/SLAM-Hive/slam_hive_results/mapping_results/3231/2436_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-6.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720563344.147412626]: init begins[0m
[31m[ERROR] [1720563344.148608576]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720563344.148627023]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c8f2d6da-3e40-11ef-887d-0242ac110005/roslaunch-b5fe2888c3fd-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://b5fe2888c3fd:46047/[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] [1720563345.254994948]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720563345.255561733]: 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] [1720563345.261429110]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720563345.261627601]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720563345.261650418]: 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] [1720563345.261878799]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720563345.262065816]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720563345.262209809]: 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://b5fe2888c3fd:11311/[0m
]2;roscore http://b5fe2888c3fd:11311/
[1msetting /run_id to c8f2d6da-3e40-11ef-887d-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] [1720563354.303963740]: 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: 316924836.38 
init first imu pose
averge acc 9.020195 -0.033170 -3.796231
init R0 
  0.387918 0.00805299   0.921659
         0  -0.999962 0.00873716
  0.921694 -0.0033893  -0.387903
[33m[ WARN] [1720563356.723575846]: gyroscope bias initial calibration -0.00198932   0.0201969   0.0779328[0m
[0m[ INFO] [1720563356.774687515]: Initialization finish![0m
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time: 1403638520.777829, t: 0.000417 0.003218 0.002352 q: -0.003915 0.833116 0.002625 0.553078 
time: 1403638520.977829, t: 0.000480 0.003285 0.002194 q: -0.004069 0.833065 0.002859 0.553153 
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time: 1403638599.177830, t: 8.699721 1.296551 2.401755 q: 0.057531 0.811327 -0.053574 0.579283 
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time: 1403638599.777829, t: 8.745107 2.894458 2.487506 q: 0.014625 0.823265 0.010524 0.567371 
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time: 1403638601.177830, t: 9.215620 5.745677 2.431129 q: 0.010907 0.843388 -0.008967 0.537120 
time: 1403638601.377830, t: 9.378891 6.017828 2.433641 q: 0.017560 0.832178 0.002514 0.554225 
time: 1403638601.577830, t: 9.561586 6.298312 2.451264 q: -0.006191 0.823157 0.021240 0.567382 
time: 1403638601.777829, t: 9.733750 6.579397 2.490610 q: -0.029826 0.817887 0.066723 0.570718 
time: 1403638601.977829, t: 9.894969 6.860892 2.547628 q: -0.058388 0.809975 0.119141 0.571259 
time: 1403638602.177830, t: 10.049910 7.147262 2.587826 q: -0.075741 0.803852 0.151597 0.570178 
time: 1403638602.377830, t: 10.184070 7.442604 2.610117 q: -0.105796 0.785879 0.181824 0.581499 
time: 1403638602.577830, t: 10.294335 7.743610 2.663097 q: -0.175629 0.742327 0.193411 0.617007 
time: 1403638602.777829, t: 10.329235 7.988297 2.735803 q: -0.207210 0.727711 0.226678 0.613284 
time: 1403638602.977829, t: 10.308100 8.173783 2.824623 q: -0.237662 0.724689 0.261791 0.591446 
time: 1403638603.177830, t: 10.247421 8.308034 2.905383 q: -0.268208 0.712746 0.290761 0.579236 
time: 1403638603.377830, t: 10.159100 8.384942 2.950036 q: -0.259719 0.733200 0.322072 0.539660 
