/SLAM-Hive/slam_hive_results/mapping_results/3238/2443_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-13.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720564402.098850757]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720564402.099844141]: init begins[0m
[31m[ERROR] [1720564402.101071254]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/3f8924fa-3e43-11ef-b3d1-0242ac110005/roslaunch-a82e41d24191-118.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://a82e41d24191:41135/[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] [1720564403.205294704]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720564403.206101996]: 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] [1720564403.211798403]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720564403.212014800]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720564403.212038358]: 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] [1720564403.212270857]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720564403.212492417]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720564403.212657286]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://a82e41d24191:11311/[0m
]2;roscore http://a82e41d24191:11311/
[1msetting /run_id to 3f8924fa-3e43-11ef-b3d1-0242ac110005[0m
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 [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720564412.232876387]: 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: 316925894.30 
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] [1720564416.767431032]: gyroscope bias initial calibration -0.00239638    0.016676   0.0753736[0m
[0m[ INFO] [1720564416.879555642]: Initialization finish![0m
time: 1403638522.277829, t: 0.003535 0.005074 0.033088 q: -0.014664 0.830986 0.009093 0.556026 
time: 1403638522.677830, t: 0.020194 0.006298 0.197388 q: -0.048337 0.827529 0.016220 0.559103 
time: 1403638523.077830, t: 0.038285 0.001954 0.373461 q: -0.074806 0.807670 0.017056 0.584622 
time: 1403638523.477829, t: 0.024524 -0.021975 0.306879 q: -0.063823 0.801738 0.024395 0.593757 
time: 1403638523.877830, t: 0.002420 -0.050197 0.111728 q: -0.035941 0.826014 0.033035 0.561531 
time: 1403638524.277829, t: -0.009395 -0.056499 0.113717 q: -0.021444 0.835030 0.050055 0.547503 
time: 1403638524.677830, t: 0.012807 -0.046919 0.346923 q: -0.038713 0.809244 0.041315 0.584737 
time: 1403638525.077830, t: 0.026085 -0.029110 0.412364 q: -0.026518 0.799728 0.039302 0.598488 
time: 1403638525.477829, t: 0.019950 -0.053349 0.230139 q: -0.041609 0.826818 0.059672 0.557745 
time: 1403638525.877830, t: 0.015839 -0.042242 0.088737 q: -0.035108 0.835233 0.042946 0.547092 
time: 1403638526.277829, t: 0.004194 -0.118517 0.096206 q: -0.009154 0.835546 0.015749 0.549118 
time: 1403638526.677830, t: -0.036585 -0.321861 0.144552 q: -0.003869 0.816865 -0.020756 0.576443 
time: 1403638527.077830, t: -0.087877 -0.575340 0.163253 q: 0.021123 0.821725 -0.046602 0.567583 
time: 1403638527.477829, t: -0.078919 -0.675900 0.200544 q: 0.066939 0.812543 -0.088972 0.572169 
