/SLAM-Hive/slam_hive_results/mapping_results/3227/2432_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-2.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720562736.172996336]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720562736.175139014]: init begins[0m
[31m[ERROR] [1720562736.176222518]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/5e90bc40-3e3f-11ef-9922-0242ac110005/roslaunch-859c93df6140-118.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://859c93df6140:38829/[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] [1720562737.279238146]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720562737.281553449]: 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] [1720562737.287738502]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720562737.287983296]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720562737.288008191]: 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] [1720562737.288261060]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720562737.288466367]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720562737.288653689]: 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://859c93df6140:11311/[0m
]2;roscore http://859c93df6140:11311/
[1msetting /run_id to 5e90bc40-3e3f-11ef-9922-0242ac110005[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_05_difficult.bag  --clock 
[0m[ INFO] [1720562746.328220248]: 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: 316924228.40 
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] [1720562747.696590621]: gyroscope bias initial calibration -0.0019192  0.0200459  0.0779271[0m
[0m[ INFO] [1720562747.732204047]: Initialization finish![0m
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time: 1403638519.327830, t: -0.000402 -0.000826 0.000259 q: -0.003775 0.832985 0.002392 0.553278 
time: 1403638519.427830, t: -0.000655 -0.001762 0.000255 q: -0.003529 0.832993 0.002254 0.553268 
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time: 1403638530.327830, t: -0.002494 -0.069789 0.069095 q: 0.035932 0.843595 -0.058530 0.532570 
time: 1403638530.427830, t: 0.011535 -0.073523 0.059890 q: 0.039593 0.842885 -0.062771 0.532952 
time: 1403638530.527829, t: 0.021409 -0.077579 0.053519 q: 0.038010 0.842557 -0.067165 0.533050 
time: 1403638530.627830, t: 0.027321 -0.082090 0.048032 q: 0.040372 0.843585 -0.070068 0.530872 
time: 1403638530.727829, t: 0.031001 -0.084892 0.042020 q: 0.040954 0.847245 -0.072497 0.524636 
time: 1403638530.827830, t: 0.033806 -0.086993 0.036221 q: 0.041395 0.849165 -0.073480 0.521350 
time: 1403638530.927830, t: 0.035598 -0.088031 0.032588 q: 0.039356 0.848187 -0.073163 0.523141 
time: 1403638531.027829, t: 0.036187 -0.088207 0.030105 q: 0.038603 0.845424 -0.073355 0.527623 
optimize pose graph 
time: 1403638531.127830, t: 0.035695 -0.087057 0.029884 q: 0.041244 0.841828 -0.071965 0.533334 
time: 1403638531.227829, t: 0.036122 -0.085739 0.029249 q: 0.043122 0.841689 -0.069072 0.533787 
time: 1403638531.327830, t: 0.036302 -0.084284 0.028245 q: 0.043794 0.838120 -0.069076 0.539320 
time: 1403638531.427830, t: 0.036333 -0.084350 0.028041 q: 0.044312 0.838999 -0.068420 0.537993 
time: 1403638531.527829, t: 0.036010 -0.084387 0.028038 q: 0.043992 0.838217 -0.069097 0.539150 
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time: 1403638531.727829, t: 0.035778 -0.084459 0.028052 q: 0.044930 0.838345 -0.068788 0.538913 
time: 1403638531.827830, t: 0.035799 -0.084467 0.028041 q: 0.045084 0.838306 -0.068994 0.538935 
