/SLAM-Hive/slam_hive_results/mapping_results/3237/2442_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-12.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720564251.207664321]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720564251.211008898]: init begins[0m
[31m[ERROR] [1720564251.212189926]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e598fd30-3e42-11ef-991a-0242ac110005/roslaunch-8d64cdca7914-117.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://8d64cdca7914:36733/[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] [1720564252.313743711]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720564252.317570863]: 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] [1720564252.323024257]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720564252.323229115]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720564252.323255267]: 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] [1720564252.323468429]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720564252.323658858]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720564252.323805346]: 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://8d64cdca7914:11311/[0m
]2;roscore http://8d64cdca7914:11311/
[1msetting /run_id to e598fd30-3e42-11ef-991a-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_05_difficult.bag  --clock 
[0m[ INFO] [1720564261.365981125]: 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: 316925743.43 
init first imu pose
averge acc 9.017038 -0.028934 -3.796764
init R0 
   0.388077  0.00702325      0.9216
          0   -0.999971  0.00762049
   0.921627 -0.00295733   -0.388065
[33m[ WARN] [1720564265.913839111]: gyroscope bias initial calibration -0.00311152   0.0181571   0.0841024[0m
[0m[ INFO] [1720564266.037434612]: Initialization finish![0m
time: 1403638522.277829, t: 0.002315 0.005062 0.033544 q: -0.017729 0.830885 0.011188 0.556049 
time: 1403638522.677830, t: 0.015350 0.004680 0.198526 q: -0.060118 0.827459 0.023928 0.557785 
time: 1403638523.077830, t: 0.027535 -0.003963 0.378202 q: -0.099380 0.805880 0.032287 0.582785 
time: 1403638523.477829, t: 0.011736 -0.019890 0.311597 q: -0.073734 0.800742 0.031052 0.593643 
time: 1403638523.877830, t: -0.006336 -0.038807 0.112892 q: -0.028971 0.825306 0.028704 0.563212 
time: 1403638524.277829, t: -0.022710 -0.047520 0.112610 q: -0.019151 0.835014 0.048542 0.547749 
time: 1403638524.677830, t: -0.004930 -0.037179 0.339289 q: -0.035623 0.809796 0.039368 0.584305 
time: 1403638525.077830, t: 0.005244 -0.019559 0.402809 q: -0.022040 0.800433 0.036577 0.597899 
time: 1403638525.477829, t: 0.009113 -0.033011 0.219349 q: -0.025336 0.826025 0.048834 0.560941 
time: 1403638525.877830, t: 0.000930 -0.032106 0.076107 q: -0.017611 0.832805 0.031240 0.552403 
time: 1403638526.277829, t: -0.018910 -0.121401 0.082533 q: 0.003909 0.834214 0.006892 0.551385 
time: 1403638526.677830, t: -0.060312 -0.306765 0.133485 q: 0.015159 0.813516 -0.032818 0.580418 
time: 1403638527.077830, t: -0.133728 -0.558566 0.167531 q: 0.049801 0.816777 -0.066333 0.570959 
time: 1403638527.477829, t: -0.165077 -0.674927 0.188251 q: 0.093630 0.805666 -0.107363 0.574986 
time: 1403638527.877830, t: -0.085540 -0.528777 0.182429 q: 0.060165 0.814187 -0.082761 0.571516 
time: 1403638528.277829, t: 0.033898 -0.296590 0.173775 q: 0.007100 0.819101 -0.042305 0.572044 
time: 1403638528.677830, t: 0.172473 -0.199948 0.154251 q: 0.000358 0.821185 -0.041646 0.569141 