time: 1403638527.877830, t: -0.040645 -0.543053 0.180268 q: 0.045496 0.816915 -0.072639 0.570354 
time: 1403638528.277829, t: 0.044162 -0.324200 0.187180 q: 0.003796 0.819397 -0.039126 0.571877 
time: 1403638528.677830, t: 0.189919 -0.215954 0.165016 q: -0.002791 0.821155 -0.038598 0.569392 
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time: 1403638529.477829, t: 0.075764 -0.109811 0.172646 q: 0.025085 0.837903 -0.039354 0.543820 
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time: 1403638531.077830, t: 0.117615 -0.086308 -0.031392 q: 0.029426 0.841809 -0.060949 0.535516 
time: 1403638531.477829, t: 0.120092 -0.082741 -0.033269 q: 0.033006 0.836183 -0.057977 0.544378 
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time: 1403638533.077830, t: 0.130377 -0.083519 -0.043245 q: 0.034924 0.836437 -0.058491 0.543813 
time: 1403638533.477829, t: 0.132040 -0.083254 -0.045346 q: 0.034983 0.836434 -0.058696 0.543792 
time: 1403638533.877830, t: 0.131063 -0.083546 -0.044152 q: 0.034954 0.836396 -0.058668 0.543855 
time: 1403638534.277829, t: 0.130871 -0.083555 -0.043911 q: 0.034875 0.836421 -0.058908 0.543796 
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time: 1403638535.477829, t: 0.129778 -0.083476 -0.042511 q: 0.034464 0.836593 -0.058422 0.543609 
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time: 1403638536.677830, t: 0.129677 -0.082957 -0.042227 q: 0.034144 0.836601 -0.058207 0.543641 
time: 1403638537.077830, t: 0.129621 -0.082954 -0.042124 q: 0.034052 0.836568 -0.058309 0.543687 
time: 1403638537.477829, t: 0.129564 -0.082970 -0.042092 q: 0.034295 0.836603 -0.058251 0.543623 
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time: 1403638538.677830, t: 0.128805 -0.082843 -0.041114 q: 0.034426 0.836431 -0.058315 0.543872 
time: 1403638539.077830, t: 0.140073 -0.082502 -0.034695 q: 0.035770 0.824384 -0.058293 0.561884 
time: 1403638539.477829, t: 0.171935 -0.080473 0.047587 q: 0.034024 0.818614 -0.056500 0.570544 
time: 1403638539.877830, t: 0.210299 -0.081181 0.138052 q: 0.031493 0.824142 -0.052429 0.563071 
time: 1403638540.277829, t: 0.299238 -0.082908 0.173922 q: 0.029586 0.834593 -0.050258 0.547771 
time: 1403638540.677830, t: 0.472723 -0.079355 0.206120 q: 0.011111 0.826753 -0.013477 0.562294 
time: 1403638541.077830, t: 0.677344 -0.045272 0.219417 q: -0.034901 0.821057 0.083931 0.563562 
time: 1403638541.477829, t: 0.895917 0.054240 0.216054 q: -0.054293 0.817834 0.109821 0.562263 
time: 1403638541.877830, t: 1.104809 0.255680 0.317475 q: -0.080091 0.811554 0.128506 0.564316 
time: 1403638542.277829, t: 1.281993 0.493861 0.412598 q: -0.135672 0.799741 0.202709 0.548559 
time: 1403638542.677830, t: 1.455779 0.751513 0.448847 q: -0.151519 0.762562 0.271587 0.567257 
time: 1403638543.077830, t: 1.524105 1.055113 0.545620 q: -0.174710 0.779204 0.261909 0.541960 
time: 1403638543.477829, t: 1.599306 1.389311 0.616283 q: -0.174369 0.781609 0.259169 0.539921 
time: 1403638543.877830, t: 1.663908 1.742869 0.648367 q: -0.207534 0.755172 0.330937 0.526426 