time: 1403638531.927830, t: 0.035807 -0.084439 0.028029 q: 0.045135 0.838239 -0.069246 0.539002 
time: 1403638532.027829, t: 0.035812 -0.084425 0.028000 q: 0.045238 0.838178 -0.069498 0.539055 
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optimize pose graph 
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time: 1403638543.027829, t: 1.449136 0.997198 0.621581 q: -0.169344 0.782707 0.256957 0.540986 
optimize pose graph 
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time: 1403638601.027829, t: 8.707995 5.554862 2.404400 q: -0.007084 0.845588 -0.007540 0.533735 
time: 1403638601.127830, t: 8.769394 5.693487 2.412917 q: -0.000690 0.844386 -0.001647 0.535732 
time: 1403638601.227829, t: 8.838331 5.831495 2.416227 q: 0.007925 0.841401 0.005732 0.540322 
time: 1403638601.327830, t: 8.914768 5.971422 2.415885 q: 0.014162 0.833999 0.012243 0.551449 
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time: 1403638602.127830, t: 9.555627 7.125569 2.561937 q: -0.080993 0.804547 0.155813 0.567333 
time: 1403638602.227829, t: 9.625817 7.270860 2.575047 q: -0.086597 0.798131 0.172573 0.570706 
time: 1403638602.327830, t: 9.692042 7.423071 2.584600 q: -0.099915 0.789468 0.188636 0.575477 
time: 1403638602.427830, t: 9.747228 7.579250 2.600587 q: -0.131989 0.773617 0.196347 0.587830 
time: 1403638602.527829, t: 9.791636 7.731586 2.626787 q: -0.167564 0.749949 0.201447 0.607387 
time: 1403638602.627830, t: 9.819607 7.870074 2.660074 q: -0.196888 0.732751 0.209560 0.616763 
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time: 1403638603.027829, t: 9.778894 8.258592 2.833932 q: -0.255970 0.719224 0.279531 0.582287 
time: 1403638603.127830, t: 9.744193 8.322349 2.878425 q: -0.272683 0.711409 0.293513 0.577400 
time: 1403638603.227829, t: 9.707349 8.376617 2.910959 q: -0.276893 0.710850 0.309384 0.567718 
time: 1403638603.327830, t: 9.662005 8.411704 2.932532 q: -0.270739 0.722779 0.326083 0.545858 
time: 1403638603.427830, t: 9.614500 8.437896 2.945947 q: -0.264931 0.733732 0.337101 0.527079 
time: 1403638603.527829, t: 9.565549 8.456433 2.955525 q: -0.263095 0.737274 0.342306 0.519650 
time: 1403638603.627830, t: 9.518399 8.473446 2.959837 q: -0.267446 0.731233 0.344387 0.524566 
time: 1403638603.727829, t: 9.470101 8.485492 2.959405 q: -0.264427 0.722848 0.349095 0.534510 
time: 1403638603.827830, t: 9.420753 8.493984 2.952325 q: -0.258115 0.714957 0.354259 0.544714 
time: 1403638603.927830, t: 9.364601 8.497707 2.940422 q: -0.251203 0.707833 0.358637 0.554301 
time: 1403638604.027829, t: 9.300748 8.499187 2.921116 q: -0.245657 0.702805 0.361220 0.561461 
time: 1403638604.127830, t: 9.227807 8.497783 2.903716 q: -0.242021 0.699803 0.363052 0.565592 
time: 1403638604.227829, t: 9.144014 8.493073 2.890226 q: -0.245124 0.701190 0.361592 0.563470 
time: 1403638604.327830, t: 9.049855 8.486899 2.886149 q: -0.251637 0.707837 0.357752 0.554670 
time: 1403638604.427830, t: 8.948130 8.472938 2.886783 q: -0.253954 0.715911 0.356868 0.543713 
time: 1403638604.527829, t: 8.843289 8.455060 2.893662 q: -0.251123 0.723103 0.359144 0.533924 
time: 1403638604.627830, t: 8.734293 8.438453 2.898105 q: -0.250000 0.726314 0.359776 0.529649 
time: 1403638604.727829, t: 8.623052 8.419956 2.896618 q: -0.253988 0.729077 0.356798 0.525958 
time: 1403638604.827830, t: 8.510549 8.397996 2.893750 q: -0.257222 0.731450 0.354389 0.522711 
time: 1403638604.927830, t: 8.399092 8.374861 2.894411 q: -0.255529 0.735701 0.355315 0.516914 
