/SLAM-Hive/slam_hive_results/mapping_results/3311/2400_vins-fusion-stereo-imu+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1731014054.807761259]: init begins[0m
[31m[ERROR] [1731014054.812326968]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731014054.812385387]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/3de3f36e-9d4d-11ef-a0f8-0242ac110002/roslaunch-4a2facae35dc-119.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://4a2facae35dc:43177/[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 [156][0m
[0m[ INFO] [1731014056.176929059]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731014056.178779832]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://4a2facae35dc:11311/[0m
]2;roscore http://4a2facae35dc:11311/
[1msetting /run_id to 3de3f36e-9d4d-11ef-a0f8-0242ac110002[0m
config_file: /slamhive/mappingtask.yaml
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1731014056.601518800]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731014056.601744768]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731014056.601766243]: 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
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mprocess[rosout-1]: started with pid [191][0m
started core service [/rosout]
[0m[ INFO] [1731014057.148992469]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731014057.149896313]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731014057.150705100]: waiting for image and imu...[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
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1731014064.909656541]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 327375937.80 
throw img0
init first imu pose
averge acc 8.949590 -0.194601 -3.927257
init R0 
  0.402246  0.0453102    0.91441
         0  -0.998775  0.0494906
  0.915532 -0.0199074  -0.401753
[33m[ WARN] [1731014066.327535681]: gyroscope bias initial calibration -0.00247702    0.020721   0.0771378[0m
[0m[ INFO] [1731014066.398217934]: Initialization finish![0m
time: 1403638128.345097, t: 0.000045 0.000006 -0.000054 q: -0.009381 0.837730 0.005691 0.545974 
time: 1403638128.445097, t: 0.000121 0.000215 -0.000109 q: -0.009336 0.837754 0.005713 0.545938 
time: 1403638128.545097, t: 0.000139 0.000258 -0.000134 q: -0.009279 0.837823 0.005506 0.545835 
time: 1403638128.645097, t: 0.000164 0.000224 -0.000119 q: -0.009188 0.837881 0.005476 0.545748 
time: 1403638128.745097, t: 0.000479 0.000450 -0.000140 q: -0.009438 0.838408 0.004541 0.544943 
time: 1403638128.845097, t: 0.000481 0.000270 -0.000136 q: -0.008964 0.838749 0.004248 0.544428 
time: 1403638128.945097, t: 0.000432 -0.000002 -0.000067 q: -0.008665 0.838788 0.005131 0.544366 
time: 1403638129.045097, t: 0.000562 0.000013 0.000102 q: -0.008896 0.838846 0.006068 0.544262 
time: 1403638129.145097, t: 0.000729 0.000736 0.002036 q: -0.004033 0.838837 0.009645 0.544283 
time: 1403638129.245097, t: 0.001206 0.000457 0.006715 q: -0.011953 0.834902 0.003587 0.550257 
time: 1403638129.345097, t: 0.001006 -0.003135 0.018402 q: -0.036685 0.821593 -0.021931 0.568469 
time: 1403638129.445097, t: 0.000346 -0.006108 0.029888 q: -0.056465 0.816454 -0.036385 0.573490 
time: 1403638129.545097, t: 0.001616 -0.004573 0.037338 q: -0.039796 0.834117 -0.024873 0.549587 
time: 1403638129.645097, t: 0.004862 -0.001310 0.044829 q: -0.016810 0.849886 -0.006579 0.526657 
time: 1403638129.745097, t: 0.008479 -0.000404 0.057765 q: -0.016391 0.852686 -0.002225 0.522162 
time: 1403638129.845097, t: 0.011563 0.001216 0.074554 q: -0.024376 0.858613 0.003320 0.512034 
time: 1403638129.945097, t: 0.015496 0.004190 0.100116 q: -0.026486 0.864359 0.013268 0.502002 
time: 1403638130.045097, t: 0.021210 0.006303 0.136564 q: -0.034627 0.858602 0.009896 0.511376 