time: 1403638544.277829, t: 1.723596 2.131135 0.736888 q: -0.252556 0.737628 0.369412 0.505623 
time: 1403638544.677830, t: 1.804004 2.528453 0.776576 q: -0.259911 0.728876 0.371262 0.513177 
time: 1403638545.077830, t: 1.879523 2.902541 0.809832 q: -0.260475 0.731320 0.374917 0.506716 
time: 1403638545.477829, t: 1.947953 3.276453 0.775927 q: -0.263612 0.727973 0.377811 0.507763 
time: 1403638545.877830, t: 2.015076 3.622534 0.759037 q: -0.296494 0.702068 0.431741 0.482485 
time: 1403638546.277829, t: 2.083826 3.962264 0.811302 q: -0.326009 0.664173 0.492623 0.458165 
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time: 1403638547.877830, t: 2.070836 5.622719 0.810155 q: -0.341914 0.642925 0.522137 0.443976 
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time: 1403638551.877830, t: 1.671627 10.824739 2.051405 q: -0.387329 0.664811 0.469236 0.433383 
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time: 1403638553.877830, t: 3.473939 11.118829 2.425339 q: -0.362568 0.639174 0.468765 0.490164 
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time: 1403638573.477829, t: 4.785508 -2.203117 -0.033306 q: 0.244729 0.751805 -0.376602 0.482770 
time: 1403638573.877830, t: 4.720419 -2.767396 0.075297 q: 0.269896 0.738465 -0.386482 0.482138 
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time: 1403638574.677830, t: 4.619499 -3.832551 0.152436 q: 0.351137 0.622021 -0.527828 0.459555 
time: 1403638575.077830, t: 4.484535 -4.291532 0.214408 q: 0.354698 0.625156 -0.543073 0.434099 
time: 1403638575.477829, t: 4.334673 -4.735844 0.199749 q: 0.340490 0.629655 -0.545848 0.435490 
time: 1403638576.277829, t: 4.030100 -5.802513 0.331351 q: 0.349347 0.651081 -0.527467 0.419319 
time: 1403638576.677830, t: 3.980037 -6.423049 0.411166 q: 0.365678 0.660670 -0.516452 0.403823 
time: 1403638577.077830, t: 4.057015 -7.046399 0.430655 q: 0.366902 0.643059 -0.516610 0.430082 
time: 1403638577.477829, t: 4.197983 -7.652685 0.503058 q: 0.375526 0.647415 -0.510334 0.423549 
time: 1403638577.877830, t: 4.395672 -8.230061 0.559110 q: 0.366175 0.646014 -0.515793 0.427248 
time: 1403638578.277829, t: 4.657044 -8.795665 0.600732 q: 0.352350 0.638223 -0.522548 0.442113 
time: 1403638578.677830, t: 4.910431 -9.335086 0.643071 q: 0.353061 0.634695 -0.524267 0.444584 
time: 1403638579.077830, t: 5.142434 -9.820423 0.633283 q: 0.366678 0.641726 -0.514101 0.435241 
time: 1403638579.477829, t: 5.390043 -10.261679 0.685678 q: 0.353180 0.633419 -0.521966 0.448994 
time: 1403638579.877830, t: 5.640954 -10.686734 0.688630 q: 0.341265 0.661599 -0.466746 0.477466 
time: 1403638580.277829, t: 5.893767 -10.999384 0.635908 q: 0.262601 0.726218 -0.335433 0.539568 
time: 1403638580.677830, t: 6.080808 -11.203836 0.516376 q: 0.173031 0.770600 -0.264359 0.553488 
time: 1403638581.077830, t: 6.213800 -11.394229 0.468889 q: 0.150681 0.789871 -0.232609 0.547076 
time: 1403638581.477829, t: 6.334512 -11.573567 0.518798 q: 0.163400 0.786686 -0.233404 0.547675 