time: 1403638605.027829, t: 8.289540 8.349676 2.899529 q: -0.252609 0.742924 0.357343 0.506517 
optimize pose graph 
time: 1403638605.127830, t: 8.182726 8.322706 2.913767 q: -0.249853 0.748357 0.359340 0.498407 
time: 1403638605.227829, t: 8.081728 8.302019 2.933874 q: -0.246775 0.750278 0.361494 0.495486 
time: 1403638605.327830, t: 7.986126 8.284795 2.951552 q: -0.242109 0.749207 0.364968 0.496860 
time: 1403638605.427830, t: 7.895179 8.271891 2.964506 q: -0.235399 0.741520 0.370144 0.507670 
time: 1403638605.527829, t: 7.805671 8.263962 2.972872 q: -0.229441 0.731295 0.374774 0.521640 
time: 1403638605.627830, t: 7.712658 8.260118 2.975274 q: -0.223291 0.723847 0.379269 0.531358 
time: 1403638605.727829, t: 7.611321 8.258819 2.976791 q: -0.220569 0.720540 0.381301 0.535519 
time: 1403638605.827830, t: 7.505138 8.264168 2.985188 q: -0.219063 0.721114 0.382123 0.534778 
time: 1403638605.927830, t: 7.395317 8.275609 3.001951 q: -0.216230 0.720545 0.383713 0.535560 
time: 1403638606.027829, t: 7.277857 8.293921 3.021448 q: -0.212207 0.719863 0.385420 0.536858 
time: 1403638606.127830, t: 7.154071 8.316478 3.036020 q: -0.209334 0.719909 0.386401 0.537220 
time: 1403638606.227829, t: 7.023284 8.344548 3.042727 q: -0.206323 0.719992 0.387893 0.537198 
time: 1403638606.327830, t: 6.885297 8.377419 3.045227 q: -0.207504 0.723914 0.386120 0.532731 
time: 1403638606.427830, t: 6.740499 8.415244 3.037180 q: -0.214582 0.734127 0.380428 0.519891 
time: 1403638606.527829, t: 6.592870 8.456559 3.022044 q: -0.223394 0.744558 0.373633 0.506090 
time: 1403638606.627830, t: 6.448542 8.506483 3.001186 q: -0.228990 0.750480 0.372446 0.495608 
time: 1403638606.727829, t: 6.308556 8.564514 2.975818 q: -0.233198 0.751857 0.379065 0.486456 
time: 1403638606.827830, t: 6.172031 8.630310 2.945700 q: -0.239842 0.749306 0.390265 0.478236 
time: 1403638606.927830, t: 6.042222 8.702397 2.918969 q: -0.249673 0.743253 0.404679 0.470608 
time: 1403638607.027829, t: 5.918915 8.782721 2.902624 q: -0.263087 0.735056 0.419675 0.462980 
time: 1403638607.127830, t: 5.804505 8.872496 2.892273 q: -0.279845 0.727627 0.429082 0.456217 
optimize pose graph 
time: 1403638607.227829, t: 5.697845 8.967785 2.886262 q: -0.294352 0.715048 0.435051 0.461295 
time: 1403638607.327830, t: 5.596195 9.063946 2.876327 q: -0.307252 0.703288 0.437001 0.469054 
time: 1403638607.427830, t: 5.496966 9.158677 2.857846 q: -0.316569 0.696638 0.437512 0.472295 
time: 1403638607.527829, t: 5.402237 9.253278 2.832728 q: -0.320883 0.695698 0.437914 0.470393 
time: 1403638607.627830, t: 5.311216 9.344865 2.802928 q: -0.322048 0.694345 0.439130 0.470464 
time: 1403638607.727829, t: 5.225692 9.436268 2.770678 q: -0.321561 0.691988 0.439494 0.473916 
time: 1403638607.827830, t: 5.143840 9.524388 2.736149 q: -0.320790 0.692658 0.439136 0.473792 
time: 1403638607.927830, t: 5.068479 9.611038 2.696257 q: -0.323029 0.696925 0.435755 0.469111 
time: 1403638608.027829, t: 4.996933 9.697157 2.653048 q: -0.325109 0.698782 0.432125 0.468269 
time: 1403638608.127830, t: 4.932635 9.780200 2.606210 q: -0.323492 0.696179 0.431307 0.473986 
time: 1403638608.227829, t: 4.874357 9.859189 2.553234 q: -0.320116 0.692122 0.432141 0.481401 
time: 1403638608.327830, t: 4.815318 9.933128 2.496708 q: -0.320099 0.687168 0.430620 0.489799 
time: 1403638608.427830, t: 4.757916 10.001774 2.435468 q: -0.320814 0.683536 0.429971 0.494957 