time: 1403638130.145097, t: 0.026936 0.007983 0.177245 q: -0.044838 0.852805 0.005537 0.520271 
time: 1403638130.245097, t: 0.032350 0.010700 0.218390 q: -0.047589 0.852445 0.011876 0.520510 
time: 1403638130.345097, t: 0.038397 0.012092 0.262340 q: -0.056876 0.846982 0.004657 0.528550 
time: 1403638130.445097, t: 0.043505 0.013824 0.304675 q: -0.065179 0.843187 -0.000558 0.533654 
time: 1403638130.545097, t: 0.047439 0.017203 0.343680 q: -0.055786 0.845132 0.008974 0.531564 
time: 1403638130.645097, t: 0.048161 0.019709 0.382872 q: -0.050591 0.840328 0.010392 0.539613 
time: 1403638130.745097, t: 0.047812 0.019067 0.420772 q: -0.063278 0.831912 -0.002080 0.551284 
time: 1403638130.845097, t: 0.047253 0.018797 0.451683 q: -0.074634 0.827664 -0.009106 0.556164 
time: 1403638130.945097, t: 0.043316 0.018022 0.470992 q: -0.074258 0.821167 -0.013126 0.565684 
time: 1403638131.045097, t: 0.039603 0.014799 0.472572 q: -0.068889 0.809585 -0.022355 0.582518 
time: 1403638131.145097, t: 0.037710 0.011474 0.454407 q: -0.062134 0.810489 -0.019936 0.582108 
time: 1403638131.245097, t: 0.035962 0.013895 0.430410 q: -0.049434 0.818934 -0.004534 0.571736 
time: 1403638131.345097, t: 0.034426 0.015455 0.398109 q: -0.041000 0.824779 0.002414 0.563961 
time: 1403638131.445097, t: 0.030671 0.014274 0.366202 q: -0.039117 0.823049 0.000101 0.566622 
time: 1403638131.545097, t: 0.026319 0.011600 0.330264 q: -0.031202 0.824058 0.002702 0.565639 
time: 1403638131.645097, t: 0.019922 0.008573 0.288130 q: -0.029303 0.826829 0.006378 0.561654 
time: 1403638131.745097, t: 0.016751 0.002760 0.244939 q: -0.023832 0.826385 0.008255 0.562540 
time: 1403638131.845097, t: 0.012189 -0.003417 0.203113 q: -0.012106 0.827075 0.013662 0.561796 
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time: 1403638132.045097, t: 0.004618 -0.008891 0.139275 q: 0.002544 0.831352 0.029343 0.554965 
time: 1403638132.145097, t: 0.004177 -0.007330 0.138119 q: 0.008498 0.836243 0.042640 0.546633 
time: 1403638132.245097, t: 0.006489 -0.005168 0.168273 q: 0.001131 0.831911 0.040775 0.553408 
time: 1403638132.345097, t: 0.008421 -0.003033 0.219899 q: -0.010664 0.824423 0.035012 0.564789 
time: 1403638132.445097, t: 0.010479 0.001498 0.277254 q: -0.027894 0.820139 0.027934 0.570801 
time: 1403638132.545097, t: 0.012979 0.004504 0.335329 q: -0.049475 0.807546 0.013425 0.587573 
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time: 1403638132.845097, t: 0.020067 0.030129 0.433244 q: -0.070102 0.803630 -0.000680 0.590986 
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time: 1403638133.045097, t: 0.017563 0.029957 0.422970 q: -0.076858 0.793319 -0.000022 0.603935 
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time: 1403638133.445097, t: 0.012617 -0.096005 0.330876 q: -0.012010 0.809239 -0.014646 0.587174 
time: 1403638133.545097, t: 0.000867 -0.143483 0.311849 q: 0.001946 0.809762 -0.034207 0.585757 
time: 1403638133.645097, t: -0.014567 -0.188399 0.293056 q: 0.002763 0.812503 -0.054085 0.580436 
time: 1403638133.745097, t: -0.031344 -0.228774 0.274954 q: 0.009792 0.815415 -0.069321 0.574627 
time: 1403638133.845097, t: -0.042854 -0.261020 0.260356 q: 0.026732 0.816567 -0.078647 0.571243 
time: 1403638133.945097, t: -0.042360 -0.280438 0.249012 q: 0.034025 0.817649 -0.083208 0.568655 
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time: 1403638135.745097, t: 0.136933 0.020563 0.230634 q: 0.014753 0.829466 -0.066315 0.554410 
time: 1403638135.845097, t: 0.118194 -0.016082 0.228054 q: 0.017217 0.830489 -0.071186 0.552199 
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time: 1403638136.445097, t: -0.011859 -0.242129 0.260172 q: 0.063625 0.822477 -0.089641 0.558076 
