: 3.051191 -2.838340 0.022707 q: 0.022241 0.811988 -0.032034 0.582370 
time: 1403636998.951667, t: 3.023391 -2.802602 0.099943 q: 0.032465 0.808436 -0.027018 0.587067 
time: 1403636999.151666, t: 2.983980 -2.760643 0.157589 q: 0.037822 0.809693 -0.024295 0.585129 
time: 1403636999.351666, t: 2.945159 -2.702278 0.186578 q: 0.034890 0.813337 -0.027773 0.580081 
time: 1403636999.551666, t: 2.895825 -2.638810 0.194874 q: 0.028909 0.811441 -0.032667 0.582804 
time: 1403636999.751667, t: 2.839839 -2.570896 0.189514 q: 0.027086 0.808444 -0.034831 0.586917 
time: 1403636999.951667, t: 2.778076 -2.502327 0.175626 q: 0.030511 0.808311 -0.033834 0.586990 
time: 1403637000.151666, t: 2.699917 -2.425626 0.173970 q: 0.034905 0.809820 -0.030540 0.584842 
time: 1403637000.351666, t: 2.616184 -2.345538 0.193438 q: 0.032332 0.812392 -0.031635 0.581354 
time: 1403637000.551666, t: 2.532104 -2.255196 0.198458 q: 0.033799 0.811856 -0.031009 0.582054 
time: 1403637000.751667, t: 2.443654 -2.161592 0.213426 q: 0.031864 0.810961 -0.032402 0.583333 
time: 1403637000.951667, t: 2.347734 -2.062924 0.245392 q: 0.031348 0.810707 -0.034689 0.583582 
time: 1403637001.151666, t: 2.246404 -1.962543 0.257857 q: 0.031035 0.810007 -0.036069 0.584486 
time: 1403637001.351666, t: 2.137634 -1.863146 0.271623 q: 0.028132 0.810022 -0.039234 0.584408 
time: 1403637001.551666, t: 2.025486 -1.765094 0.312779 q: 0.027155 0.814867 -0.042017 0.577485 
time: 1403637001.751667, t: 1.906465 -1.671017 0.345596 q: 0.028139 0.815547 -0.043416 0.576373 
time: 1403637001.951667, t: 1.785045 -1.581246 0.351839 q: 0.028603 0.816460 -0.044320 0.574987 
optimize pose graph 
time: 1403637002.151666, t: 1.666344 -1.491828 0.338900 q: 0.029037 0.817613 -0.044691 0.573296 
time: 1403637002.351666, t: 1.550178 -1.406340 0.315952 q: 0.030941 0.817986 -0.043555 0.572752 
time: 1403637002.551666, t: 1.442454 -1.321703 0.313695 q: 0.036554 0.817949 -0.039375 0.572776 
time: 1403637002.751667, t: 1.334175 -1.233519 0.343227 q: 0.037934 0.818117 -0.039980 0.572405 
time: 1403637002.951667, t: 1.226888 -1.143427 0.358055 q: 0.035025 0.817045 -0.044611 0.573777 
time: 1403637003.151666, t: 1.124645 -1.051563 0.348183 q: 0.035385 0.817298 -0.047345 0.573176 
time: 1403637003.351666, t: 1.027880 -0.960962 0.325818 q: 0.034641 0.815476 -0.050864 0.575509 
time: 1403637003.551666, t: 0.931487 -0.872053 0.327635 q: 0.034331 0.813674 -0.052933 0.577888 
time: 1403637003.751667, t: 0.832398 -0.782955 0.350880 q: 0.034016 0.814022 -0.054381 0.577281 
time: 1403637003.951667, t: 0.728700 -0.699324 0.360044 q: 0.033784 0.817645 -0.051304 0.572437 
optimize pose graph 
time: 1403637004.151666, t: 0.636803 -0.617247 0.344362 q: 0.035723 0.821330 -0.046327 0.567446 
time: 1403637004.351666, t: 0.545098 -0.532675 0.330839 q: 0.032152 0.822322 -0.045979 0.566250 
time: 1403637004.551666, t: 0.453695 -0.460182 0.359807 q: 0.031110 0.814977 -0.048727 0.576603 
time: 1403637004.751667, t: 0.365269 -0.385486 0.416388 q: 0.018590 0.813339 -0.063946 0.577967 
time: 1403637004.951667, t: 0.280751 -0.321229 0.428705 q: 0.014447 0.818257 -0.072599 0.570067 