time: 1403638608.527829, t: 4.698263 10.065629 2.365969 q: -0.319205 0.685434 0.430474 0.492930 
time: 1403638608.627830, t: 4.638353 10.126193 2.294945 q: -0.321270 0.684691 0.428101 0.494685 
time: 1403638608.727829, t: 4.580836 10.179789 2.229149 q: -0.325219 0.682106 0.425772 0.497676 
time: 1403638608.827830, t: 4.524819 10.227021 2.167097 q: -0.323649 0.684697 0.427297 0.493821 
time: 1403638608.927830, t: 4.466599 10.270649 2.113119 q: -0.321880 0.688725 0.428612 0.488204 
time: 1403638609.027829, t: 4.410261 10.310943 2.066145 q: -0.321889 0.692637 0.428713 0.482543 
time: 1403638609.127830, t: 4.359355 10.345495 2.025158 q: -0.320855 0.694221 0.429438 0.480305 
time: 1403638609.227829, t: 4.309135 10.377809 1.986655 q: -0.327606 0.694305 0.424528 0.479991 
optimize pose graph 
time: 1403638609.327830, t: 4.263137 10.404725 1.945402 q: -0.331413 0.694654 0.421566 0.479483 
time: 1403638609.427830, t: 4.222074 10.429477 1.894989 q: -0.328287 0.694645 0.423523 0.479920 
time: 1403638609.527829, t: 4.183690 10.447882 1.838897 q: -0.324610 0.694693 0.425697 0.480429 
time: 1403638609.627830, t: 4.148962 10.468497 1.777200 q: -0.322644 0.694678 0.426740 0.480850 
time: 1403638609.727829, t: 4.116614 10.479575 1.710393 q: -0.319778 0.693441 0.428926 0.482602 
time: 1403638609.827830, t: 4.087584 10.491107 1.647218 q: -0.320497 0.694250 0.428831 0.481043 
time: 1403638609.927830, t: 4.059447 10.498199 1.593716 q: -0.320797 0.693813 0.428609 0.481671 
time: 1403638610.027829, t: 4.035650 10.504465 1.546617 q: -0.323235 0.692601 0.426994 0.483217 
time: 1403638610.127830, t: 4.011981 10.505858 1.507913 q: -0.326389 0.689698 0.424673 0.487279 
time: 1403638610.227829, t: 3.992982 10.503781 1.467934 q: -0.327868 0.686775 0.423835 0.491127 
time: 1403638610.327830, t: 3.971826 10.495747 1.421789 q: -0.329134 0.685835 0.422576 0.492677 
time: 1403638610.427830, t: 3.951001 10.483728 1.368883 q: -0.330429 0.685517 0.421121 0.493499 
time: 1403638610.527829, t: 3.929756 10.466156 1.312618 q: -0.329941 0.682636 0.420952 0.497943 
time: 1403638610.627830, t: 3.909874 10.443288 1.254867 q: -0.335388 0.675507 0.416956 0.507300 
time: 1403638610.727829, t: 3.890716 10.413161 1.197978 q: -0.335629 0.676217 0.417297 0.505912 
time: 1403638610.827830, t: 3.868737 10.372535 1.145127 q: -0.332479 0.683569 0.420638 0.495232 
time: 1403638610.927830, t: 3.847559 10.328065 1.099232 q: -0.330881 0.686638 0.422793 0.490196 
time: 1403638611.027829, t: 3.825914 10.279812 1.059118 q: -0.333430 0.685808 0.420672 0.491454 
time: 1403638611.127830, t: 3.808849 10.227350 1.017371 q: -0.335847 0.683376 0.419566 0.494134 
time: 1403638611.227829, t: 3.789482 10.170998 0.967355 q: -0.335453 0.682997 0.420370 0.494242 
time: 1403638611.327830, t: 3.773153 10.104585 0.923358 q: -0.332691 0.682321 0.422691 0.495062 
optimize pose graph 
time: 1403638611.427830, t: 3.754180 10.035282 0.887118 q: -0.321696 0.678103 0.429493 0.502219 
time: 1403638611.527829, t: 3.737937 9.958828 0.855963 q: -0.311103 0.675160 0.436489 0.506805 
time: 1403638611.627830, t: 3.709148 9.880643 0.833307 q: -0.305645 0.677417 0.438526 0.505354 
time: 1403638611.727829, t: 3.680641 9.799632 0.812170 q: -0.307555 0.681737 0.436540 0.500078 
time: 1403638611.827830, t: 3.648478 9.719270 0.784889 q: -0.313867 0.687675 0.431262 0.492548 
time: 1403638611.927830, t: 3.618691 9.637852 0.752751 q: -0.317547 0.692418 0.427764 0.486557 
time: 1403638612.027829, t: 3.588171 9.556640 0.715778 q: -0.319275 0.695066 0.425947 0.483234 
