/SLAM-Hive/slam_hive_results/mapping_results/3226/2431_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-1.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720562583.753053390]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720562583.755103481]: init begins[0m
[31m[ERROR] [1720562583.756170321]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/03b700fe-3e3f-11ef-a373-0242ac110005/roslaunch-9e30c0914de8-117.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://9e30c0914de8:41393/[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] [1720562584.862069162]: 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] [1720562584.866614805]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720562584.866801376]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720562584.866825532]: ROW: 384 COL: 601 [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] [1720562584.867031791]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720562584.867226612]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720562584.867388474]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://9e30c0914de8:11311/[0m
]2;roscore http://9e30c0914de8:11311/
[1msetting /run_id to 03b700fe-3e3f-11ef-a373-0242ac110005[0m
[0m[ INFO] [1720562584.908934544]: Connected to master at [localhost:11311][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 [247][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720562593.901372426]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316924075.98 
init first imu pose
averge acc 9.015113 -0.047866 -3.797742
init R0 
 0.388249 0.0116141  0.921482
        0 -0.999921 0.0126027
 0.921555 -0.004893 -0.388218
[33m[ WARN] [1720562595.287803024]: gyroscope bias initial calibration -0.00189932   0.0200409   0.0779387[0m
[0m[ INFO] [1720562595.375115914]: Initialization finish![0m
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time: 1403638519.427830, t: -0.000049 -0.000116 0.000010 q: -0.003875 0.832990 0.002594 0.553268 
time: 1403638519.527829, t: 0.000099 -0.000048 0.000049 q: -0.003796 0.833003 0.002538 0.553249 
time: 1403638519.627830, t: 0.000064 -0.000106 0.000025 q: -0.003787 0.833001 0.002569 0.553253 
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time: 1403638530.227829, t: 0.036896 -0.052265 0.051046 q: 0.029337 0.844322 -0.043375 0.533272 
time: 1403638530.327830, t: 0.050917 -0.054968 0.040839 q: 0.030752 0.843516 -0.049612 0.533924 
time: 1403638530.427830, t: 0.063627 -0.058728 0.031544 q: 0.034671 0.842800 -0.054017 0.534385 
time: 1403638530.527829, t: 0.074234 -0.062953 0.024147 q: 0.032535 0.842554 -0.058076 0.534482 
time: 1403638530.627830, t: 0.080519 -0.067449 0.018375 q: 0.034975 0.843625 -0.060944 0.532315 
time: 1403638530.727829, t: 0.085109 -0.070040 0.011680 q: 0.035184 0.847381 -0.063150 0.526041 
time: 1403638530.827830, t: 0.088468 -0.072336 0.005388 q: 0.035462 0.849380 -0.064078 0.522676 
time: 1403638530.927830, t: 0.090122 -0.073592 0.001828 q: 0.034120 0.848318 -0.064136 0.524480 