time: 1403638529.077830, t: 0.195029 -0.172093 0.185423 q: -0.004764 0.820569 -0.061285 0.568232 
time: 1403638529.477829, t: 0.059589 -0.101904 0.168420 q: 0.027037 0.838666 -0.041463 0.542392 
time: 1403638529.877830, t: 0.001658 -0.057943 0.076024 q: 0.024736 0.842783 -0.036203 0.536465 
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time: 1403638531.077830, t: 0.095997 -0.074845 -0.033966 q: 0.029766 0.842467 -0.062053 0.534334 
time: 1403638531.477829, t: 0.090148 -0.076961 -0.035671 q: 0.034026 0.836720 -0.059547 0.543319 
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time: 1403638533.477829, t: 0.092674 -0.060835 -0.043615 q: 0.035384 0.837296 -0.060188 0.542274 
time: 1403638533.877830, t: 0.092770 -0.060728 -0.044109 q: 0.035267 0.837296 -0.060123 0.542288 
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time: 1403638536.677830, t: 0.091264 -0.061126 -0.041809 q: 0.034738 0.837454 -0.059830 0.542111 
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time: 1403638537.477829, t: 0.091254 -0.061094 -0.041757 q: 0.034869 0.837457 -0.059855 0.542096 
time: 1403638537.877830, t: 0.091019 -0.061105 -0.041358 q: 0.034865 0.837524 -0.059661 0.542013 
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time: 1403638538.677830, t: 0.090951 -0.061037 -0.041023 q: 0.035004 0.837287 -0.059918 0.542342 
time: 1403638539.077830, t: 0.102217 -0.060731 -0.034467 q: 0.036576 0.825337 -0.060099 0.560240 
time: 1403638539.477829, t: 0.133915 -0.059088 0.047217 q: 0.034670 0.819502 -0.058284 0.569050 
time: 1403638539.877830, t: 0.177046 -0.062580 0.136271 q: 0.031922 0.824997 -0.054153 0.561629 
time: 1403638540.277829, t: 0.267850 -0.067706 0.169529 q: 0.030034 0.835384 -0.052109 0.546367 
time: 1403638540.677830, t: 0.439962 -0.067506 0.203207 q: 0.012170 0.827467 -0.015751 0.561161 
time: 1403638541.077830, t: 0.654822 -0.007209 0.250870 q: -0.032798 0.822238 0.081444 0.562331 
time: 1403638541.477829, t: 0.851010 0.073781 0.213102 q: -0.052779 0.818804 0.107362 0.561469 
time: 1403638541.877830, t: 1.054249 0.268247 0.306579 q: -0.077720 0.812517 0.125705 0.563891 
time: 1403638542.277829, t: 1.229958 0.498735 0.405627 q: -0.133064 0.801262 0.199559 0.548133 
time: 1403638542.677830, t: 1.393242 0.749714 0.441281 q: -0.149304 0.764229 0.268907 0.566878 
time: 1403638543.077830, t: 1.466087 1.044369 0.540910 q: -0.172152 0.781140 0.258922 0.541427 
time: 1403638543.477829, t: 1.549188 1.379892 0.610364 q: -0.171742 0.783584 0.256573 0.539139 
time: 1403638543.877830, t: 1.620620 1.736876 0.639219 q: -0.205602 0.757163 0.328768 0.525684 
time: 1403638544.277829, t: 1.666859 2.117512 0.722898 q: -0.251776 0.738883 0.367894 0.505287 
time: 1403638544.677830, t: 1.738072 2.509976 0.763970 q: -0.260329 0.729537 0.370440 0.512619 
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time: 1403638545.477829, t: 1.871482 3.253059 0.783870 q: -0.266716 0.727461 0.378184 0.506596 
time: 1403638545.877830, t: 1.939565 3.607176 0.774976 q: -0.299562 0.701240 0.432113 0.481460 
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time: 1403638574.277829, t: 4.321271 -3.378669 0.062799 q: 0.305533 0.659794 -0.473318 0.497285 
time: 1403638574.677830, t: 4.217244 -3.884034 0.075355 q: 0.353988 0.618225 -0.532316 0.457308 
time: 1403638575.077830, t: 4.083478 -4.335513 0.136368 q: 0.357455 0.621300 -0.547533 0.431763 