time: 1403638603.577830, t: 10.065740 8.436359 2.969161 q: -0.257518 0.739458 0.333390 0.525107 
time: 1403638603.777829, t: 9.971664 8.467277 2.969928 q: -0.253377 0.722880 0.342532 0.543982 
time: 1403638603.977829, t: 9.858974 8.480609 2.946082 q: -0.241845 0.708309 0.350858 0.562768 
time: 1403638604.177830, t: 9.709818 8.478987 2.907836 q: -0.234838 0.704108 0.354817 0.568497 
time: 1403638604.377830, t: 9.514612 8.463918 2.896094 q: -0.246609 0.715766 0.348073 0.552909 
time: 1403638604.577830, t: 9.291652 8.435578 2.905517 q: -0.242478 0.728313 0.350808 0.536375 
time: 1403638604.777829, t: 9.064297 8.397701 2.905981 q: -0.249313 0.733678 0.346190 0.528878 
time: 1403638604.977829, t: 8.836421 8.355236 2.909244 q: -0.247559 0.743243 0.346653 0.515884 
optimize pose graph 
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time: 1403638605.377830, t: 8.421875 8.279825 2.970323 q: -0.232498 0.749862 0.357874 0.505547 
time: 1403638605.577830, t: 8.236890 8.265825 2.988208 q: -0.219770 0.731486 0.367901 0.530357 
time: 1403638605.777829, t: 8.037575 8.271497 2.996567 q: -0.213538 0.724921 0.372471 0.538662 
time: 1403638605.977829, t: 7.812009 8.296317 3.032430 q: -0.206851 0.724176 0.376232 0.539659 
time: 1403638606.177830, t: 7.563248 8.347352 3.061787 q: -0.200835 0.724085 0.378613 0.540387 
time: 1403638606.377830, t: 7.284352 8.421586 3.062677 q: -0.204260 0.733837 0.374068 0.528994 
time: 1403638606.577830, t: 6.991481 8.520222 3.036456 q: -0.219430 0.752671 0.362605 0.503840 
time: 1403638606.777829, t: 6.709169 8.639465 2.990874 q: -0.229979 0.755841 0.374011 0.485726 
time: 1403638606.977829, t: 6.449177 8.787056 2.941209 q: -0.249815 0.744989 0.402389 0.469751 
optimize pose graph 
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time: 1403638607.377830, t: 6.018601 9.156722 2.908883 q: -0.306867 0.704660 0.428638 0.474927 
time: 1403638607.577830, t: 5.833454 9.349525 2.863510 q: -0.314620 0.700657 0.430957 0.473677 
time: 1403638607.777829, t: 5.668869 9.534413 2.799728 q: -0.314442 0.697608 0.431304 0.477961 
time: 1403638607.977829, t: 5.522131 9.711630 2.719604 q: -0.317773 0.704400 0.425586 0.470868 
time: 1403638608.177830, t: 5.396368 9.877840 2.619248 q: -0.314751 0.700229 0.423253 0.481112 
time: 1403638608.377830, t: 5.279518 10.030077 2.503201 q: -0.313685 0.689958 0.421133 0.498203 
time: 1403638608.577830, t: 5.165271 10.162688 2.366376 q: -0.312007 0.691318 0.421479 0.497079 
time: 1403638608.777829, t: 5.052128 10.272710 2.234867 q: -0.317957 0.688632 0.417381 0.500483 
time: 1403638608.977829, t: 4.945562 10.357588 2.123126 q: -0.316143 0.696011 0.419747 0.489320 
optimize pose graph 
time: 1403638609.177830, t: 4.844262 10.431423 2.041718 q: -0.317425 0.699362 0.418845 0.484461 
time: 1403638609.377830, t: 4.753535 10.488125 1.957237 q: -0.324285 0.699663 0.413580 0.484007 
time: 1403638609.577830, t: 4.675379 10.529167 1.842671 q: -0.317093 0.699384 0.417876 0.485484 
time: 1403638609.777829, t: 4.605271 10.557208 1.710742 q: -0.313856 0.698351 0.419915 0.487311 
time: 1403638609.977829, t: 4.546168 10.576001 1.600775 q: -0.315213 0.698118 0.418464 0.488017 
time: 1403638610.177830, t: 4.492667 10.581307 1.521606 q: -0.319391 0.692918 0.414593 0.495951 
time: 1403638610.377830, t: 4.446112 10.566080 1.432110 q: -0.322514 0.691440 0.411467 0.498588 
time: 1403638610.577830, t: 4.405132 10.529623 1.320230 q: -0.325434 0.684582 0.408830 0.508231 