time: 1403638531.027829, t: 0.090983 -0.073615 -0.000932 q: 0.033477 0.845553 -0.064502 0.528922 
optimize pose graph 
time: 1403638531.127830, t: 0.090465 -0.072425 -0.001173 q: 0.035977 0.841978 -0.063100 0.534600 
time: 1403638531.227829, t: 0.090994 -0.070943 -0.001760 q: 0.037528 0.841879 -0.059929 0.535014 
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time: 1403638531.427830, t: 0.091194 -0.069572 -0.002942 q: 0.038602 0.839171 -0.059320 0.539243 
time: 1403638531.527829, t: 0.090686 -0.069587 -0.002721 q: 0.038218 0.838356 -0.059870 0.540476 
time: 1403638531.627830, t: 0.090604 -0.069721 -0.002797 q: 0.039093 0.838452 -0.059073 0.540352 
time: 1403638531.727829, t: 0.090574 -0.069687 -0.002842 q: 0.039171 0.838537 -0.059572 0.540160 
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time: 1403638531.927830, t: 0.090596 -0.069671 -0.002859 q: 0.039358 0.838444 -0.060018 0.540241 
time: 1403638532.027829, t: 0.090597 -0.069662 -0.002880 q: 0.039472 0.838391 -0.060277 0.540286 
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time: 1403638532.427830, t: 0.090625 -0.069886 -0.002895 q: 0.040425 0.838276 -0.060509 0.540368 
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time: 1403638539.227829, t: 0.114836 -0.069742 0.017721 q: 0.040602 0.818279 -0.060766 0.570156 
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time: 1403638539.927830, t: 0.195087 -0.076123 0.168076 q: 0.035539 0.827716 -0.053929 0.557418 
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time: 1403638540.327830, t: 0.298091 -0.080762 0.203545 q: 0.035581 0.832689 -0.052214 0.550124 
time: 1403638540.427830, t: 0.339048 -0.082094 0.212921 q: 0.034934 0.828223 -0.048226 0.557226 
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time: 1403638540.627830, t: 0.429580 -0.078679 0.228216 q: 0.020840 0.828167 -0.025770 0.559501 
time: 1403638540.727829, t: 0.477686 -0.075347 0.235161 q: 0.013858 0.827519 -0.004484 0.561249 
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time: 1403638541.027829, t: 0.633141 -0.042005 0.250184 q: -0.021386 0.824623 0.072227 0.560646 
optimize pose graph 
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time: 1403638541.227829, t: 0.739994 0.000404 0.246961 q: -0.041392 0.821553 0.099552 0.559846 
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time: 1403638541.527829, t: 0.899324 0.094913 0.260312 q: -0.047309 0.819709 0.108110 0.560493 
time: 1403638541.627830, t: 0.953441 0.138485 0.278318 q: -0.048567 0.818030 0.110601 0.562348 
time: 1403638541.727829, t: 1.005324 0.190702 0.299725 q: -0.056464 0.815961 0.115422 0.563647 
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time: 1403638542.727829, t: 1.426422 0.817984 0.467596 q: -0.154342 0.765332 0.272843 0.562141 
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time: 1403638543.027829, t: 1.479549 1.044127 0.540497 q: -0.172184 0.779572 0.263235 0.541598 
optimize pose graph 
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time: 1403638596.827830, t: 7.958074 -4.414923 2.254009 q: 0.180900 0.806479 -0.096344 0.554603 
