/SLAM-Hive/slam_hive_results/mapping_results/3240/2445_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-15.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720564705.017076360]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720564705.019048634]: init begins[0m
[31m[ERROR] [1720564705.020187133]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/f41694f2-3e43-11ef-a06c-0242ac110005/roslaunch-11ad3b6a2848-117.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://11ad3b6a2848:45231/[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] [1720564706.125470103]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720564706.125653849]: 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] [1720564706.131753081]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720564706.131970155]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720564706.131993976]: ROW: 240 COL: 376 [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] [1720564706.132231991]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720564706.132427211]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720564706.132620187]: 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://11ad3b6a2848:11311/[0m
]2;roscore http://11ad3b6a2848:11311/
[1msetting /run_id to f41694f2-3e43-11ef-a06c-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] [1720564715.160958534]: 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: 316926197.22 
init first imu pose
averge acc 9.017038 -0.028934 -3.796764
init R0 
[33m[ WARN] [1720564719.683473398]: gyroscope bias initial calibration  -0.0103794 -0.00668635   0.0765539[0m
[0m[ INFO] [1720564719.753061767]: Initialization finish![0m
time: 1403638522.277829, t: 0.003685 0.005210 0.033631 q: -0.015068 0.830884 0.009309 0.556164 
time: 1403638522.677830, t: 0.020458 0.006269 0.198006 q: -0.049604 0.827618 0.016856 0.558841 
time: 1403638523.077830, t: 0.040281 -0.001436 0.373541 q: -0.078697 0.809259 0.018800 0.581853 
time: 1403638523.477829, t: 0.017241 -0.030917 0.312797 q: -0.086418 0.801913 0.037897 0.589941 
time: 1403638523.877830, t: -0.005888 -0.046660 0.112987 q: -0.044475 0.824285 0.038802 0.563090 
time: 1403638524.277829, t: -0.025553 -0.057199 0.112931 q: -0.030340 0.833357 0.056129 0.549040 
time: 1403638524.677830, t: -0.017795 -0.055235 0.343874 q: -0.051048 0.807981 0.048968 0.584947 
time: 1403638525.077830, t: -0.011392 -0.039545 0.403746 q: -0.036064 0.798582 0.044892 0.599125 
time: 1403638525.477829, t: -0.006842 -0.097457 0.221040 q: -0.045702 0.827234 0.061975 0.556555 
time: 1403638525.877830, t: -0.031375 -0.074459 0.091037 q: -0.044431 0.832090 0.049634 0.550625 
time: 1403638526.277829, t: 0.004247 -0.081362 0.087156 q: -0.008677 0.830953 0.015369 0.556062 
time: 1403638526.677830, t: -0.064742 -0.338326 0.152615 q: -0.011921 0.813474 -0.015544 0.581271 
time: 1403638527.077830, t: -0.091989 -0.569467 0.171691 q: 0.020165 0.816811 -0.046587 0.574668 
time: 1403638527.477829, t: -0.088410 -0.679767 0.200457 q: 0.064817 0.807372 -0.088714 0.579723 
time: 1403638527.877830, t: 0.006525 -0.550839 0.217889 q: 0.038156 0.812351 -0.068661 0.577855 
time: 1403638528.277829, t: 0.042642 -0.337698 0.198852 q: 0.004477 0.815127 -0.039158 0.577940 
time: 1403638528.677830, t: 0.171236 -0.234792 0.182891 q: -0.000568 0.818661 -0.039361 0.572926 
time: 1403638529.077830, t: 0.186711 -0.207054 0.212194 q: -0.004547 0.818970 -0.059464 0.570729 
time: 1403638529.477829, t: 0.043719 -0.131357 0.194196 q: 0.029878 0.836622 -0.041608 0.545381 