time: 1403638581.877830, t: 6.461563 -11.694234 0.611245 q: 0.176652 0.775629 -0.236285 0.557999 
time: 1403638582.277829, t: 6.548111 -11.739817 0.685917 q: 0.175663 0.780320 -0.239634 0.550289 
time: 1403638582.677830, t: 6.640539 -11.794529 0.856945 q: 0.180915 0.776271 -0.235021 0.556272 
time: 1403638583.077830, t: 6.723118 -11.784779 1.092629 q: 0.177681 0.783919 -0.240244 0.544227 
time: 1403638583.477829, t: 6.805665 -11.729585 1.230688 q: 0.177040 0.786565 -0.241472 0.540059 
time: 1403638583.877830, t: 6.907977 -11.629407 1.391869 q: 0.179162 0.785809 -0.239590 0.541296 
time: 1403638584.277829, t: 7.028534 -11.492972 1.480426 q: 0.188396 0.764528 -0.231730 0.571231 
time: 1403638584.677830, t: 7.080122 -11.267135 1.476367 q: 0.188166 0.763666 -0.231376 0.572602 
time: 1403638585.077830, t: 7.061220 -10.959592 1.507519 q: 0.175989 0.783043 -0.240326 0.545999 
time: 1403638585.477829, t: 7.050626 -10.639545 1.472105 q: 0.175257 0.779021 -0.241214 0.551567 
time: 1403638585.877830, t: 7.054564 -10.310626 1.496432 q: 0.169114 0.792015 -0.245875 0.532595 
time: 1403638586.277829, t: 7.082006 -9.991335 1.579646 q: 0.173692 0.781803 -0.245846 0.546055 
time: 1403638586.677830, t: 7.115679 -9.664864 1.598277 q: 0.187098 0.777069 -0.238062 0.551802 
time: 1403638587.077830, t: 7.128372 -9.315543 1.541870 q: 0.180116 0.775143 -0.241493 0.555331 
time: 1403638587.477829, t: 7.140994 -8.948325 1.525712 q: 0.176592 0.779839 -0.243419 0.549012 
time: 1403638587.877830, t: 7.163702 -8.579372 1.491430 q: 0.174917 0.778823 -0.246236 0.549733 
time: 1403638588.277829, t: 7.176982 -8.208726 1.392794 q: 0.185423 0.779655 -0.238694 0.548435 
time: 1403638588.677830, t: 7.185850 -7.815139 1.369553 q: 0.179542 0.778705 -0.241830 0.550365 
time: 1403638589.077830, t: 7.188280 -7.396406 1.381850 q: 0.176328 0.777007 -0.245981 0.551961 
time: 1403638589.477829, t: 7.170989 -6.983070 1.325437 q: 0.177364 0.776677 -0.245408 0.552348 
time: 1403638589.877830, t: 7.139936 -6.582070 1.338051 q: 0.176328 0.779304 -0.247027 0.548244 
time: 1403638590.277829, t: 7.099932 -6.185917 1.317206 q: 0.176380 0.777535 -0.249152 0.549776 
time: 1403638590.677830, t: 7.045938 -5.802139 1.259820 q: 0.173542 0.781247 -0.251219 0.544449 
time: 1403638591.077830, t: 7.003676 -5.443672 1.287447 q: 0.170354 0.784440 -0.253678 0.539704 
time: 1403638591.477829, t: 6.979492 -5.120581 1.290970 q: 0.160965 0.801622 -0.261230 0.513081 
time: 1403638591.877830, t: 7.053525 -4.897396 1.231989 q: 0.159433 0.800534 -0.262508 0.514603 
time: 1403638592.277829, t: 7.220802 -4.798852 1.269522 q: 0.153376 0.787146 -0.253445 0.540964 
time: 1403638592.677830, t: 7.404476 -4.814166 1.439373 q: 0.117830 0.801432 -0.205317 0.549242 
time: 1403638593.077830, t: 7.564678 -4.855763 1.608179 q: 0.106656 0.816540 -0.187962 0.535310 
time: 1403638593.477829, t: 7.775842 -4.945292 1.773226 q: 0.130338 0.803497 -0.173765 0.554266 
time: 1403638593.877830, t: 7.995439 -5.009836 1.885076 q: 0.133866 0.785836 -0.171860 0.578796 
time: 1403638594.277829, t: 8.154980 -5.008328 2.017509 q: 0.117285 0.796336 -0.156832 0.572274 