time: 1403638575.477829, t: 3.927034 -4.775363 0.127291 q: 0.343398 0.625850 -0.550269 0.433120 
time: 1403638575.877830, t: 3.740078 -5.272746 0.132886 q: 0.347017 0.647914 -0.537084 0.413918 
time: 1403638576.277829, t: 3.602580 -5.844567 0.257755 q: 0.351964 0.647853 -0.531780 0.416673 
time: 1403638576.677830, t: 3.533554 -6.461112 0.334395 q: 0.367982 0.657431 -0.520982 0.401188 
time: 1403638577.077830, t: 3.592897 -7.095606 0.348285 q: 0.369238 0.639881 -0.520960 0.427571 
time: 1403638577.877830, t: 3.912451 -8.300484 0.450379 q: 0.368798 0.642784 -0.519998 0.424757 
time: 1403638578.277829, t: 4.164082 -8.857885 0.490613 q: 0.355615 0.634563 -0.526853 0.439652 
time: 1403638578.677830, t: 4.413622 -9.388738 0.524878 q: 0.356504 0.630738 -0.528759 0.442141 
time: 1403638579.077830, t: 4.628587 -9.879972 0.514729 q: 0.369909 0.637857 -0.518479 0.432995 
time: 1403638579.477829, t: 4.882902 -10.347788 0.575901 q: 0.356597 0.629451 -0.526365 0.446732 
time: 1403638579.877830, t: 5.113161 -10.765869 0.583965 q: 0.344732 0.658060 -0.471224 0.475463 
time: 1403638580.277829, t: 5.358477 -11.082062 0.522006 q: 0.266680 0.723513 -0.340242 0.538188 
time: 1403638580.677830, t: 5.540876 -11.290656 0.397420 q: 0.177373 0.768306 -0.269619 0.552766 
time: 1403638581.077830, t: 5.679216 -11.481480 0.349222 q: 0.155033 0.787794 -0.238180 0.546457 
time: 1403638581.477829, t: 5.812365 -11.661643 0.397934 q: 0.167882 0.784602 -0.239312 0.546759 
time: 1403638581.877830, t: 5.942744 -11.775332 0.499499 q: 0.181123 0.773345 -0.243102 0.556807 
time: 1403638582.277829, t: 6.036348 -11.843497 0.558095 q: 0.180072 0.777863 -0.246723 0.549209 
time: 1403638582.677830, t: 6.129586 -11.891478 0.746712 q: 0.185567 0.773957 -0.242453 0.554772 
time: 1403638583.077830, t: 6.199898 -11.880304 0.982569 q: 0.181957 0.781540 -0.247896 0.542802 
time: 1403638583.477829, t: 6.294449 -11.835566 1.112712 q: 0.181539 0.784276 -0.249485 0.538249 
time: 1403638583.877830, t: 6.379146 -11.722610 1.256140 q: 0.183566 0.783557 -0.247557 0.539497 
time: 1403638584.277829, t: 6.489502 -11.583593 1.329287 q: 0.193048 0.762398 -0.239382 0.569367 
time: 1403638584.677830, t: 6.553469 -11.354938 1.328818 q: 0.193040 0.761649 -0.238903 0.570571 
time: 1403638585.077830, t: 6.545147 -11.065014 1.371975 q: 0.180405 0.781045 -0.248190 0.543897 
time: 1403638585.477829, t: 6.547612 -10.748726 1.344113 q: 0.179904 0.777109 -0.248613 0.549480 
time: 1403638585.877830, t: 6.542176 -10.417037 1.370806 q: 0.173451 0.789898 -0.253192 0.530914 
time: 1403638586.277829, t: 6.580698 -10.098244 1.465337 q: 0.178098 0.779877 -0.253183 0.544032 
time: 1403638586.677830, t: 6.633103 -9.779363 1.486791 q: 0.191694 0.775103 -0.245883 0.549555 
time: 1403638587.077830, t: 6.663582 -9.433205 1.428976 q: 0.184951 0.773061 -0.249609 0.553051 
time: 1403638587.477829, t: 6.687117 -9.069603 1.409585 q: 0.181461 0.777625 -0.251780 0.546788 
time: 1403638587.877830, t: 6.714321 -8.700454 1.374341 q: 0.179621 0.776559 -0.254613 0.547599 
time: 1403638588.277829, t: 6.733970 -8.338807 1.275297 q: 0.189979 0.777407 -0.247065 0.546356 
time: 1403638588.677830, t: 6.751697 -7.948227 1.244946 q: 0.184176 0.776250 -0.250093 0.548606 
time: 1403638589.077830, t: 6.753041 -7.532210 1.261597 q: 0.180810 0.774453 -0.254166 0.550391 
time: 1403638589.477829, t: 6.743788 -7.121989 1.205685 q: 0.181836 0.774166 -0.253506 0.550761 