time: 1403638529.877830, t: -0.016249 -0.096462 0.103725 q: 0.026835 0.840726 -0.035784 0.539609 
time: 1403638530.277829, t: 0.023417 -0.091169 0.054656 q: 0.030571 0.840894 -0.046923 0.538294 
time: 1403638530.677830, t: 0.067587 -0.096487 0.024374 q: 0.034614 0.843167 -0.061870 0.532957 
time: 1403638531.077830, t: 0.112970 -0.131989 0.031409 q: 0.032094 0.841741 -0.060276 0.535546 
time: 1403638531.477829, t: 0.055669 -0.099310 0.004721 q: 0.039467 0.834850 -0.061155 0.545645 
time: 1403638531.877830, t: 0.067992 -0.100154 -0.004537 q: 0.040323 0.835402 -0.060652 0.544793 
time: 1403638532.277829, t: 0.074325 -0.099341 -0.009419 q: 0.040313 0.835229 -0.060727 0.545050 
time: 1403638532.677830, t: 0.075536 -0.099460 -0.010784 q: 0.040427 0.835184 -0.061148 0.545063 
time: 1403638533.077830, t: 0.076192 -0.099587 -0.011619 q: 0.040717 0.835176 -0.061225 0.545045 
time: 1403638533.477829, t: 0.076799 -0.099733 -0.012309 q: 0.040818 0.835107 -0.061355 0.545130 
time: 1403638533.877830, t: 0.077053 -0.099672 -0.012630 q: 0.040602 0.835119 -0.061276 0.545136 
time: 1403638534.277829, t: 0.076940 -0.099614 -0.012478 q: 0.040560 0.835159 -0.061525 0.545050 
time: 1403638534.677830, t: 0.076387 -0.099405 -0.011815 q: 0.040189 0.835341 -0.061251 0.544829 
time: 1403638535.077830, t: 0.077207 -0.098300 -0.012461 q: 0.040913 0.835378 -0.061471 0.544693 
time: 1403638535.477829, t: 0.076709 -0.098114 -0.012149 q: 0.040798 0.835409 -0.061527 0.544648 
time: 1403638535.877830, t: 0.078444 -0.098501 -0.013370 q: 0.040820 0.835385 -0.061483 0.544689 
time: 1403638536.277829, t: 0.077153 -0.098222 -0.012672 q: 0.040795 0.835411 -0.061537 0.544644 
time: 1403638536.677830, t: 0.077453 -0.098284 -0.012998 q: 0.040752 0.835330 -0.061456 0.544780 
time: 1403638537.077830, t: 0.077426 -0.098252 -0.012981 q: 0.040723 0.835299 -0.061613 0.544813 
time: 1403638537.477829, t: 0.077659 -0.098325 -0.013226 q: 0.041018 0.835336 -0.061559 0.544740 
time: 1403638537.877830, t: 0.077373 -0.098271 -0.012881 q: 0.041033 0.835435 -0.061353 0.544611 
time: 1403638538.277829, t: 0.077434 -0.098213 -0.012870 q: 0.041001 0.835392 -0.061431 0.544669 
time: 1403638538.677830, t: 0.077367 -0.098266 -0.012697 q: 0.041190 0.835165 -0.061585 0.544986 
time: 1403638539.077830, t: 0.087902 -0.098476 -0.005950 q: 0.042592 0.823057 -0.061355 0.563027 
time: 1403638539.477829, t: 0.116959 -0.095885 0.077704 q: 0.040889 0.817094 -0.059258 0.571992 
time: 1403638539.877830, t: 0.150400 -0.092964 0.172279 q: 0.038474 0.822540 -0.055121 0.564720 
time: 1403638540.277829, t: 0.232970 -0.093119 0.212487 q: 0.036372 0.833042 -0.053190 0.549445 
time: 1403638540.677830, t: 0.396381 -0.085258 0.251659 q: 0.018263 0.825406 -0.016530 0.564002 
time: 1403638541.077830, t: 0.590309 -0.057028 0.269993 q: -0.027683 0.820580 0.080896 0.565100 
time: 1403638541.477829, t: 0.797655 0.012699 0.264215 q: -0.047938 0.817847 0.106680 0.563425 
time: 1403638541.877830, t: 1.013410 0.218262 0.373018 q: -0.072933 0.811916 0.124963 0.565559 
time: 1403638542.277829, t: 1.198937 0.461272 0.459362 q: -0.128189 0.800969 0.198888 0.549964 
time: 1403638542.677830, t: 1.385357 0.725510 0.501134 q: -0.142398 0.764844 0.267487 0.568495 
time: 1403638543.077830, t: 1.444640 1.018349 0.608294 q: -0.167632 0.781157 0.258284 0.543123 
time: 1403638543.477829, t: 1.488665 1.339184 0.684006 q: -0.171234 0.782026 0.257981 0.540889 
time: 1403638543.877830, t: 1.537682 1.689947 0.710270 q: -0.205737 0.755003 0.330996 0.527336 