time: 1403638594.677830, t: 8.252404 -4.960700 2.177486 q: 0.112044 0.794922 -0.151303 0.576761 
time: 1403638595.477829, t: 8.306507 -4.784262 2.356272 q: 0.108357 0.799826 -0.159108 0.568526 
time: 1403638596.277829, t: 8.270088 -4.550550 2.310460 q: 0.148770 0.805418 -0.129871 0.558841 
time: 1403638596.677830, t: 8.289101 -4.271044 2.343358 q: 0.178189 0.805889 -0.105889 0.554598 
time: 1403638597.077830, t: 8.370094 -3.743126 2.479608 q: 0.190330 0.803020 -0.097336 0.556290 
time: 1403638597.477829, t: 8.500833 -2.958789 2.549269 q: 0.176895 0.793686 -0.112296 0.571104 
time: 1403638597.877830, t: 8.619172 -1.987380 2.532787 q: 0.168300 0.791033 -0.109648 0.577858 
time: 1403638598.277829, t: 8.699918 -0.870616 2.513962 q: 0.123303 0.796255 -0.115952 0.580801 
time: 1403638598.677830, t: 8.747543 0.288612 2.483933 q: 0.098826 0.804624 -0.112520 0.574590 
time: 1403638599.077830, t: 8.760068 1.414711 2.447562 q: 0.059069 0.811176 -0.054391 0.579263 
time: 1403638599.477829, t: 8.753478 2.516484 2.505818 q: 0.014809 0.819326 0.012658 0.572997 
time: 1403638599.877830, t: 8.733971 3.580666 2.542323 q: 0.002424 0.824598 0.024473 0.565184 
time: 1403638600.277829, t: 8.756270 4.597087 2.497133 q: -0.029790 0.830478 -0.011050 0.556145 
time: 1403638600.677830, t: 8.859454 5.463639 2.441239 q: -0.043857 0.835786 -0.029473 0.546507 
time: 1403638601.077830, t: 8.974846 6.093652 2.478341 q: -0.006549 0.845162 0.001340 0.534469 
time: 1403638601.477829, t: 9.306346 6.678274 2.477686 q: -0.005091 0.828024 0.023464 0.560178 
time: 1403638601.877830, t: 9.614470 7.255120 2.555973 q: -0.053793 0.811611 0.112221 0.570789 
time: 1403638602.277829, t: 9.916278 7.871256 2.640773 q: -0.093560 0.794410 0.185202 0.570841 
time: 1403638602.677830, t: 10.130600 8.453966 2.748440 q: -0.207515 0.729336 0.221085 0.613293 
time: 1403638603.077830, t: 10.107846 8.842057 2.919427 q: -0.267334 0.716074 0.289815 0.576001 
time: 1403638603.477829, t: 9.875784 8.981231 3.024219 q: -0.266538 0.735905 0.343330 0.519160 
time: 1403638603.877830, t: 9.636320 9.009305 3.030944 q: -0.258011 0.708707 0.362154 0.547732 
time: 1403638604.277829, t: 9.325135 8.981649 2.964522 q: -0.252647 0.701379 0.365417 0.557412 
time: 1403638604.677830, t: 8.887282 8.904613 2.979165 q: -0.255756 0.724901 0.363691 0.526152 
time: 1403638605.077830, t: 8.430659 8.795337 2.985734 q: -0.255020 0.742677 0.363929 0.500950 
time: 1403638605.477829, t: 8.024622 8.716599 3.051263 q: -0.235164 0.732701 0.378345 0.514493 
time: 1403638605.877830, t: 7.604211 8.708654 3.081522 q: -0.221035 0.717358 0.388619 0.534338 
time: 1403638606.277829, t: 7.077800 8.787427 3.138722 q: -0.208583 0.717724 0.393249 0.535464 
time: 1403638606.677830, t: 6.460361 8.959386 3.084188 q: -0.233242 0.749075 0.379011 0.490750 
optimize pose graph 
time: 1403638607.077830, t: 5.918502 9.250744 2.995152 q: -0.270778 0.729082 0.430179 0.458329 
time: 1403638607.477829, t: 5.479701 9.628752 2.959934 q: -0.319579 0.694367 0.442363 0.469083 