time: 1403638610.777829, t: 4.361822 10.464939 1.207553 q: -0.327557 0.684897 0.408337 0.506837 
time: 1403638610.977829, t: 4.317117 10.378873 1.117907 q: -0.324447 0.691874 0.412225 0.496100 
optimize pose graph 
time: 1403638611.177830, t: 4.278618 10.272158 1.031224 q: -0.328851 0.688225 0.410414 0.499764 
time: 1403638611.377830, t: 4.243652 10.140084 0.946309 q: -0.321699 0.685782 0.415689 0.503404 
time: 1403638611.577830, t: 4.204954 9.988001 0.885911 q: -0.300684 0.681084 0.429240 0.511338 
time: 1403638611.777829, t: 4.142782 9.824876 0.839435 q: -0.304820 0.689372 0.425060 0.501173 
time: 1403638611.977829, t: 4.077388 9.660587 0.770273 q: -0.313059 0.698342 0.417897 0.489566 
time: 1403638612.177830, t: 4.015772 9.493976 0.710376 q: -0.313947 0.701591 0.415952 0.485996 
time: 1403638612.377830, t: 3.965973 9.326667 0.679960 q: -0.312857 0.701179 0.415903 0.487333 
time: 1403638612.577830, t: 3.920051 9.157357 0.641696 q: -0.309161 0.697929 0.415602 0.494561 
time: 1403638612.777829, t: 3.870726 8.986137 0.577851 q: -0.300195 0.695258 0.417603 0.502103 
time: 1403638612.977829, t: 3.812600 8.815362 0.513231 q: -0.301025 0.694813 0.413031 0.505988 
optimize pose graph 
time: 1403638613.177830, t: 3.750118 8.648212 0.478044 q: -0.301179 0.700076 0.411580 0.499786 
time: 1403638613.377830, t: 3.681258 8.478887 0.468781 q: -0.299522 0.700126 0.412226 0.500179 
time: 1403638613.577830, t: 3.606047 8.311217 0.456998 q: -0.299162 0.700878 0.406717 0.503839 
time: 1403638613.777829, t: 3.530173 8.134914 0.422070 q: -0.306716 0.700058 0.392631 0.511552 
time: 1403638613.977829, t: 3.452286 7.944547 0.358598 q: -0.295919 0.707960 0.374777 0.520352 
time: 1403638614.177830, t: 3.364154 7.736779 0.279941 q: -0.269147 0.726201 0.349491 0.527302 
time: 1403638614.377830, t: 3.268320 7.522319 0.215812 q: -0.249223 0.741701 0.325940 0.530594 
time: 1403638614.577830, t: 3.166071 7.305684 0.188810 q: -0.241501 0.750812 0.308248 0.531922 
time: 1403638614.777829, t: 3.072747 7.085541 0.195234 q: -0.236492 0.765661 0.279159 0.529061 
time: 1403638614.977829, t: 2.999275 6.851457 0.234033 q: -0.215769 0.785655 0.242283 0.526772 
optimize pose graph 
time: 1403638615.177830, t: 2.951863 6.601097 0.292577 q: -0.176272 0.796006 0.199300 0.543674 
time: 1403638615.377830, t: 2.919752 6.345062 0.366192 q: -0.129772 0.801461 0.152667 0.563482 
time: 1403638615.577830, t: 2.895911 6.092729 0.422995 q: -0.092424 0.807412 0.102862 0.573552 
time: 1403638615.777829, t: 2.863138 5.840179 0.467095 q: -0.071469 0.810589 0.073272 0.576602 
time: 1403638615.977829, t: 2.821219 5.589729 0.526548 q: -0.059044 0.813097 0.049768 0.576984 
time: 1403638616.177830, t: 2.775025 5.340192 0.562106 q: -0.040342 0.814670 0.023432 0.578045 
time: 1403638616.377830, t: 2.733707 5.097046 0.534797 q: -0.016221 0.816244 -0.013733 0.577316 
time: 1403638616.577830, t: 2.686703 4.856283 0.472499 q: 0.003936 0.818305 -0.044192 0.573070 
time: 1403638616.777829, t: 2.641646 4.620382 0.393294 q: 0.006760 0.831239 -0.064381 0.552134 
time: 1403638616.977829, t: 2.612164 4.376222 0.316048 q: 0.008080 0.835120 -0.069041 0.545659 
time: 1403638617.177830, t: 2.608198 4.111485 0.275039 q: 0.019667 0.828759 -0.056983 0.556349 
time: 1403638617.377830, t: 2.625119 3.850423 0.261315 q: 0.020823 0.835297 -0.049488 0.547171 
time: 1403638617.577830, t: 2.665204 3.596409 0.277626 q: 0.020446 0.838901 -0.043209 0.542181 