time: 1403638544.277829, t: 1.585354 2.080883 0.807929 q: -0.251062 0.736955 0.370016 0.506906 
time: 1403638544.677830, t: 1.635684 2.479371 0.851344 q: -0.258177 0.727619 0.371934 0.515345 
time: 1403638545.077830, t: 1.703159 2.850362 0.889806 q: -0.259738 0.729912 0.376086 0.508255 
time: 1403638545.477829, t: 1.777848 3.228838 0.845827 q: -0.263230 0.726348 0.378921 0.509458 
time: 1403638545.877830, t: 1.839753 3.583010 0.836030 q: -0.296683 0.700271 0.433188 0.483682 
time: 1403638546.277829, t: 1.894342 3.944613 0.891106 q: -0.326992 0.661896 0.494313 0.458938 
time: 1403638546.677830, t: 1.931505 4.323277 0.877140 q: -0.341621 0.652548 0.507367 0.447275 
time: 1403638547.077830, t: 1.963871 4.731646 0.938458 q: -0.342518 0.638023 0.526711 0.445178 
time: 1403638547.477829, t: 1.944161 5.156608 0.927005 q: -0.346187 0.638794 0.526186 0.441842 
time: 1403638547.877830, t: 1.886960 5.599639 0.865899 q: -0.344878 0.639690 0.524927 0.443067 
time: 1403638548.277829, t: 1.797801 6.094685 0.821892 q: -0.359522 0.628355 0.542081 0.426686 
time: 1403638548.677830, t: 1.688264 6.604223 0.885829 q: -0.387022 0.595361 0.577768 0.402423 
time: 1403638549.077830, t: 1.578048 7.118429 0.960619 q: -0.393557 0.587536 0.586139 0.395418 
time: 1403638549.477829, t: 1.454922 7.632443 1.124733 q: -0.399981 0.590922 0.580108 0.392811 
time: 1403638549.877830, t: 1.342813 8.168826 1.263814 q: -0.400511 0.592049 0.577839 0.393917 
time: 1403638550.277829, t: 1.263323 8.731998 1.497828 q: -0.401322 0.593489 0.578183 0.390405 
time: 1403638550.677830, t: 1.196079 9.302624 1.741278 q: -0.413160 0.592097 0.571105 0.390588 
time: 1403638551.077830, t: 1.185860 9.868969 1.897218 q: -0.431321 0.581148 0.557431 0.406818 
time: 1403638551.477829, t: 1.242983 10.365656 2.048027 q: -0.423474 0.604277 0.541547 0.402798 
time: 1403638551.877830, t: 1.375824 10.751678 2.137986 q: -0.390784 0.661518 0.473831 0.430309 
time: 1403638552.277829, t: 1.636156 11.022755 2.250588 q: -0.359976 0.674868 0.457992 0.453005 
time: 1403638552.677830, t: 1.972794 11.191584 2.340741 q: -0.375618 0.666130 0.447749 0.463361 
time: 1403638553.077830, t: 2.357245 11.254030 2.364190 q: -0.365015 0.659370 0.464980 0.464531 
time: 1403638553.477829, t: 2.762667 11.234602 2.380253 q: -0.376118 0.639422 0.464533 0.483616 
time: 1403638553.877830, t: 3.133512 11.065596 2.484773 q: -0.366363 0.636962 0.473022 0.486115 
time: 1403638554.277829, t: 3.441112 10.787179 2.578010 q: -0.350598 0.652342 0.483913 0.466217 
time: 1403638554.677830, t: 3.697451 10.487931 2.608112 q: -0.348395 0.660386 0.486596 0.453581 
time: 1403638555.077830, t: 3.941997 10.192799 2.667054 q: -0.354850 0.665432 0.473769 0.454781 
time: 1403638555.477829, t: 4.219929 9.864967 2.675156 q: -0.329319 0.682954 0.451484 0.470409 
time: 1403638555.877830, t: 4.501164 9.544446 2.700676 q: -0.324689 0.687083 0.448642 0.470334 
time: 1403638556.277829, t: 4.791217 9.241435 2.788760 q: -0.319308 0.693180 0.453851 0.459959 
time: 1403638556.677830, t: 5.097671 9.002394 2.827631 q: -0.322659 0.703550 0.449880 0.445553 
time: 1403638557.077830, t: 5.466865 8.813133 2.923785 q: -0.337303 0.696122 0.439749 0.456356 
time: 1403638557.477829, t: 5.910643 8.649440 2.962854 q: -0.327341 0.688650 0.449562 0.465299 
time: 1403638557.877830, t: 6.365090 8.497013 3.031311 q: -0.317757 0.684642 0.455835 0.471710 
time: 1403638558.277829, t: 6.798582 8.350845 3.051862 q: -0.307307 0.699301 0.461615 0.451056 
time: 1403638558.677830, t: 7.235418 8.269742 3.156591 q: -0.305572 0.707400 0.459887 0.441264 