time: 1403637005.151666, t: 0.204220 -0.277096 0.399289 q: 0.030712 0.819696 -0.064622 0.568312 
time: 1403637005.351666, t: 0.135521 -0.240981 0.356784 q: 0.036656 0.822204 -0.060917 0.564735 
time: 1403637005.551666, t: 0.074211 -0.209268 0.309398 q: 0.038269 0.818176 -0.054820 0.571068 
time: 1403637005.751667, t: 0.014645 -0.171813 0.294460 q: 0.027244 0.823647 -0.058739 0.563394 
time: 1403637005.951667, t: -0.029696 -0.144355 0.315960 q: 0.031649 0.821036 -0.053719 0.567462 
time: 1403637006.151666, t: -0.072572 -0.115183 0.329547 q: 0.030781 0.817467 -0.054326 0.572580 
optimize pose graph 
time: 1403637006.351666, t: -0.110485 -0.086729 0.333929 q: 0.026160 0.825594 -0.057521 0.560714 
time: 1403637006.551666, t: -0.135257 -0.064682 0.330441 q: 0.015888 0.829062 -0.062852 0.555386 
time: 1403637006.751667, t: -0.144402 -0.053865 0.324447 q: 0.011572 0.819704 -0.042827 0.571067 
time: 1403637006.951667, t: -0.148621 -0.049017 0.306363 q: -0.009228 0.819362 -0.009004 0.573132 
time: 1403637007.151666, t: -0.153639 -0.048109 0.287409 q: -0.025135 0.817677 0.029204 0.574386 
time: 1403637007.351666, t: -0.159152 -0.050256 0.269127 q: -0.030511 0.808907 0.051471 0.584884 
time: 1403637007.551666, t: -0.175108 -0.048626 0.247228 q: -0.032732 0.810775 0.057934 0.581563 
time: 1403637007.751667, t: -0.198784 -0.040058 0.219553 q: -0.032487 0.825422 0.056777 0.560713 
time: 1403637007.951667, t: -0.214743 -0.024300 0.200853 q: -0.039081 0.817346 0.047745 0.572833 
time: 1403637008.151666, t: -0.231757 -0.008860 0.184745 q: -0.034793 0.820976 0.044306 0.568176 
optimize pose graph 
time: 1403637008.351666, t: -0.244361 0.006042 0.176589 q: -0.025939 0.832760 0.044665 0.551220 
time: 1403637008.551666, t: -0.239740 0.027189 0.185634 q: -0.029816 0.820974 0.037312 0.568964 
time: 1403637008.751667, t: -0.231393 0.048489 0.187688 q: -0.041370 0.817463 0.024686 0.573963 
time: 1403637008.951667, t: -0.220812 0.057592 0.171020 q: -0.055900 0.824655 0.012043 0.562739 
time: 1403637009.151666, t: -0.202134 0.042941 0.143136 q: -0.034722 0.822657 0.024152 0.566962 
time: 1403637009.351666, t: -0.176849 0.020319 0.107478 q: -0.004737 0.821138 0.043751 0.569031 
time: 1403637009.551666, t: -0.165865 0.005355 0.094056 q: -0.060971 0.800784 0.051632 0.593601 
time: 1403637009.751667, t: -0.179599 -0.006440 0.088871 q: -0.071448 0.792914 0.026778 0.604537 
time: 1403637009.951667, t: -0.183314 -0.005844 0.091082 q: -0.073242 0.791456 0.026528 0.606242 
time: 1403637010.151666, t: -0.184102 -0.006172 0.091413 q: -0.072411 0.791881 0.027203 0.605757 
time: 1403637010.351666, t: -0.184073 -0.006272 0.091498 q: -0.072039 0.791941 0.027327 0.605717 
optimize pose graph 
time: 1403637010.551666, t: -0.184021 -0.006259 0.091534 q: -0.071910 0.792025 0.027288 0.605624 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720548656.445122781]: Shutdown request received.[0m
[33m[ WARN] [1720548656.445175921]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720548656.445994658]: Shutdown request received.[0m
[33m[ WARN] [1720548656.446014972]: Reason given for shutdown: [user request][0m
killed