time: 1403638617.777829, t: 2.729344 3.350509 0.326496 q: 0.021831 0.835977 -0.036686 0.547102 
time: 1403638617.977829, t: 2.819359 3.122581 0.402552 q: 0.020784 0.835023 -0.032957 0.548834 
time: 1403638618.177830, t: 2.926954 2.903475 0.466354 q: 0.017605 0.834864 -0.031496 0.549272 
time: 1403638618.577830, t: 3.187164 2.502583 0.538937 q: 0.018897 0.833310 -0.027020 0.551821 
time: 1403638618.777829, t: 3.338128 2.319576 0.571130 q: 0.025524 0.832416 -0.033182 0.552568 
time: 1403638618.977829, t: 3.504714 2.145651 0.615769 q: 0.034591 0.826282 -0.045151 0.560378 
time: 1403638619.177830, t: 3.675453 1.979708 0.642405 q: 0.060093 0.818598 -0.077526 0.565929 
time: 1403638619.377830, t: 3.845065 1.829452 0.635610 q: 0.090401 0.809533 -0.125928 0.566238 
time: 1403638619.577830, t: 4.011706 1.691300 0.613307 q: 0.107491 0.801166 -0.162552 0.565823 
time: 1403638619.777829, t: 4.172691 1.563229 0.575308 q: 0.100130 0.794901 -0.190054 0.567438 
time: 1403638619.977829, t: 4.318015 1.429404 0.532158 q: 0.101162 0.791815 -0.199828 0.568211 
time: 1403638620.177830, t: 4.442954 1.283730 0.498996 q: 0.108012 0.786411 -0.199799 0.574431 
time: 1403638620.377830, t: 4.541601 1.130093 0.495586 q: 0.113389 0.788653 -0.196180 0.571562 
time: 1403638620.577830, t: 4.624324 0.973879 0.515195 q: 0.114084 0.791571 -0.192202 0.568734 
time: 1403638620.777829, t: 4.692789 0.815095 0.514384 q: 0.107519 0.797737 -0.192318 0.561311 
time: 1403638621.177830, t: 4.810790 0.488300 0.468666 q: 0.117608 0.798971 -0.174795 0.563259 
time: 1403638621.377830, t: 4.865334 0.331843 0.465854 q: 0.119465 0.798751 -0.168912 0.564972 
time: 1403638621.577830, t: 4.913066 0.185823 0.456522 q: 0.119878 0.794915 -0.164476 0.571565 
time: 1403638621.777829, t: 4.948154 0.054401 0.424476 q: 0.120339 0.792319 -0.162016 0.575760 
time: 1403638621.977829, t: 4.967969 -0.062812 0.382020 q: 0.122396 0.786482 -0.159037 0.584100 
time: 1403638622.177830, t: 4.971837 -0.160738 0.321736 q: 0.117648 0.787021 -0.162025 0.583528 
time: 1403638622.377830, t: 4.954081 -0.239580 0.278587 q: 0.115211 0.787429 -0.164596 0.582743 
time: 1403638622.577830, t: 4.913321 -0.307885 0.265303 q: 0.122099 0.787979 -0.161482 0.581467 
time: 1403638622.777829, t: 4.854596 -0.357320 0.291925 q: 0.128558 0.772933 -0.157999 0.600903 
time: 1403638622.977829, t: 4.768665 -0.383284 0.334279 q: 0.128460 0.772020 -0.159781 0.601626 
time: 1403638623.177830, t: 4.646774 -0.387643 0.354514 q: 0.119543 0.782429 -0.167149 0.587856 
optimize pose graph 
time: 1403638623.377830, t: 4.502080 -0.382415 0.350691 q: 0.113945 0.788271 -0.171255 0.579929 
time: 1403638623.577830, t: 4.342287 -0.370016 0.343221 q: 0.115884 0.790101 -0.170568 0.577250 
time: 1403638623.777829, t: 4.171402 -0.354439 0.358664 q: 0.119595 0.791629 -0.169893 0.574593 
time: 1403638623.977829, t: 3.991029 -0.334754 0.389770 q: 0.122577 0.793784 -0.170512 0.570796 
time: 1403638624.177830, t: 3.802502 -0.309117 0.402780 q: 0.118567 0.793702 -0.176086 0.570063 
time: 1403638624.377830, t: 3.617632 -0.286031 0.398366 q: 0.115999 0.792831 -0.180504 0.570423 
time: 1403638624.577830, t: 3.428466 -0.260857 0.380165 q: 0.113030 0.784340 -0.185628 0.581014 
time: 1403638624.777829, t: 3.234175 -0.241356 0.354029 q: 0.119415 0.786223 -0.173449 0.580955 
time: 1403638624.977829, t: 3.026606 -0.211166 0.356220 q: 0.113655 0.795675 -0.163333 0.572107 