time: 1403638559.077830, t: 7.717494 8.350388 3.264179 q: -0.318904 0.696683 0.450288 0.458447 
time: 1403638559.477829, t: 8.217060 8.422977 3.259340 q: -0.312127 0.685379 0.458357 0.471955 
time: 1403638559.877830, t: 8.670088 8.545366 3.206682 q: -0.313713 0.681667 0.460402 0.474283 
time: 1403638560.277829, t: 9.094048 8.686225 3.145252 q: -0.285613 0.714056 0.402947 0.496168 
time: 1403638560.677830, t: 9.475351 8.813207 3.029087 q: -0.241079 0.751102 0.299012 0.536953 
time: 1403638561.077830, t: 9.818876 8.830252 2.934713 q: -0.199193 0.774205 0.209965 0.562888 
time: 1403638561.477829, t: 10.101545 8.736956 2.933447 q: -0.159226 0.786544 0.178063 0.569464 
time: 1403638561.877830, t: 10.331057 8.556601 2.882573 q: -0.142632 0.790965 0.188567 0.564334 
time: 1403638562.277829, t: 10.539269 8.369111 2.805511 q: -0.116683 0.796858 0.158159 0.571304 
time: 1403638562.677830, t: 10.672104 8.165012 2.814809 q: -0.084885 0.806135 0.086411 0.579201 
time: 1403638563.077830, t: 10.759949 7.923843 2.831580 q: -0.039458 0.810794 -0.010392 0.583908 
time: 1403638563.477829, t: 10.792657 7.615928 2.763866 q: -0.009196 0.794592 -0.059225 0.604179 
time: 1403638563.877830, t: 10.712533 7.254425 2.716460 q: -0.009358 0.800719 -0.057911 0.596161 
time: 1403638564.277829, t: 10.521953 6.797594 2.706770 q: -0.018244 0.798151 -0.044269 0.600552 
time: 1403638564.677830, t: 10.262013 6.253982 2.748205 q: -0.025859 0.799125 -0.037201 0.599455 
time: 1403638565.077830, t: 9.975806 5.699036 2.699925 q: -0.034297 0.799669 -0.045245 0.597751 
time: 1403638565.477829, t: 9.557465 5.035665 2.478964 q: -0.026500 0.801689 -0.042547 0.595636 
time: 1403638565.877830, t: 9.100521 4.340691 2.316958 q: 0.009089 0.803981 -0.026760 0.593983 
time: 1403638566.277829, t: 8.595715 3.694704 2.168745 q: 0.011932 0.806513 -0.028649 0.590402 
time: 1403638566.677830, t: 8.086587 3.087339 1.910678 q: 0.007442 0.819951 -0.024428 0.571864 
time: 1403638567.077830, t: 7.657893 2.532420 1.583145 q: 0.004771 0.835226 -0.016449 0.549640 
time: 1403638567.477829, t: 7.319756 2.045431 1.207181 q: 0.014208 0.813033 -0.012988 0.581899 
time: 1403638567.877830, t: 6.874863 1.540051 0.887835 q: 0.020117 0.826032 -0.016981 0.563008 
time: 1403638568.277829, t: 6.605014 1.178706 0.718346 q: 0.026260 0.825787 -0.015170 0.563166 
time: 1403638568.677830, t: 6.251548 0.774951 0.567888 q: 0.028095 0.829674 -0.012931 0.557391 
time: 1403638569.077830, t: 6.037489 0.499896 0.459316 q: 0.028343 0.829560 -0.011666 0.557576 
time: 1403638569.477829, t: 5.889908 0.321277 0.405026 q: 0.032235 0.829799 -0.010048 0.557040 
time: 1403638569.877830, t: 5.835554 0.261548 0.367295 q: 0.034097 0.825343 -0.008744 0.563533 
time: 1403638570.277829, t: 5.837131 0.275598 0.361902 q: 0.017598 0.823416 -0.018913 0.566850 
time: 1403638570.677830, t: 5.858906 0.315375 0.260788 q: 0.001157 0.815653 -0.098266 0.570134 
time: 1403638571.077830, t: 5.822746 0.209639 0.106584 q: 0.053305 0.783065 -0.191309 0.589380 
time: 1403638571.877830, t: 5.480333 -0.335029 -0.062588 q: 0.142066 0.778350 -0.264325 0.551472 
time: 1403638572.277829, t: 5.223547 -0.694122 -0.100884 q: 0.189001 0.754969 -0.335044 0.531080 
time: 1403638572.677830, t: 4.950952 -1.122099 -0.120733 q: 0.233128 0.741151 -0.380570 0.501512 
time: 1403638573.077830, t: 4.712259 -1.597478 -0.070590 q: 0.244713 0.749059 -0.377529 0.486311 
time: 1403638573.477829, t: 4.515512 -2.089514 -0.037804 q: 0.244400 0.752171 -0.373917 0.484452 