time: 1403638596.927830, t: 7.973226 -4.283068 2.291422 q: 0.183248 0.805281 -0.094453 0.555897 
time: 1403638597.027829, t: 7.995580 -4.135868 2.325116 q: 0.184968 0.804122 -0.094522 0.556992 
time: 1403638597.127830, t: 8.017819 -3.973256 2.354491 q: 0.187616 0.802350 -0.093618 0.558812 
time: 1403638597.227829, t: 8.045213 -3.794734 2.377662 q: 0.188069 0.800120 -0.094974 0.561621 
time: 1403638597.327830, t: 8.073404 -3.599222 2.392643 q: 0.184316 0.798019 -0.098579 0.565221 
time: 1403638597.427830, t: 8.107933 -3.389224 2.403994 q: 0.178238 0.796136 -0.104304 0.568788 
time: 1403638597.527829, t: 8.140785 -3.167885 2.413346 q: 0.166160 0.791840 -0.113518 0.576623 
time: 1403638597.627830, t: 8.168389 -2.936822 2.416135 q: 0.156835 0.788546 -0.121083 0.582183 
time: 1403638597.727829, t: 8.194640 -2.698111 2.413537 q: 0.156417 0.787653 -0.121891 0.583334 
time: 1403638597.827830, t: 8.220291 -2.451300 2.405149 q: 0.161732 0.790146 -0.112209 0.580448 
time: 1403638597.927830, t: 8.244028 -2.194342 2.393761 q: 0.165889 0.792762 -0.100851 0.577787 
time: 1403638598.027829, t: 8.267577 -1.926672 2.383846 q: 0.163659 0.793771 -0.094320 0.578142 
time: 1403638598.127830, t: 8.291065 -1.647130 2.383020 q: 0.148231 0.794467 -0.098136 0.580705 
time: 1403638598.227829, t: 8.312134 -1.358846 2.386568 q: 0.127491 0.795743 -0.107622 0.582199 
time: 1403638598.327830, t: 8.329040 -1.067449 2.390860 q: 0.113130 0.798480 -0.114845 0.580036 
time: 1403638598.427830, t: 8.343573 -0.776701 2.389669 q: 0.106028 0.800623 -0.118198 0.577746 
time: 1403638598.527829, t: 8.354156 -0.487771 2.381116 q: 0.102143 0.802376 -0.117862 0.576080 
time: 1403638598.627830, t: 8.363352 -0.201858 2.364198 q: 0.097263 0.805643 -0.112564 0.573419 
time: 1403638598.727829, t: 8.372907 0.081317 2.345828 q: 0.090964 0.807434 -0.102224 0.573869 
time: 1403638598.827830, t: 8.380418 0.361397 2.332122 q: 0.081904 0.808548 -0.089479 0.575791 
time: 1403638598.927830, t: 8.386717 0.639036 2.323802 q: 0.072492 0.810986 -0.073850 0.575841 
time: 1403638599.027829, t: 8.388297 0.916381 2.319172 q: 0.059809 0.812641 -0.058285 0.576750 
time: 1403638599.127830, t: 8.388822 1.189543 2.322086 q: 0.048877 0.813671 -0.040047 0.577881 
time: 1403638599.227829, t: 8.385492 1.461285 2.328853 q: 0.037319 0.815009 -0.021459 0.577846 
time: 1403638599.327830, t: 8.380629 1.732363 2.342029 q: 0.024161 0.816795 -0.003411 0.576412 
time: 1403638599.427830, t: 8.371045 2.001347 2.361738 q: 0.014834 0.819440 0.013203 0.572821 
time: 1403638599.527829, t: 8.363371 2.271524 2.383423 q: 0.008050 0.821456 0.024192 0.569702 
time: 1403638599.627830, t: 8.355769 2.540091 2.399388 q: 0.002386 0.823039 0.029333 0.567222 
time: 1403638599.727829, t: 8.346079 2.806167 2.404657 q: 0.000432 0.824164 0.032457 0.565421 
time: 1403638599.827830, t: 8.339800 3.070983 2.402635 q: -0.000477 0.824767 0.031519 0.564593 
time: 1403638599.927830, t: 8.337542 3.330954 2.396466 q: -0.003212 0.825998 0.027641 0.562985 
time: 1403638600.027829, t: 8.336608 3.588396 2.384243 q: -0.008210 0.825437 0.021097 0.564041 