time: 1403638612.127830, t: 3.559265 9.473577 0.683752 q: -0.320714 0.696830 0.424285 0.481200 
time: 1403638612.227829, t: 3.533086 9.390708 0.661261 q: -0.319778 0.697371 0.424392 0.480944 
time: 1403638612.327830, t: 3.506750 9.308610 0.643793 q: -0.319147 0.696961 0.424497 0.481864 
time: 1403638612.427830, t: 3.486822 9.224793 0.630355 q: -0.318210 0.695936 0.424355 0.484085 
time: 1403638612.527829, t: 3.462939 9.140890 0.609412 q: -0.316054 0.693960 0.424096 0.488540 
time: 1403638612.627830, t: 3.444701 9.055203 0.586504 q: -0.311313 0.692314 0.425967 0.492278 
time: 1403638612.727829, t: 3.421538 8.976107 0.555036 q: -0.306700 0.690770 0.426905 0.496512 
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optimize pose graph 
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time: 1403638629.327830, t: 0.217311 -0.106285 0.004331 q: 0.107475 0.807901 -0.145489 0.560873 
time: 1403638629.427830, t: 0.208558 -0.099096 0.003818 q: 0.106969 0.812037 -0.146554 0.554685 
time: 1403638629.527829, t: 0.203968 -0.089968 0.001886 q: 0.104262 0.816611 -0.149183 0.547742 
time: 1403638629.627830, t: 0.204962 -0.080978 0.002741 q: 0.097348 0.816947 -0.154790 0.546957 
time: 1403638629.727829, t: 0.210461 -0.074023 0.005695 q: 0.087394 0.812901 -0.162663 0.552354 
time: 1403638629.827830, t: 0.216399 -0.070956 0.009157 q: 0.083592 0.806876 -0.165940 0.560738 
time: 1403638629.927830, t: 0.222439 -0.070857 0.005872 q: 0.088846 0.800759 -0.163347 0.569393 
time: 1403638630.027829, t: 0.227121 -0.074865 -0.007611 q: 0.099687 0.794935 -0.156253 0.577690 
time: 1403638630.127830, t: 0.228292 -0.077864 -0.032284 q: 0.106240 0.795359 -0.151693 0.577153 
time: 1403638630.227829, t: 0.225190 -0.079391 -0.063824 q: 0.108716 0.799463 -0.149620 0.571536 
time: 1403638630.327830, t: 0.220194 -0.079369 -0.101454 q: 0.110905 0.806100 -0.149147 0.561834 
time: 1403638630.427830, t: 0.228750 -0.076060 -0.104079 q: 0.096108 0.812274 -0.155646 0.553849 
time: 1403638630.527829, t: 0.240015 -0.075769 -0.096374 q: 0.105197 0.802751 -0.148378 0.567898 
time: 1403638630.627830, t: 0.249851 -0.075141 -0.108765 q: 0.105848 0.801936 -0.148706 0.568842 
time: 1403638630.727829, t: 0.260417 -0.075922 -0.113313 q: 0.096314 0.828276 -0.142194 0.533351 
time: 1403638630.827830, t: 0.246935 -0.085370 -0.131357 q: 0.100121 0.825593 -0.143825 0.536364 
time: 1403638630.927830, t: 0.242292 -0.086390 -0.136410 q: 0.099179 0.826421 -0.142115 0.535719 
time: 1403638631.027829, t: 0.262132 -0.090251 -0.109375 q: 0.099120 0.827104 -0.142748 0.534506 
time: 1403638631.127830, t: 0.246856 -0.085397 -0.105921 q: 0.098577 0.827101 -0.143237 0.534481 
time: 1403638631.227829, t: 0.239626 -0.086996 -0.107609 q: 0.098784 0.826977 -0.142900 0.534724 
time: 1403638631.327830, t: 0.224767 -0.087548 -0.123904 q: 0.098687 0.826525 -0.142885 0.535444 
time: 1403638631.427830, t: 0.204745 -0.083417 -0.147414 q: 0.099025 0.826152 -0.142788 0.535983 
time: 1403638631.527829, t: 0.200278 -0.080671 -0.148410 q: 0.099314 0.826149 -0.142967 0.535887 
time: 1403638631.627830, t: 0.193802 -0.082389 -0.149098 q: 0.099527 0.826217 -0.142757 0.535798 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720562861.974363528]: Shutdown request received.[0m
[33m[ WARN] [1720562861.974412535]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720562861.975294573]: Shutdown request received.[0m
[33m[ WARN] [1720562861.975324915]: Reason given for shutdown: [user request][0m
killed