time: 1403638607.877830, t: 5.139698 9.988124 2.841957 q: -0.322716 0.692607 0.442459 0.469446 
time: 1403638608.277829, t: 4.899206 10.311186 2.638737 q: -0.320731 0.688519 0.436172 0.482522 
time: 1403638608.677830, t: 4.673485 10.581342 2.369441 q: -0.324938 0.681636 0.431257 0.493767 
optimize pose graph 
time: 1403638609.477829, t: 4.245215 10.866616 1.968754 q: -0.327446 0.692818 0.429243 0.478051 
time: 1403638609.877830, t: 4.118928 10.909373 1.722191 q: -0.321731 0.691812 0.433181 0.479833 
time: 1403638610.277829, t: 4.023241 10.901416 1.552515 q: -0.329835 0.684765 0.426335 0.490453 
time: 1403638610.677830, t: 3.938940 10.831241 1.330986 q: -0.338313 0.672532 0.419578 0.507148 
time: 1403638611.077830, t: 3.857096 10.648547 1.137583 q: -0.335995 0.681611 0.424744 0.492043 
optimize pose graph 
time: 1403638611.477829, t: 3.795906 10.397957 0.963748 q: -0.318502 0.673273 0.438651 0.502838 
time: 1403638611.877830, t: 3.694575 10.085146 0.853457 q: -0.318728 0.686689 0.435773 0.486798 
time: 1403638612.277829, t: 3.586227 9.752823 0.743037 q: -0.322609 0.693278 0.430491 0.479549 
time: 1403638612.677830, t: 3.503253 9.402645 0.661465 q: -0.311542 0.687502 0.432871 0.492854 
time: 1403638613.077830, t: 3.404215 9.062189 0.547160 q: -0.309895 0.689265 0.426985 0.496550 
time: 1403638613.477829, t: 3.271546 8.717469 0.526478 q: -0.308029 0.691587 0.425918 0.495398 
time: 1403638613.877830, t: 3.127442 8.371292 0.450223 q: -0.311671 0.694946 0.398943 0.510643 
time: 1403638614.277829, t: 2.977365 7.968477 0.299008 q: -0.266339 0.729089 0.350281 0.524210 
time: 1403638614.677830, t: 2.804125 7.536283 0.236881 q: -0.247013 0.750691 0.310920 0.527993 
time: 1403638615.077830, t: 2.684766 7.078947 0.305251 q: -0.206368 0.789099 0.237053 0.527770 
time: 1403638615.477829, t: 2.632005 6.576978 0.426729 q: -0.118507 0.802504 0.142133 0.567223 
time: 1403638615.877830, t: 2.592385 6.082006 0.510109 q: -0.075349 0.811082 0.076551 0.574986 
time: 1403638616.277829, t: 2.553344 5.623054 0.594780 q: -0.038439 0.816205 0.020786 0.576107 
time: 1403638616.677830, t: 2.466608 5.129204 0.475510 q: 0.000869 0.824085 -0.038434 0.565160 
time: 1403638617.077830, t: 2.411009 4.631635 0.337774 q: 0.005282 0.832706 -0.047942 0.551611 
time: 1403638617.477829, t: 2.463791 4.116731 0.316036 q: 0.012168 0.839114 -0.030280 0.542976 
time: 1403638617.877830, t: 2.614285 3.635211 0.412449 q: 0.014141 0.836960 -0.017601 0.546799 
time: 1403638618.277829, t: 2.841863 3.203256 0.536118 q: 0.009074 0.835752 -0.014180 0.548849 
time: 1403638618.677830, t: 3.129730 2.823578 0.596736 q: 0.013424 0.834070 -0.013958 0.551319 
time: 1403638619.077830, t: 3.464252 2.491306 0.677309 q: 0.036678 0.823897 -0.042653 0.563941 
time: 1403638619.477829, t: 3.809319 2.196679 0.663947 q: 0.090827 0.808113 -0.131109 0.567022 
time: 1403638619.877830, t: 4.143529 1.944698 0.599197 q: 0.090031 0.796838 -0.181411 0.569239 
time: 1403638620.277829, t: 4.414314 1.654356 0.523066 q: 0.101073 0.790778 -0.184644 0.574770 