time: 1403638573.877830, t: 4.436010 -2.632986 0.069044 q: 0.269632 0.738538 -0.384050 0.484114 
time: 1403638574.277829, t: 4.415153 -3.187580 0.132828 q: 0.301835 0.663176 -0.466602 0.501374 
time: 1403638574.677830, t: 4.300100 -3.693783 0.162873 q: 0.350268 0.622186 -0.526312 0.461729 
time: 1403638575.077830, t: 4.136321 -4.148635 0.234620 q: 0.353824 0.625306 -0.541712 0.436291 
time: 1403638575.477829, t: 4.012577 -4.656543 0.216033 q: 0.339073 0.630665 -0.544050 0.437379 
time: 1403638575.877830, t: 3.836389 -5.189433 0.214425 q: 0.343006 0.652463 -0.530849 0.418137 
time: 1403638576.277829, t: 3.683449 -5.756807 0.355800 q: 0.348190 0.651812 -0.525990 0.420999 
time: 1403638576.677830, t: 3.613232 -6.392170 0.452294 q: 0.364398 0.661523 -0.514923 0.405532 
time: 1403638577.077830, t: 3.691805 -7.011461 0.488776 q: 0.366009 0.643506 -0.515608 0.431377 
time: 1403638577.477829, t: 3.864127 -7.619149 0.576885 q: 0.375105 0.647802 -0.509617 0.424193 
time: 1403638577.877830, t: 4.084444 -8.243968 0.648777 q: 0.365744 0.646630 -0.515118 0.427498 
time: 1403638578.277829, t: 4.383120 -8.853350 0.697641 q: 0.352469 0.638480 -0.522194 0.442067 
time: 1403638578.677830, t: 4.670121 -9.444501 0.745482 q: 0.352852 0.635340 -0.523717 0.444475 
time: 1403638579.077830, t: 4.931847 -9.993222 0.724494 q: 0.366071 0.642734 -0.513131 0.435411 
time: 1403638579.477829, t: 5.249725 -10.482045 0.776382 q: 0.353110 0.634405 -0.520992 0.448789 
time: 1403638579.877830, t: 5.540595 -10.995005 0.811691 q: 0.340608 0.662627 -0.466186 0.477056 
time: 1403638580.277829, t: 5.814986 -11.375849 0.717396 q: 0.261833 0.726705 -0.334591 0.539807 
time: 1403638580.677830, t: 6.069461 -11.656243 0.590493 q: 0.172624 0.770844 -0.264059 0.553419 
time: 1403638581.077830, t: 6.242091 -11.920401 0.536007 q: 0.150133 0.789948 -0.232414 0.547199 
time: 1403638581.477829, t: 6.402346 -12.125053 0.569370 q: 0.162918 0.786717 -0.233001 0.547946 
time: 1403638581.877830, t: 6.561541 -12.308804 0.652627 q: 0.175808 0.775483 -0.236001 0.558588 
time: 1403638582.277829, t: 6.624143 -12.246855 0.738850 q: 0.175532 0.779809 -0.238494 0.551549 
time: 1403638582.677830, t: 6.611860 -12.109115 0.917488 q: 0.181143 0.775281 -0.232833 0.558493 
time: 1403638583.077830, t: 6.668021 -12.059972 1.166075 q: 0.177647 0.782804 -0.238079 0.546789 
time: 1403638583.477829, t: 6.742596 -11.972386 1.317680 q: 0.176943 0.785349 -0.239477 0.542742 
time: 1403638583.877830, t: 6.874700 -11.886342 1.479856 q: 0.179263 0.784740 -0.237520 0.543721 
time: 1403638584.277829, t: 6.992295 -11.731903 1.575909 q: 0.188413 0.763293 -0.229660 0.573708 
time: 1403638584.677830, t: 7.033700 -11.505654 1.563660 q: 0.187894 0.762515 -0.229069 0.575147 
time: 1403638585.077830, t: 6.994570 -11.183642 1.611767 q: 0.175490 0.782049 -0.238321 0.548457 
time: 1403638585.477829, t: 6.971345 -10.845315 1.590542 q: 0.174627 0.778143 -0.239251 0.553857 
time: 1403638585.877830, t: 6.979408 -10.493709 1.615816 q: 0.168666 0.791477 -0.243756 0.534507 
time: 1403638586.277829, t: 7.027766 -10.146343 1.723291 q: 0.173450 0.781550 -0.244609 0.547048 
time: 1403638586.677830, t: 7.085105 -9.789930 1.744547 q: 0.187395 0.776605 -0.237683 0.552516 
time: 1403638587.077830, t: 7.111668 -9.426851 1.677663 q: 0.180742 0.774633 -0.241599 0.555793 
time: 1403638587.477829, t: 7.124530 -9.041968 1.659022 q: 0.177186 0.779284 -0.243574 0.549540 
time: 1403638587.877830, t: 7.154662 -8.688966 1.618716 q: 0.175376 0.778422 -0.246321 0.550117 