time: 1403638625.177830, t: 2.816614 -0.174595 0.361485 q: 0.099926 0.797581 -0.162816 0.572163 
time: 1403638625.377830, t: 2.606792 -0.143470 0.352144 q: 0.096914 0.798581 -0.160397 0.571970 
time: 1403638625.577830, t: 2.395914 -0.121600 0.361237 q: 0.096574 0.798646 -0.159344 0.572231 
time: 1403638625.777829, t: 2.179359 -0.103956 0.389469 q: 0.095366 0.804763 -0.160363 0.563511 
time: 1403638625.977829, t: 1.972720 -0.094595 0.407955 q: 0.096517 0.807844 -0.160913 0.558730 
time: 1403638626.177830, t: 1.772383 -0.091765 0.406545 q: 0.095152 0.809512 -0.163177 0.555886 
time: 1403638626.377830, t: 1.582122 -0.097345 0.389917 q: 0.105910 0.806301 -0.156456 0.560520 
time: 1403638626.577830, t: 1.400818 -0.099618 0.359880 q: 0.109062 0.807425 -0.153401 0.559141 
time: 1403638626.777829, t: 1.231226 -0.099031 0.332649 q: 0.105119 0.813228 -0.155561 0.550827 
time: 1403638626.977829, t: 1.083898 -0.102145 0.330564 q: 0.103728 0.816883 -0.155473 0.545684 
time: 1403638627.177830, t: 0.960196 -0.104570 0.328158 q: 0.102345 0.817008 -0.154886 0.545925 
optimize pose graph 
time: 1403638627.377830, t: 0.850089 -0.107484 0.310485 q: 0.105666 0.816435 -0.151682 0.547047 
time: 1403638627.577830, t: 0.764207 -0.113781 0.283404 q: 0.107076 0.815677 -0.150935 0.548110 
time: 1403638627.777829, t: 0.693820 -0.111256 0.249121 q: 0.111113 0.810716 -0.149330 0.555062 
time: 1403638627.977829, t: 0.637638 -0.113351 0.216413 q: 0.112292 0.812131 -0.149207 0.552785 
time: 1403638628.177830, t: 0.591553 -0.106168 0.188087 q: 0.114382 0.813866 -0.149758 0.549647 
time: 1403638628.377830, t: 0.562664 -0.091398 0.170054 q: 0.113300 0.814702 -0.151822 0.548063 
time: 1403638628.577830, t: 0.556545 -0.071413 0.164321 q: 0.099575 0.804797 -0.162031 0.562256 
time: 1403638628.777829, t: 0.543162 -0.055927 0.161708 q: 0.095856 0.801868 -0.165381 0.566099 
time: 1403638628.977829, t: 0.526424 -0.052990 0.141282 q: 0.105065 0.803230 -0.159506 0.564217 
time: 1403638629.177830, t: 0.507203 -0.048241 0.126536 q: 0.112060 0.805594 -0.154076 0.561000 
optimize pose graph 
time: 1403638629.377830, t: 0.484757 -0.035088 0.120013 q: 0.113584 0.808937 -0.153094 0.556131 
time: 1403638629.577830, t: 0.471492 -0.018882 0.119649 q: 0.108460 0.816353 -0.157623 0.544940 
time: 1403638629.977829, t: 0.492698 -0.010482 0.117482 q: 0.100143 0.796701 -0.165966 0.572446 
time: 1403638630.177830, t: 0.494810 -0.017733 0.070190 q: 0.113386 0.795991 -0.156305 0.573681 
time: 1403638630.377830, t: 0.492366 -0.014171 0.009046 q: 0.110190 0.819835 -0.156676 0.539612 
time: 1403638630.577830, t: 0.514784 -0.011293 0.018771 q: 0.109325 0.801181 -0.156066 0.567275 
time: 1403638630.777829, t: 0.521100 -0.014193 -0.009276 q: 0.109014 0.826861 -0.147478 0.531665 
time: 1403638630.977829, t: 0.507598 -0.011792 -0.018609 q: 0.104399 0.825250 -0.148898 0.534689 
time: 1403638631.177830, t: 0.496853 -0.009909 -0.025961 q: 0.104889 0.825256 -0.148649 0.534653 
time: 1403638631.377830, t: 0.527299 -0.041229 0.000565 q: 0.104189 0.825927 -0.148172 0.533886 
optimize pose graph 
time: 1403638631.577830, t: 0.537987 -0.030616 0.003905 q: 0.104356 0.825977 -0.148624 0.533650 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720563469.860086848]: Shutdown request received.[0m
[33m[ WARN] [1720563469.860126686]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720563469.860983768]: Shutdown request received.[0m
[33m[ WARN] [1720563469.861010718]: Reason given for shutdown: [user request][0m
killed