time: 1403638620.677830, t: 4.577614 1.352394 0.532818 q: 0.101635 0.797205 -0.178458 0.567704 
time: 1403638621.077830, t: 4.692261 1.044752 0.495929 q: 0.109321 0.802714 -0.162694 0.563232 
time: 1403638621.477829, t: 4.808888 0.743532 0.482126 q: 0.110346 0.799438 -0.152883 0.570394 
time: 1403638621.877830, t: 4.896532 0.489709 0.422277 q: 0.112606 0.791263 -0.146632 0.582856 
time: 1403638622.277829, t: 4.910967 0.300425 0.315143 q: 0.105464 0.788756 -0.151149 0.586427 
time: 1403638622.677830, t: 4.832318 0.167103 0.294596 q: 0.116622 0.786279 -0.146488 0.588817 
time: 1403638623.077830, t: 4.652764 0.104404 0.364771 q: 0.114982 0.780624 -0.150449 0.595625 
time: 1403638623.477829, t: 4.362689 0.102836 0.371716 q: 0.104950 0.792363 -0.157851 0.579852 
time: 1403638623.877830, t: 4.025740 0.116804 0.396519 q: 0.111328 0.795186 -0.156242 0.575217 
time: 1403638624.277829, t: 3.654260 0.151056 0.429113 q: 0.106784 0.796273 -0.164772 0.572186 
time: 1403638624.677830, t: 3.273976 0.183728 0.395238 q: 0.104680 0.783207 -0.169512 0.588977 
time: 1403638625.077830, t: 2.852816 0.221460 0.391472 q: 0.096092 0.799355 -0.148380 0.574265 
time: 1403638625.477829, t: 2.430944 0.257758 0.385322 q: 0.085534 0.800827 -0.145538 0.574612 
time: 1403638625.877830, t: 2.011009 0.274573 0.432361 q: 0.085461 0.810257 -0.146154 0.561088 
time: 1403638626.277829, t: 1.623730 0.255963 0.427567 q: 0.087974 0.811002 -0.146617 0.559500 
time: 1403638626.677830, t: 1.272114 0.238665 0.374482 q: 0.097718 0.812194 -0.138806 0.558144 
time: 1403638627.077830, t: 0.983203 0.228650 0.364280 q: 0.093366 0.819908 -0.140109 0.547178 
optimize pose graph 
time: 1403638627.477829, t: 0.760704 0.214721 0.341511 q: 0.096109 0.819788 -0.136522 0.547789 
time: 1403638627.877830, t: 0.617407 0.199439 0.282868 q: 0.101905 0.813272 -0.134249 0.556938 
time: 1403638628.277829, t: 0.517060 0.216599 0.232614 q: 0.104666 0.817182 -0.135842 0.550277 
time: 1403638628.677830, t: 0.478740 0.244864 0.216878 q: 0.083683 0.803884 -0.151698 0.568995 
time: 1403638629.077830, t: 0.435344 0.253751 0.182788 q: 0.099591 0.807305 -0.141720 0.564142 
time: 1403638629.477829, t: 0.421439 0.285853 0.170626 q: 0.102723 0.816301 -0.140394 0.550809 
time: 1403638629.877830, t: 0.426372 0.311227 0.173361 q: 0.079883 0.805277 -0.158701 0.565652 
time: 1403638630.277829, t: 0.431260 0.305236 0.084372 q: 0.105232 0.803319 -0.141616 0.568814 
time: 1403638630.677830, t: 0.460547 0.316780 0.043352 q: 0.098089 0.822865 -0.138933 0.542190 
time: 1403638631.077830, t: 0.439521 0.318124 0.025764 q: 0.096834 0.828086 -0.133830 0.535712 
optimize pose graph 
time: 1403638631.477829, t: 0.420753 0.308117 0.019611 q: 0.095820 0.828120 -0.134543 0.535662 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720564527.889727543]: Shutdown request received.[0m
[33m[ WARN] [1720564527.889767874]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720564527.890678228]: Shutdown request received.[0m
[33m[ WARN] [1720564527.890705632]: Reason given for shutdown: [user request][0m
killed