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time: 1403638136.645097, t: -0.019991 -0.248349 0.265291 q: 0.051097 0.823141 -0.103218 0.556034 
time: 1403638136.745097, t: -0.013479 -0.223009 0.277889 q: 0.035793 0.823101 -0.100616 0.557764 
time: 1403638136.845097, t: -0.003159 -0.184135 0.291014 q: 0.013241 0.819891 -0.097905 0.563931 
time: 1403638136.945097, t: 0.006556 -0.141161 0.294969 q: -0.010820 0.809387 -0.102533 0.578154 
time: 1403638137.045097, t: 0.015661 -0.098322 0.280958 q: -0.024689 0.803934 -0.102174 0.585356 
time: 1403638137.145097, t: 0.020600 -0.060732 0.251718 q: -0.023432 0.808795 -0.091872 0.580398 
time: 1403638137.245097, t: 0.024145 -0.028914 0.213154 q: -0.019831 0.818401 -0.076664 0.569165 
time: 1403638137.345097, t: 0.024930 -0.005523 0.173105 q: -0.019053 0.824623 -0.066337 0.561456 
time: 1403638137.445097, t: 0.026415 0.009288 0.133078 q: -0.012096 0.830870 -0.058500 0.553251 
time: 1403638137.545097, t: 0.026539 0.021619 0.098382 q: 0.000613 0.839856 -0.047794 0.540700 
optimize pose graph 
time: 1403638137.645097, t: 0.027262 0.029054 0.070573 q: 0.013696 0.844648 -0.040752 0.533593 
time: 1403638137.845097, t: 0.023180 0.035392 0.033705 q: 0.023257 0.845169 -0.047236 0.531899 
time: 1403638137.945097, t: 0.021222 0.037688 0.021795 q: 0.031704 0.853521 -0.040293 0.518530 
time: 1403638138.045097, t: 0.020548 0.040423 0.012530 q: 0.035454 0.858342 -0.034018 0.510719 
time: 1403638138.145097, t: 0.020369 0.040552 0.009239 q: 0.034037 0.852693 -0.038226 0.519898 
time: 1403638138.245097, t: 0.019990 0.040076 0.006096 q: 0.031048 0.847878 -0.044325 0.527421 
time: 1403638138.345097, t: 0.018799 0.040187 0.006310 q: 0.031399 0.844018 -0.045471 0.533460 
time: 1403638138.445097, t: 0.017753 0.040280 0.006240 q: 0.031774 0.841232 -0.045563 0.537814 
time: 1403638138.545097, t: 0.017904 0.040183 0.006130 q: 0.031513 0.840972 -0.045674 0.538226 
time: 1403638138.645097, t: 0.017856 0.040269 0.005990 q: 0.031261 0.840954 -0.045976 0.538242 
time: 1403638138.745097, t: 0.018010 0.040235 0.005971 q: 0.031297 0.840946 -0.045955 0.538256 
time: 1403638138.845097, t: 0.018204 0.040350 0.005838 q: 0.031525 0.840959 -0.045477 0.538262 
time: 1403638138.945097, t: 0.018278 0.040392 0.005747 q: 0.031300 0.840984 -0.045940 0.538197 
time: 1403638139.045097, t: 0.018353 0.040498 0.005713 q: 0.031012 0.840841 -0.046239 0.538412 
time: 1403638139.145097, t: 0.018359 0.040601 0.005665 q: 0.030731 0.840799 -0.046465 0.538474 
time: 1403638139.245097, t: 0.018375 0.040644 0.005626 q: 0.030625 0.840764 -0.046687 0.538515 
time: 1403638139.345097, t: 0.018374 0.040617 0.005613 q: 0.030698 0.840771 -0.046604 0.538507 
time: 1403638139.445097, t: 0.018401 0.040548 0.005602 q: 0.030853 0.840739 -0.046506 0.538556 
time: 1403638139.545097, t: 0.018394 0.040529 0.005569 q: 0.030940 0.840714 -0.046430 0.538598 
time: 1403638139.645097, t: 0.018403 0.040523 0.005555 q: 0.030981 0.840698 -0.046418 0.538621 
optimize pose graph 
time: 1403638139.745097, t: 0.018405 0.040499 0.005518 q: 0.030905 0.840652 -0.046414 0.538697 
time: 1403638139.845097, t: 0.018395 0.040511 0.005504 q: 0.030900 0.840655 -0.046394 0.538695 
time: 1403638139.945097, t: 0.018411 0.040529 0.005494 q: 0.030794 0.840631 -0.046468 0.538731 
time: 1403638140.045097, t: 0.018420 0.040534 0.005490 q: 0.030672 0.840638 -0.046448 0.538730 
time: 1403638140.145097, t: 0.018419 0.040533 0.005469 q: 0.030698 0.840602 -0.046405 0.538788 
time: 1403638140.245097, t: 0.018434 0.040530 0.005442 q: 0.030672 0.840569 -0.046441 0.538837 
time: 1403638140.345097, t: 0.018436 0.040522 0.005425 q: 0.030666 0.840564 -0.046457 0.538845 
time: 1403638140.445097, t: 0.018442 0.040523 0.005416 q: 0.030735 0.840545 -0.046442 0.538871 