time: 1403638588.277829, t: 7.161675 -8.352769 1.512596 q: 0.185181 0.779295 -0.238358 0.549175 
time: 1403638588.677830, t: 7.168446 -7.973070 1.482396 q: 0.178967 0.778325 -0.241191 0.551370 
time: 1403638589.077830, t: 7.159676 -7.570966 1.495971 q: 0.175292 0.776589 -0.245113 0.553265 
time: 1403638589.477829, t: 7.146406 -7.169237 1.436783 q: 0.176311 0.776216 -0.244603 0.553690 
time: 1403638589.877830, t: 7.110580 -6.759064 1.445077 q: 0.175269 0.778864 -0.246191 0.549583 
time: 1403638590.277829, t: 7.065888 -6.350724 1.423774 q: 0.175113 0.777211 -0.247910 0.551197 
time: 1403638590.677830, t: 7.019351 -5.972627 1.360934 q: 0.172316 0.781113 -0.249848 0.545661 
time: 1403638591.077830, t: 6.981303 -5.616990 1.394665 q: 0.169168 0.784484 -0.252296 0.540660 
time: 1403638591.477829, t: 6.964637 -5.291688 1.398167 q: 0.159912 0.801573 -0.260311 0.513952 
time: 1403638591.877830, t: 7.051480 -5.079803 1.329511 q: 0.158612 0.800525 -0.261905 0.515178 
time: 1403638592.277829, t: 7.234848 -4.976365 1.358600 q: 0.152792 0.786872 -0.253346 0.541574 
time: 1403638592.677830, t: 7.400408 -4.974104 1.535590 q: 0.117038 0.800985 -0.205109 0.550141 
time: 1403638593.077830, t: 7.569091 -5.027577 1.705107 q: 0.105943 0.816148 -0.187681 0.536148 
time: 1403638593.477829, t: 7.783381 -5.125759 1.868691 q: 0.129774 0.802992 -0.173696 0.555150 
time: 1403638593.877830, t: 8.013980 -5.193458 1.988023 q: 0.133516 0.785195 -0.172106 0.579674 
time: 1403638594.277829, t: 8.184440 -5.192669 2.116676 q: 0.117586 0.795724 -0.157252 0.572948 
time: 1403638594.677830, t: 8.278173 -5.139569 2.278502 q: 0.112344 0.794180 -0.151328 0.577717 
time: 1403638595.077830, t: 8.328153 -5.057136 2.419415 q: 0.108593 0.797923 -0.157220 0.571672 
time: 1403638595.477829, t: 8.343706 -4.961361 2.453968 q: 0.108840 0.798772 -0.159628 0.569769 
time: 1403638595.877830, t: 8.321663 -4.857143 2.471544 q: 0.116678 0.800929 -0.153597 0.566840 
time: 1403638596.277829, t: 8.291789 -4.720143 2.417564 q: 0.149197 0.804268 -0.130156 0.560315 
time: 1403638596.677830, t: 8.302568 -4.443285 2.450807 q: 0.178404 0.804815 -0.105912 0.556082 
time: 1403638597.077830, t: 8.372830 -3.914597 2.586976 q: 0.190393 0.801947 -0.097534 0.557780 
time: 1403638597.477829, t: 8.506206 -3.131076 2.660518 q: 0.176595 0.792931 -0.112163 0.572271 
time: 1403638597.877830, t: 8.627254 -2.154558 2.647908 q: 0.168008 0.790417 -0.109287 0.578852 
time: 1403638598.277829, t: 8.714315 -1.033129 2.627209 q: 0.123047 0.795938 -0.115099 0.581459 
time: 1403638598.677830, t: 8.768697 0.136451 2.587306 q: 0.098740 0.804328 -0.111412 0.575234 
time: 1403638599.077830, t: 8.765960 1.264185 2.541878 q: 0.058653 0.810690 -0.053112 0.580105 
time: 1403638599.477829, t: 8.726234 2.385201 2.579461 q: 0.014642 0.818432 0.014232 0.574240 
time: 1403638599.877830, t: 8.708304 3.487822 2.608394 q: 0.002821 0.823572 0.026074 0.566605 
time: 1403638600.277829, t: 8.705854 4.542996 2.551448 q: -0.029344 0.829326 -0.009334 0.557915 
time: 1403638600.677830, t: 8.705242 5.407215 2.503521 q: -0.044059 0.834153 -0.027764 0.549069 
time: 1403638601.077830, t: 8.844406 6.058631 2.544870 q: -0.006860 0.843867 0.002715 0.536502 
time: 1403638601.477829, t: 9.094798 6.673405 2.546646 q: -0.005452 0.826347 0.024745 0.562591 
time: 1403638601.877830, t: 9.394698 7.271267 2.635231 q: -0.053939 0.810007 0.113333 0.572830 
time: 1403638602.277829, t: 9.811320 7.789360 2.736787 q: -0.094560 0.793315 0.186203 0.571873 