time: 1403638600.127830, t: 8.340713 3.842350 2.368233 q: -0.016395 0.827620 0.011553 0.560931 
time: 1403638600.227829, t: 8.346256 4.090723 2.348329 q: -0.028192 0.830548 -0.000291 0.556233 
time: 1403638600.327830, t: 8.355374 4.328254 2.325378 q: -0.036961 0.832332 -0.010002 0.552953 
time: 1403638600.427830, t: 8.370438 4.555650 2.304768 q: -0.044827 0.833688 -0.018541 0.550101 
time: 1403638600.527829, t: 8.392208 4.768192 2.293656 q: -0.046006 0.834534 -0.021445 0.548614 
time: 1403638600.627830, t: 8.418734 4.967769 2.290705 q: -0.045537 0.835955 -0.022878 0.546427 
time: 1403638600.727829, t: 8.450930 5.151285 2.293411 q: -0.046028 0.838151 -0.024049 0.542960 
time: 1403638600.827830, t: 8.489871 5.323007 2.303370 q: -0.042272 0.842127 -0.020810 0.537217 
time: 1403638600.927830, t: 8.534271 5.481143 2.317383 q: -0.026555 0.845149 -0.008412 0.533804 
time: 1403638601.027829, t: 8.587353 5.629531 2.327242 q: -0.013058 0.845864 0.002612 0.533232 
optimize pose graph 
time: 1403638601.127830, t: 8.649203 5.774764 2.332006 q: -0.006350 0.844568 0.008212 0.535348 
time: 1403638601.227829, t: 8.717884 5.917324 2.333561 q: 0.002467 0.841508 0.015443 0.540018 
time: 1403638601.327830, t: 8.794797 6.061093 2.330377 q: 0.008827 0.834032 0.021846 0.551213 
time: 1403638601.427830, t: 8.874356 6.204210 2.327412 q: -0.001778 0.829581 0.024445 0.557848 
time: 1403638601.527829, t: 8.954009 6.348746 2.332679 q: -0.013797 0.825229 0.034254 0.563590 
time: 1403638601.627830, t: 9.036295 6.493184 2.342381 q: -0.025074 0.821595 0.051273 0.567206 
time: 1403638601.727829, t: 9.117311 6.635886 2.359217 q: -0.037422 0.818616 0.074536 0.568254 
time: 1403638601.827830, t: 9.195752 6.778459 2.383661 q: -0.051245 0.813752 0.102408 0.569820 
time: 1403638601.927830, t: 9.269554 6.923906 2.412804 q: -0.065490 0.808694 0.130180 0.569893 
time: 1403638602.027829, t: 9.340071 7.072085 2.439245 q: -0.078503 0.805920 0.150449 0.567183 
time: 1403638602.127830, t: 9.408794 7.219768 2.457459 q: -0.086672 0.802482 0.165893 0.566559 
time: 1403638602.227829, t: 9.474100 7.369277 2.469980 q: -0.092267 0.795837 0.182644 0.569887 
time: 1403638602.327830, t: 9.535901 7.522501 2.479006 q: -0.105755 0.786930 0.198657 0.574536 
time: 1403638602.427830, t: 9.605372 7.705141 2.507261 q: -0.136912 0.771912 0.205425 0.585839 
time: 1403638602.527829, t: 9.637084 7.834758 2.517576 q: -0.173851 0.747313 0.211081 0.605594 
time: 1403638602.627830, t: 9.665740 7.975288 2.549738 q: -0.203296 0.730152 0.218924 0.614508 
time: 1403638602.727829, t: 9.676569 8.097257 2.587395 q: -0.218385 0.723634 0.235570 0.610876 
time: 1403638602.827830, t: 9.671531 8.200608 2.631144 q: -0.226422 0.719528 0.256655 0.604268 
time: 1403638602.927830, t: 9.651169 8.286080 2.679483 q: -0.240417 0.717557 0.274754 0.593146 
time: 1403638603.027829, t: 9.620815 8.357536 2.727564 q: -0.262189 0.715865 0.288407 0.579324 
time: 1403638603.127830, t: 9.586206 8.420261 2.771332 q: -0.278888 0.707846 0.302445 0.574198 