time: 1403638589.877830, t: 6.712661 -6.712841 1.222046 q: 0.180710 0.776821 -0.255028 0.546676 
time: 1403638590.277829, t: 6.673106 -6.322901 1.193685 q: 0.180593 0.775092 -0.256529 0.548463 
time: 1403638590.677830, t: 6.626055 -5.937419 1.129701 q: 0.177671 0.778807 -0.258510 0.543198 
time: 1403638591.077830, t: 6.584654 -5.570938 1.159976 q: 0.174433 0.782096 -0.260956 0.538332 
time: 1403638591.477829, t: 6.566483 -5.249019 1.166549 q: 0.164868 0.799231 -0.268677 0.511724 
time: 1403638591.877830, t: 6.644145 -5.033292 1.108719 q: 0.163318 0.798294 -0.269783 0.513099 
time: 1403638592.277829, t: 6.805056 -4.953167 1.149372 q: 0.157217 0.784972 -0.260523 0.539657 
time: 1403638592.677830, t: 6.987159 -4.957868 1.320737 q: 0.121741 0.799679 -0.212419 0.548244 
time: 1403638593.077830, t: 7.155775 -5.011177 1.483224 q: 0.110582 0.814892 -0.195195 0.534436 
time: 1403638593.477829, t: 7.368146 -5.109373 1.641225 q: 0.134493 0.801807 -0.180996 0.553405 
time: 1403638593.877830, t: 7.594332 -5.176496 1.754036 q: 0.138538 0.783996 -0.179510 0.577869 
time: 1403638594.277829, t: 7.754775 -5.179774 1.884590 q: 0.121932 0.794471 -0.164866 0.571636 
time: 1403638594.677830, t: 7.848946 -5.134217 2.044665 q: 0.116798 0.792891 -0.159527 0.576397 
time: 1403638595.077830, t: 7.895490 -5.051220 2.185946 q: 0.113157 0.796699 -0.165431 0.570174 
time: 1403638595.477829, t: 7.904736 -4.958760 2.227450 q: 0.113177 0.797863 -0.167792 0.567849 
time: 1403638595.877830, t: 7.893756 -4.859410 2.242211 q: 0.120990 0.800202 -0.161638 0.564722 
time: 1403638596.277829, t: 7.877812 -4.723219 2.184322 q: 0.153667 0.804071 -0.138294 0.557433 
time: 1403638596.677830, t: 7.901237 -4.447266 2.222425 q: 0.182833 0.804944 -0.114104 0.552826 
time: 1403638597.077830, t: 7.994688 -3.921026 2.355995 q: 0.194903 0.802263 -0.105287 0.554347 
time: 1403638597.477829, t: 8.139093 -3.142857 2.422423 q: 0.181324 0.792888 -0.120002 0.569253 
time: 1403638597.877830, t: 8.288478 -2.180340 2.412096 q: 0.172460 0.790636 -0.117071 0.575714 
time: 1403638598.277829, t: 8.414501 -1.072280 2.394841 q: 0.127657 0.796111 -0.123321 0.578535 
time: 1403638598.677830, t: 8.505628 0.084005 2.356622 q: 0.103289 0.804602 -0.119977 0.572322 
time: 1403638599.077830, t: 8.559404 1.205432 2.320535 q: 0.063356 0.811653 -0.061827 0.577394 
time: 1403638599.477829, t: 8.564933 2.300900 2.369979 q: 0.018874 0.820090 0.005358 0.571898 
time: 1403638599.877830, t: 8.570787 3.361725 2.402730 q: 0.006377 0.825319 0.017303 0.564366 
time: 1403638600.277829, t: 8.605193 4.369520 2.351290 q: -0.026012 0.830715 -0.018071 0.555797 
time: 1403638600.677830, t: 8.727834 5.218990 2.307429 q: -0.040279 0.835744 -0.036464 0.546424 
time: 1403638601.077830, t: 8.927588 5.865260 2.349959 q: -0.002899 0.845710 -0.005648 0.533605 
time: 1403638601.477829, t: 9.220354 6.452431 2.338733 q: -0.001696 0.828259 0.016530 0.560100 
time: 1403638601.877830, t: 9.548678 7.032839 2.409022 q: -0.050269 0.812411 0.105292 0.571293 
time: 1403638602.677830, t: 10.113905 8.204649 2.580228 q: -0.203575 0.730913 0.214823 0.614959 
time: 1403638603.077830, t: 10.095184 8.574372 2.739747 q: -0.263823 0.718189 0.283689 0.578033 
time: 1403638603.477829, t: 9.893553 8.731359 2.839874 q: -0.263441 0.738704 0.337004 0.520906 
time: 1403638603.877830, t: 9.614344 8.803971 2.860489 q: -0.253812 0.711606 0.356100 0.549900 
time: 1403638604.277829, t: 9.304457 8.799683 2.800377 q: -0.248454 0.704498 0.359081 0.559476 