time: 1403638602.677830, t: 10.088499 8.349808 2.852468 q: -0.208483 0.728436 0.222098 0.613668 
time: 1403638603.077830, t: 9.979851 8.744384 3.034180 q: -0.268142 0.714896 0.291183 0.576398 
time: 1403638603.477829, t: 9.819358 8.830269 3.120296 q: -0.267981 0.734916 0.345214 0.518568 
time: 1403638603.877830, t: 9.595783 8.823060 3.112641 q: -0.259743 0.707441 0.364297 0.547128 
time: 1403638604.277829, t: 9.263076 8.833068 3.054540 q: -0.254458 0.700205 0.367289 0.556833 
time: 1403638604.677830, t: 8.820778 8.771868 3.064165 q: -0.257696 0.723858 0.365471 0.525408 
time: 1403638605.077830, t: 8.374537 8.675853 3.067735 q: -0.256747 0.741719 0.365561 0.500300 
time: 1403638605.477829, t: 8.008330 8.600159 3.132330 q: -0.237198 0.731731 0.379997 0.513721 
time: 1403638605.877830, t: 7.605163 8.594147 3.156528 q: -0.222949 0.716242 0.390385 0.533751 
time: 1403638606.277829, t: 7.094144 8.665089 3.211687 q: -0.210878 0.716309 0.395401 0.534875 
time: 1403638606.677830, t: 6.500661 8.828809 3.171356 q: -0.236617 0.746845 0.382921 0.489496 
time: 1403638607.077830, t: 5.974999 9.122788 3.085226 q: -0.274404 0.726324 0.434391 0.456575 
time: 1403638607.477829, t: 5.570955 9.492261 3.046126 q: -0.323859 0.691424 0.446147 0.466906 
time: 1403638607.877830, t: 5.219503 9.833944 2.923098 q: -0.327158 0.689304 0.445991 0.467888 
time: 1403638608.277829, t: 4.932518 10.176223 2.722193 q: -0.324542 0.685381 0.439503 0.481418 
time: 1403638608.677830, t: 4.677962 10.457632 2.449727 q: -0.328418 0.678289 0.434795 0.492969 
time: 1403638609.077830, t: 4.444634 10.635280 2.222709 q: -0.325726 0.688425 0.437703 0.477902 
time: 1403638609.477829, t: 4.252066 10.734990 2.058552 q: -0.330675 0.689293 0.433918 0.476701 
time: 1403638609.877830, t: 4.126897 10.774973 1.814044 q: -0.325174 0.688475 0.437627 0.478274 
time: 1403638610.277829, t: 4.034181 10.764891 1.652167 q: -0.333258 0.681599 0.430806 0.488639 
time: 1403638610.677830, t: 3.955646 10.692316 1.437685 q: -0.341823 0.669517 0.423826 0.505248 
time: 1403638611.077830, t: 3.870615 10.531050 1.245738 q: -0.339375 0.678698 0.429333 0.489762 
time: 1403638611.477829, t: 3.811870 10.279564 1.075099 q: -0.321945 0.670288 0.443023 0.500796 
time: 1403638611.877830, t: 3.708650 9.958123 0.963777 q: -0.322257 0.683576 0.440098 0.484962 
time: 1403638612.277829, t: 3.598288 9.648657 0.846371 q: -0.325749 0.690486 0.434951 0.477424 
time: 1403638612.677830, t: 3.527274 9.329959 0.773767 q: -0.314515 0.685045 0.437417 0.490367 
time: 1403638613.077830, t: 3.430946 9.003747 0.655452 q: -0.312904 0.686839 0.431134 0.494435 
time: 1403638613.477829, t: 3.306114 8.674401 0.630046 q: -0.311011 0.689249 0.429769 0.493464 
time: 1403638613.877830, t: 3.181959 8.342753 0.549772 q: -0.315234 0.692776 0.402765 0.508399 
time: 1403638614.277829, t: 3.051873 7.946121 0.394544 q: -0.270239 0.726957 0.354760 0.522159 
time: 1403638615.077830, t: 2.822776 7.091889 0.394331 q: -0.210869 0.787502 0.242865 0.525729 
time: 1403638615.477829, t: 2.820337 6.630733 0.515123 q: -0.123711 0.801593 0.149105 0.565608 
time: 1403638615.877830, t: 2.783309 6.153762 0.584064 q: -0.080517 0.810610 0.083278 0.574014 
time: 1403638616.277829, t: 2.731857 5.693276 0.636425 q: -0.043759 0.815816 0.027172 0.576013 
time: 1403638616.677830, t: 2.626697 5.205055 0.529196 q: -0.004335 0.823701 -0.032367 0.566083 
time: 1403638617.077830, t: 2.664670 4.729337 0.374957 q: -0.000425 0.832928 -0.040941 0.551864 
time: 1403638617.477829, t: 2.745567 4.248380 0.350247 q: 0.006932 0.838950 -0.022997 0.543679 