optimize pose graph 
time: 1403638603.227829, t: 9.544256 8.467367 2.805014 q: -0.283225 0.706987 0.318424 0.564411 
time: 1403638603.327830, t: 9.496838 8.503560 2.827155 q: -0.276643 0.718756 0.335243 0.542652 
time: 1403638603.427830, t: 9.446563 8.529087 2.840470 q: -0.270512 0.729546 0.346427 0.523999 
time: 1403638603.527829, t: 9.395607 8.548457 2.851347 q: -0.268432 0.733067 0.351747 0.516557 
time: 1403638603.627830, t: 9.347438 8.564810 2.857082 q: -0.272817 0.726993 0.353903 0.521350 
time: 1403638603.727829, t: 9.301166 8.578742 2.858080 q: -0.269731 0.718731 0.358488 0.531185 
time: 1403638603.827830, t: 9.252158 8.585599 2.851611 q: -0.263543 0.710749 0.363729 0.541371 
time: 1403638603.927830, t: 9.195912 8.588173 2.838629 q: -0.256749 0.703485 0.368087 0.551091 
time: 1403638604.027829, t: 9.131404 8.586263 2.819162 q: -0.251479 0.698276 0.370710 0.558340 
time: 1403638604.127830, t: 9.058253 8.582969 2.798916 q: -0.247983 0.695170 0.372420 0.562625 
time: 1403638604.227829, t: 8.973083 8.576287 2.784684 q: -0.251075 0.696520 0.370979 0.560531 
time: 1403638604.327830, t: 8.878226 8.564143 2.778685 q: -0.257722 0.703014 0.367322 0.551747 
time: 1403638604.427830, t: 8.774653 8.547643 2.779527 q: -0.259725 0.711271 0.366178 0.540878 
time: 1403638604.527829, t: 8.666573 8.527335 2.786548 q: -0.256558 0.718557 0.368235 0.531278 
time: 1403638604.627830, t: 8.554360 8.505178 2.792484 q: -0.255411 0.721752 0.368964 0.526977 
time: 1403638604.727829, t: 8.439648 8.481972 2.792294 q: -0.259354 0.724518 0.366146 0.523208 
time: 1403638604.927830, t: 8.212977 8.426526 2.791121 q: -0.260962 0.731067 0.364834 0.514136 
time: 1403638605.027829, t: 8.101138 8.396228 2.797846 q: -0.257984 0.738231 0.367040 0.503727 
time: 1403638605.127830, t: 7.992611 8.364423 2.813686 q: -0.255178 0.743607 0.369203 0.495603 
time: 1403638605.227829, t: 7.891022 8.339271 2.835912 q: -0.252046 0.745560 0.371394 0.492624 
optimize pose graph 
time: 1403638605.327830, t: 7.794278 8.318452 2.854428 q: -0.247323 0.744478 0.374947 0.493962 
time: 1403638605.427830, t: 7.701898 8.302700 2.868613 q: -0.240747 0.736747 0.380042 0.504790 
time: 1403638605.527829, t: 7.610220 8.291937 2.878967 q: -0.234865 0.726429 0.384658 0.518823 
time: 1403638605.627830, t: 7.514483 8.284972 2.883419 q: -0.228771 0.718897 0.389187 0.528569 
time: 1403638605.727829, t: 7.414768 8.282742 2.885876 q: -0.226043 0.715531 0.391363 0.532686 
time: 1403638605.827830, t: 7.307909 8.283730 2.896701 q: -0.224593 0.716054 0.392248 0.531945 
time: 1403638605.927830, t: 7.195070 8.291619 2.911653 q: -0.221795 0.715402 0.393961 0.532730 
time: 1403638606.027829, t: 7.076662 8.306078 2.930717 q: -0.217792 0.714561 0.395825 0.534128 
time: 1403638606.127830, t: 6.949396 8.325405 2.946242 q: -0.214863 0.714571 0.396801 0.534576 
time: 1403638606.227829, t: 6.814728 8.348533 2.951518 q: -0.211894 0.714463 0.398464 0.534668 
time: 1403638606.327830, t: 6.673406 8.379248 2.952831 q: -0.213003 0.718379 0.396665 0.530300 