time: 1403638604.677830, t: 8.859933 8.740706 2.815798 q: -0.251664 0.728194 0.356805 0.528288 
optimize pose graph 
time: 1403638605.077830, t: 8.399590 8.647038 2.824072 q: -0.250831 0.746173 0.356699 0.503066 
time: 1403638605.477829, t: 8.002237 8.583236 2.889650 q: -0.230865 0.736297 0.371248 0.516471 
time: 1403638605.877830, t: 7.588351 8.580280 2.917520 q: -0.216690 0.721168 0.381490 0.536123 
time: 1403638606.277829, t: 7.075111 8.672370 2.975467 q: -0.204269 0.721574 0.386179 0.537095 
time: 1403638606.677830, t: 6.490351 8.858950 2.923435 q: -0.229821 0.752662 0.371858 0.492345 
optimize pose graph 
time: 1403638607.077830, t: 5.968134 9.143508 2.837609 q: -0.268261 0.732645 0.423780 0.460085 
time: 1403638607.477829, t: 5.570591 9.528926 2.795117 q: -0.317155 0.697882 0.436227 0.471253 
time: 1403638607.877830, t: 5.231941 9.900230 2.669458 q: -0.320021 0.696269 0.435716 0.472173 
time: 1403638608.277829, t: 4.973724 10.229828 2.475771 q: -0.317592 0.692133 0.429475 0.485426 
time: 1403638608.677830, t: 4.757770 10.490054 2.210843 q: -0.322028 0.684815 0.424918 0.496761 
optimize pose graph 
time: 1403638609.077830, t: 4.532057 10.658335 1.994560 q: -0.319795 0.695088 0.427471 0.481510 
time: 1403638609.477829, t: 4.343082 10.773308 1.822440 q: -0.324596 0.696083 0.422826 0.480961 
time: 1403638609.877830, t: 4.208640 10.830668 1.582395 q: -0.318516 0.695427 0.426569 0.482668 
time: 1403638610.277829, t: 4.102048 10.839828 1.416176 q: -0.325937 0.688461 0.419962 0.493374 
time: 1403638610.677830, t: 4.011199 10.767954 1.194626 q: -0.334171 0.676169 0.413176 0.510304 
time: 1403638611.077830, t: 3.929850 10.582430 1.010453 q: -0.332136 0.685128 0.418576 0.495054 
optimize pose graph 
time: 1403638611.477829, t: 3.857372 10.330856 0.837370 q: -0.314206 0.677158 0.432070 0.506010 
time: 1403638611.877830, t: 3.740233 10.029891 0.729417 q: -0.314120 0.690819 0.428986 0.489967 
time: 1403638612.277829, t: 3.622308 9.714612 0.624022 q: -0.317569 0.697607 0.423808 0.482577 
time: 1403638612.677830, t: 3.537162 9.386668 0.547157 q: -0.306320 0.692012 0.426578 0.495296 
time: 1403638613.077830, t: 3.427918 9.054176 0.430117 q: -0.304619 0.693929 0.420138 0.499153 
time: 1403638613.477829, t: 3.287358 8.717138 0.403494 q: -0.302763 0.696350 0.418728 0.498095 
time: 1403638613.877830, t: 3.128999 8.375714 0.325181 q: -0.305885 0.699513 0.391399 0.513734 
time: 1403638614.277829, t: 2.967080 7.969504 0.174362 q: -0.260568 0.732812 0.342452 0.527083 
time: 1403638614.677830, t: 2.792790 7.536557 0.112922 q: -0.241729 0.753802 0.303260 0.530455 
time: 1403638615.077830, t: 2.664507 7.073334 0.183153 q: -0.201388 0.791250 0.229324 0.529883 
time: 1403638615.477829, t: 2.592031 6.566258 0.295978 q: -0.113399 0.803644 0.134527 0.568507 
time: 1403638615.877830, t: 2.527180 6.076436 0.377414 q: -0.070236 0.811529 0.069079 0.575948 
time: 1403638616.277829, t: 2.431444 5.581988 0.417183 q: -0.033737 0.815797 0.012713 0.577213 
time: 1403638616.677830, t: 2.340799 5.094690 0.328868 q: 0.005263 0.823192 -0.046401 0.565839 
time: 1403638617.077830, t: 2.321284 4.600047 0.198966 q: 0.009071 0.832204 -0.055395 0.551621 
time: 1403638617.477829, t: 2.383293 4.094380 0.179586 q: 0.015914 0.838876 -0.037605 0.542789 
time: 1403638617.877830, t: 2.531168 3.607672 0.275323 q: 0.017722 0.836870 -0.024966 0.546545 
time: 1403638618.277829, t: 2.751710 3.177222 0.396280 q: 0.013117 0.835567 -0.021756 0.548800 