time: 1403638617.877830, t: 2.844403 3.739124 0.438027 q: 0.008835 0.836071 -0.010855 0.548443 
time: 1403638618.277829, t: 3.028453 3.324595 0.569964 q: 0.003891 0.834828 -0.007737 0.550443 
time: 1403638618.677830, t: 3.309911 2.965973 0.625540 q: 0.008058 0.833148 -0.007327 0.552943 
time: 1403638619.077830, t: 3.642362 2.647441 0.704811 q: 0.031181 0.823365 -0.036009 0.565510 
time: 1403638619.477829, t: 3.964914 2.382743 0.696166 q: 0.085511 0.808131 -0.124570 0.569294 
time: 1403638619.877830, t: 4.336653 2.125970 0.622277 q: 0.084079 0.797669 -0.174455 0.571157 
time: 1403638620.277829, t: 4.642783 1.834183 0.553873 q: 0.094655 0.792191 -0.177427 0.576189 
time: 1403638620.677830, t: 4.837062 1.537661 0.560998 q: 0.095267 0.798691 -0.170951 0.569028 
time: 1403638621.077830, t: 4.955078 1.239328 0.517018 q: 0.103482 0.803705 -0.155672 0.564903 
time: 1403638621.477829, t: 5.035228 0.968397 0.516108 q: 0.104443 0.800065 -0.146176 0.572382 
time: 1403638621.877830, t: 5.094744 0.724844 0.463198 q: 0.106581 0.791675 -0.140063 0.585042 
time: 1403638622.277829, t: 5.091260 0.548324 0.370930 q: 0.099574 0.789375 -0.144790 0.588225 
time: 1403638622.677830, t: 5.011454 0.414904 0.368135 q: 0.110819 0.787332 -0.140391 0.590016 
time: 1403638623.077830, t: 4.844403 0.349586 0.441172 q: 0.109945 0.781926 -0.144616 0.596314 
time: 1403638623.477829, t: 4.556112 0.336709 0.438795 q: 0.100111 0.793570 -0.152289 0.580544 
time: 1403638623.877830, t: 4.221903 0.338800 0.463494 q: 0.106368 0.796451 -0.150674 0.575890 
time: 1403638624.277829, t: 3.855380 0.362518 0.487909 q: 0.102028 0.797526 -0.159358 0.572841 
time: 1403638624.677830, t: 3.481689 0.389350 0.451965 q: 0.100029 0.784407 -0.164504 0.589609 
time: 1403638625.077830, t: 3.070903 0.425398 0.445077 q: 0.091904 0.800319 -0.143680 0.574804 
time: 1403638625.477829, t: 2.656978 0.464099 0.432249 q: 0.081778 0.801609 -0.141184 0.575154 
time: 1403638625.877830, t: 2.244211 0.472948 0.475331 q: 0.081756 0.810967 -0.141706 0.561754 
time: 1403638626.277829, t: 1.869063 0.447293 0.472148 q: 0.084268 0.811728 -0.142209 0.560154 
time: 1403638626.677830, t: 1.531544 0.415742 0.411739 q: 0.093912 0.812845 -0.134107 0.558999 
time: 1403638627.077830, t: 1.241166 0.400745 0.400768 q: 0.089602 0.820427 -0.135172 0.548270 
time: 1403638627.477829, t: 1.017947 0.387825 0.372402 q: 0.092424 0.820134 -0.131504 0.549131 
time: 1403638628.677830, t: 0.747803 0.436040 0.233197 q: 0.080011 0.804152 -0.147487 0.570250 
time: 1403638629.077830, t: 0.708616 0.445229 0.198680 q: 0.095792 0.807670 -0.137842 0.565237 
time: 1403638629.477829, t: 0.681538 0.483935 0.183102 q: 0.099031 0.816668 -0.136665 0.551877 
time: 1403638629.877830, t: 0.700465 0.502672 0.184112 q: 0.075926 0.805767 -0.155309 0.566439 
time: 1403638630.277829, t: 0.715602 0.486251 0.090338 q: 0.101095 0.803731 -0.138413 0.569770 
time: 1403638630.677830, t: 0.758817 0.481464 0.044864 q: 0.093960 0.823258 -0.135356 0.543227 
time: 1403638631.077830, t: 0.739092 0.473467 0.024687 q: 0.092802 0.828479 -0.130083 0.536739 
time: 1403638631.477829, t: 0.773167 0.475649 0.096699 q: 0.092638 0.829267 -0.130732 0.535392 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720564830.861798364]: Shutdown request received.[0m
[33m[ WARN] [1720564830.861865164]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720564830.862824013]: Shutdown request received.[0m
[33m[ WARN] [1720564830.862852692]: Reason given for shutdown: [user request][0m
killed