time: 1403638606.427830, t: 6.527340 8.414614 2.942532 q: -0.220045 0.728512 0.391182 0.517520 
time: 1403638606.527829, t: 6.380031 8.452810 2.928045 q: -0.228789 0.739022 0.384677 0.503513 
time: 1403638606.627830, t: 6.234367 8.497856 2.909241 q: -0.234376 0.745063 0.383579 0.492764 
time: 1403638606.727829, t: 6.091480 8.551172 2.885489 q: -0.238392 0.746491 0.390240 0.483356 
time: 1403638606.827830, t: 5.953526 8.610535 2.858522 q: -0.245055 0.743825 0.401519 0.474821 
time: 1403638606.927830, t: 5.821932 8.679965 2.833457 q: -0.254766 0.737671 0.415889 0.466875 
time: 1403638607.027829, t: 5.697063 8.757320 2.816581 q: -0.268094 0.729270 0.430806 0.459018 
time: 1403638607.127830, t: 5.579006 8.841351 2.810371 q: -0.284843 0.721725 0.440258 0.451829 
time: 1403638607.227829, t: 5.466922 8.932529 2.808558 q: -0.299307 0.709186 0.446143 0.456537 
time: 1403638607.327830, t: 5.359748 9.026670 2.801669 q: -0.312187 0.697513 0.447984 0.464032 
optimize pose graph 
time: 1403638607.427830, t: 5.256024 9.121625 2.785795 q: -0.321298 0.691065 0.448397 0.467051 
time: 1403638607.527829, t: 5.156978 9.213687 2.759629 q: -0.325546 0.690112 0.448938 0.464994 
time: 1403638607.627830, t: 5.063453 9.302842 2.729796 q: -0.326740 0.688828 0.450138 0.464901 
time: 1403638607.727829, t: 4.975224 9.390372 2.698154 q: -0.326430 0.686511 0.450498 0.468186 
time: 1403638607.827830, t: 4.890186 9.474746 2.662764 q: -0.325750 0.687218 0.449986 0.468115 
time: 1403638607.927830, t: 4.810484 9.558457 2.621668 q: -0.328013 0.691531 0.446481 0.463516 
time: 1403638608.027829, t: 4.737064 9.641263 2.577308 q: -0.330158 0.693403 0.442818 0.462709 
time: 1403638608.127830, t: 4.671345 9.721116 2.527160 q: -0.328742 0.690845 0.441731 0.468546 
time: 1403638608.227829, t: 4.609034 9.798307 2.472614 q: -0.325352 0.686896 0.442266 0.476152 
time: 1403638608.327830, t: 4.547427 9.869460 2.413753 q: -0.325565 0.681835 0.440700 0.484656 
time: 1403638608.427830, t: 4.488737 9.937559 2.351415 q: -0.326327 0.678304 0.439827 0.489864 
time: 1403638608.527829, t: 4.428402 10.001543 2.281910 q: -0.324734 0.680136 0.440504 0.487770 
time: 1403638608.627830, t: 4.369407 10.060672 2.211345 q: -0.327008 0.679379 0.438128 0.489443 
time: 1403638608.727829, t: 4.311074 10.112582 2.145835 q: -0.331106 0.676663 0.435840 0.492484 
time: 1403638608.827830, t: 4.254463 10.158433 2.082195 q: -0.329472 0.679235 0.437344 0.488691 
time: 1403638608.927830, t: 4.199791 10.197902 2.024771 q: -0.327938 0.682990 0.438838 0.483117 
time: 1403638609.027829, t: 4.145117 10.233244 1.974944 q: -0.328168 0.686631 0.439063 0.477564 
time: 1403638609.127830, t: 4.093217 10.265059 1.931892 q: -0.327120 0.687991 0.439744 0.475695 
time: 1403638609.227829, t: 4.042326 10.294273 1.893121 q: -0.333842 0.688083 0.434744 0.475488 
time: 1403638609.327830, t: 3.995042 10.317730 1.851988 q: -0.337640 0.688543 0.431682 0.474931 
time: 1403638609.427830, t: 3.950645 10.341475 1.803500 q: -0.334353 0.688507 0.433526 0.475628 
optimize pose graph 