time: 1403638618.677830, t: 3.035507 2.785657 0.454599 q: 0.017470 0.833788 -0.021491 0.551390 
time: 1403638619.077830, t: 3.364696 2.446030 0.542228 q: 0.041042 0.823439 -0.050338 0.563676 
time: 1403638619.477829, t: 3.706689 2.150684 0.540053 q: 0.095646 0.807138 -0.138758 0.565797 
time: 1403638619.877830, t: 4.036093 1.892463 0.464537 q: 0.094971 0.795070 -0.189255 0.568354 
time: 1403638620.277829, t: 4.303785 1.596468 0.394147 q: 0.106145 0.789172 -0.192409 0.573515 
time: 1403638620.677830, t: 4.454110 1.298206 0.404767 q: 0.106635 0.795649 -0.186175 0.566489 
time: 1403638621.077830, t: 4.561416 0.985777 0.367702 q: 0.114031 0.801354 -0.170463 0.561936 
time: 1403638621.477829, t: 4.664954 0.681247 0.358001 q: 0.114884 0.798138 -0.160488 0.569228 
time: 1403638621.877830, t: 4.743381 0.423352 0.298292 q: 0.116959 0.789988 -0.153994 0.581829 
time: 1403638622.277829, t: 4.750347 0.232904 0.192051 q: 0.109588 0.787463 -0.158347 0.585508 
time: 1403638622.677830, t: 4.672533 0.093612 0.168810 q: 0.120394 0.785102 -0.153484 0.587846 
optimize pose graph 
time: 1403638623.477829, t: 4.207081 0.034712 0.242412 q: 0.108972 0.791274 -0.164491 0.578751 
time: 1403638623.877830, t: 3.870563 0.056350 0.273516 q: 0.115403 0.794242 -0.163104 0.573810 
time: 1403638624.277829, t: 3.500980 0.094785 0.307004 q: 0.110944 0.795231 -0.171773 0.570783 
time: 1403638624.677830, t: 3.120483 0.136898 0.272820 q: 0.109195 0.782071 -0.176801 0.587522 
optimize pose graph 
time: 1403638625.477829, t: 2.283295 0.236467 0.265447 q: 0.090430 0.799820 -0.153479 0.573197 
time: 1403638625.877830, t: 1.865405 0.263330 0.311470 q: 0.090362 0.809106 -0.154450 0.559756 
time: 1403638626.277829, t: 1.468776 0.265321 0.309958 q: 0.093215 0.809742 -0.155376 0.558109 
time: 1403638626.677830, t: 1.116470 0.253712 0.251483 q: 0.103036 0.810967 -0.147193 0.556822 
time: 1403638627.077830, t: 0.821629 0.249001 0.239862 q: 0.098457 0.818656 -0.148344 0.545988 
optimize pose graph 
time: 1403638627.477829, t: 0.605488 0.237154 0.214429 q: 0.101193 0.818542 -0.144684 0.546641 
time: 1403638627.877830, t: 0.460933 0.223596 0.158942 q: 0.106943 0.812100 -0.142455 0.555664 
time: 1403638628.277829, t: 0.370533 0.236603 0.098381 q: 0.109386 0.815918 -0.143850 0.549199 
time: 1403638628.677830, t: 0.335877 0.268792 0.082989 q: 0.088532 0.802646 -0.159373 0.567909 
time: 1403638629.077830, t: 0.306925 0.280925 0.040386 q: 0.104337 0.806238 -0.149360 0.562836 
time: 1403638629.477829, t: 0.272679 0.305973 0.038050 q: 0.107108 0.815214 -0.148191 0.549540 
time: 1403638629.877830, t: 0.284145 0.328821 0.039443 q: 0.084277 0.804069 -0.166520 0.564483 
time: 1403638630.277829, t: 0.292260 0.315649 -0.051070 q: 0.109390 0.802312 -0.149504 0.567431 
time: 1403638630.677830, t: 0.327686 0.318769 -0.091154 q: 0.101931 0.821918 -0.146843 0.540831 
time: 1403638631.077830, t: 0.312785 0.313624 -0.110081 q: 0.100531 0.827202 -0.141707 0.534367 
optimize pose graph 
time: 1403638631.477829, t: 0.299735 0.313042 -0.114724 q: 0.099758 0.827154 -0.142404 0.534403 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720564376.956077960]: Shutdown request received.[0m
[33m[ WARN] [1720564376.956121168]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720564376.957119645]: Shutdown request received.[0m
[33m[ WARN] [1720564376.957140520]: Reason given for shutdown: [user request][0m
killed