time: 1403638609.527829, t: 3.909901 10.358752 1.750157 q: -0.330501 0.688582 0.435615 0.476302 
time: 1403638609.627830, t: 3.871866 10.377184 1.689071 q: -0.328395 0.688848 0.436205 0.476834 
time: 1403638609.727829, t: 3.840064 10.387516 1.622901 q: -0.325565 0.687553 0.438416 0.478612 
time: 1403638609.827830, t: 3.808039 10.398577 1.561401 q: -0.326038 0.688625 0.437950 0.477173 
time: 1403638609.927830, t: 3.778803 10.403698 1.508237 q: -0.326241 0.688168 0.437705 0.477918 
time: 1403638610.027829, t: 3.750796 10.410173 1.463870 q: -0.328372 0.687160 0.435856 0.479596 
time: 1403638610.127830, t: 3.723275 10.410513 1.425727 q: -0.331365 0.684451 0.433307 0.483704 
time: 1403638610.227829, t: 3.700704 10.407345 1.387925 q: -0.332680 0.681737 0.432219 0.487591 
time: 1403638610.327830, t: 3.680467 10.399431 1.343978 q: -0.333933 0.680950 0.430892 0.489007 
time: 1403638610.427830, t: 3.658663 10.388739 1.290118 q: -0.335200 0.680769 0.429180 0.489897 
time: 1403638610.527829, t: 3.647757 10.371974 1.238245 q: -0.335117 0.677609 0.429597 0.493952 
time: 1403638610.627830, t: 3.629678 10.348546 1.182778 q: -0.340647 0.670569 0.425535 0.503206 
time: 1403638610.727829, t: 3.609352 10.316442 1.128001 q: -0.340755 0.671316 0.425769 0.501937 
time: 1403638610.827830, t: 3.590021 10.275717 1.076145 q: -0.337595 0.678517 0.429230 0.491330 
time: 1403638610.927830, t: 3.572109 10.234151 1.033368 q: -0.335847 0.681677 0.431539 0.486105 
time: 1403638611.027829, t: 3.551594 10.186778 0.994516 q: -0.338438 0.680986 0.429386 0.487181 
time: 1403638611.127830, t: 3.533670 10.134059 0.952185 q: -0.340818 0.678634 0.428095 0.489933 
time: 1403638611.227829, t: 3.519104 10.073357 0.903772 q: -0.340672 0.678046 0.429081 0.489985 
time: 1403638611.327830, t: 3.506429 10.006674 0.860235 q: -0.338027 0.677280 0.431594 0.490670 
time: 1403638611.427830, t: 3.491082 9.933896 0.825096 q: -0.327329 0.672781 0.438525 0.497913 
optimize pose graph 
time: 1403638611.527829, t: 3.472899 9.858949 0.792840 q: -0.316661 0.669886 0.445305 0.502675 
time: 1403638611.727829, t: 3.418850 9.699245 0.748118 q: -0.313116 0.676344 0.445560 0.495977 
time: 1403638611.827830, t: 3.386630 9.618678 0.719409 q: -0.319287 0.682389 0.440223 0.488472 
time: 1403638611.927830, t: 3.351006 9.535368 0.683124 q: -0.322731 0.687421 0.436078 0.482838 
time: 1403638612.027829, t: 3.318947 9.452300 0.646547 q: -0.324238 0.690215 0.434083 0.479631 
time: 1403638612.127830, t: 3.289146 9.369341 0.617024 q: -0.325470 0.692230 0.432237 0.477555 
time: 1403638612.227829, t: 3.265666 9.285660 0.595707 q: -0.324635 0.692768 0.432395 0.477199 
time: 1403638612.327830, t: 3.241330 9.203674 0.583687 q: -0.323882 0.692568 0.432493 0.477912 
time: 1403638612.427830, t: 3.225325 9.119606 0.571420 q: -0.323033 0.691434 0.432526 0.480094 
time: 1403638612.527829, t: 3.205439 9.035937 0.553708 q: -0.320891 0.689522 0.432386 0.484387 
time: 1403638612.627830, t: 3.187865 8.952149 0.528462 q: -0.316112 0.687909 0.434157 0.488223 
time: 1403638612.727829, t: 3.166006 8.868081 0.495362 q: -0.311739 0.686348 0.434968 0.492493 
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optimize pose graph 
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time: 1403638629.027829, t: 0.179107 -0.197291 -0.011567 q: 0.100544 0.805725 -0.148648 0.564449 
time: 1403638629.127830, t: 0.168929 -0.195688 -0.020590 q: 0.104043 0.806973 -0.145893 0.562748 
time: 1403638629.227829, t: 0.158640 -0.192187 -0.026020 q: 0.105720 0.808006 -0.144347 0.561350 
time: 1403638629.327830, t: 0.148139 -0.185485 -0.028471 q: 0.107094 0.808812 -0.143814 0.560065 
time: 1403638629.427830, t: 0.140393 -0.178568 -0.030124 q: 0.106613 0.812888 -0.144730 0.553986 
time: 1403638629.527829, t: 0.133909 -0.169081 -0.031630 q: 0.103875 0.817470 -0.147443 0.547004 
time: 1403638629.627830, t: 0.134756 -0.161075 -0.029682 q: 0.096813 0.817785 -0.152892 0.546333 
time: 1403638629.727829, t: 0.138878 -0.153904 -0.026185 q: 0.086779 0.813758 -0.160749 0.551749 
optimize pose graph 
time: 1403638629.827830, t: 0.146044 -0.150879 -0.023132 q: 0.082926 0.807805 -0.164049 0.560056 
time: 1403638629.927830, t: 0.152919 -0.152351 -0.026706 q: 0.088030 0.801692 -0.161443 0.568750 
time: 1403638630.027829, t: 0.158246 -0.157002 -0.040179 q: 0.098857 0.795919 -0.154330 0.576994 
time: 1403638630.227829, t: 0.157287 -0.162288 -0.096325 q: 0.107811 0.800465 -0.147538 0.570846 
time: 1403638630.327830, t: 0.154712 -0.162896 -0.134149 q: 0.110066 0.807094 -0.147099 0.561112 
time: 1403638630.427830, t: 0.164710 -0.160023 -0.136235 q: 0.095345 0.813207 -0.153655 0.553167 
time: 1403638630.527829, t: 0.176755 -0.160108 -0.128095 q: 0.104354 0.803607 -0.146382 0.567360 
time: 1403638630.627830, t: 0.187568 -0.159793 -0.140169 q: 0.105010 0.802760 -0.146746 0.568344 
time: 1403638630.727829, t: 0.193936 -0.161604 -0.155883 q: 0.095420 0.828886 -0.140100 0.533119 
time: 1403638630.827830, t: 0.186470 -0.167991 -0.162961 q: 0.099543 0.826287 -0.141968 0.535898 
time: 1403638630.927830, t: 0.186678 -0.176245 -0.165303 q: 0.098257 0.827202 -0.140204 0.535188 
time: 1403638631.027829, t: 0.196934 -0.176262 -0.143773 q: 0.098204 0.827728 -0.140777 0.534232 
time: 1403638631.127830, t: 0.177430 -0.177866 -0.158117 q: 0.097404 0.827418 -0.140854 0.534839 
time: 1403638631.227829, t: 0.184544 -0.166844 -0.170699 q: 0.097906 0.827241 -0.141479 0.534855 
time: 1403638631.327830, t: 0.163114 -0.174843 -0.183321 q: 0.097228 0.826939 -0.141220 0.535514 
time: 1403638631.427830, t: 0.158034 -0.179021 -0.185184 q: 0.097365 0.826957 -0.141022 0.535514 
time: 1403638631.527829, t: 0.155233 -0.180904 -0.188801 q: 0.097441 0.826985 -0.141109 0.535433 
time: 1403638631.627830, t: 0.153122 -0.183800 -0.190782 q: 0.097709 0.827019 -0.140919 0.535382 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720562709.471443906]: Shutdown request received.[0m
[33m[ WARN] [1720562709.471484610]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720562709.472333498]: Shutdown request received.[0m
[33m[ WARN] [1720562709.472366114]: Reason given for shutdown: [user request][0m
killed