time: 1403638140.545097, t: 0.018439 0.040520 0.005410 q: 0.030640 0.840536 -0.046407 0.538895 
time: 1403638140.645097, t: 0.018443 0.040533 0.005399 q: 0.030621 0.840513 -0.046428 0.538930 
time: 1403638140.745097, t: 0.018453 0.040527 0.005383 q: 0.030621 0.840488 -0.046417 0.538969 
time: 1403638140.845097, t: 0.018452 0.040533 0.005380 q: 0.030645 0.840482 -0.046390 0.538979 
time: 1403638140.945097, t: 0.018457 0.040539 0.005389 q: 0.030566 0.840491 -0.046314 0.538976 
time: 1403638141.045097, t: 0.018451 0.040549 0.005380 q: 0.030567 0.840458 -0.046304 0.539029 
time: 1403638141.145097, t: 0.018449 0.040536 0.005360 q: 0.030561 0.840429 -0.046283 0.539076 
time: 1403638141.245097, t: 0.018463 0.040541 0.005363 q: 0.030565 0.840434 -0.046277 0.539068 
time: 1403638141.345097, t: 0.018465 0.040539 0.005347 q: 0.030507 0.840422 -0.046283 0.539090 
time: 1403638141.445097, t: 0.018468 0.040543 0.005351 q: 0.030454 0.840418 -0.046241 0.539102 
time: 1403638141.545097, t: 0.018476 0.040540 0.005344 q: 0.030410 0.840410 -0.046201 0.539121 
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time: 1403638141.745097, t: 0.018466 0.040563 0.005348 q: 0.030340 0.840391 -0.046199 0.539155 
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time: 1403638148.745097, t: 0.112962 0.033909 0.199116 q: 0.026455 0.828440 -0.031837 0.558547 
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time: 1403638148.945097, t: 0.142339 0.041466 0.217455 q: 0.024368 0.829369 -0.029853 0.557370 
time: 1403638149.045097, t: 0.163607 0.046280 0.232613 q: 0.022850 0.826215 -0.028008 0.562194 
time: 1403638149.145097, t: 0.184982 0.052190 0.265159 q: 0.022716 0.823020 -0.026620 0.566934 
time: 1403638149.245097, t: 0.210703 0.059023 0.302560 q: 0.021948 0.821313 -0.026794 0.569426 
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time: 1403638149.545097, t: 0.286258 0.081920 0.384033 q: 0.020558 0.818616 -0.026941 0.573341 
optimize pose graph 
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time: 1403638149.745097, t: 0.338027 0.101155 0.417011 q: 0.017003 0.818627 -0.018136 0.573787 
time: 1403638149.845097, t: 0.359522 0.109301 0.424989 q: 0.013540 0.819110 -0.013564 0.573317 
time: 1403638149.945097, t: 0.385090 0.119568 0.431156 q: 0.011428 0.819100 -0.010226 0.573446 
time: 1403638150.045097, t: 0.407112 0.131592 0.428773 q: 0.014352 0.819043 -0.004824 0.573532 
time: 1403638150.145097, t: 0.428722 0.144958 0.422548 q: 0.021020 0.819288 0.002184 0.572993 
time: 1403638150.245097, t: 0.450007 0.163493 0.409185 q: 0.027485 0.818958 0.007611 0.573144 
time: 1403638150.345097, t: 0.471283 0.187082 0.390549 q: 0.027221 0.821931 0.007745 0.568884 
time: 1403638150.445097, t: 0.493138 0.215494 0.374740 q: 0.018419 0.828039 0.006466 0.560331 
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time: 1403638151.145097, t: 0.736767 0.499075 0.419920 q: -0.024058 0.821094 0.060823 0.567032 
time: 1403638151.245097, t: 0.777462 0.549310 0.419087 q: -0.036826 0.819856 0.078978 0.565900 
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time: 1403638151.545097, t: 0.896330 0.716329 0.410038 q: -0.082949 0.813233 0.136977 0.559473 
optimize pose graph 
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time: 1403638152.145097, t: 1.120435 1.106131 0.538092 q: -0.106126 0.807198 0.177256 0.552945 
time: 1403638152.245097, t: 1.153825 1.177989 0.556675 q: -0.105856 0.806822 0.178479 0.553153 
time: 1403638152.345097, t: 1.189068 1.250635 0.568470 q: -0.103082 0.806174 0.179833 0.554182 
time: 1403638152.445097, t: 1.223270 1.325983 0.571705 q: -0.100284 0.806474 0.180781 0.553951 
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time: 1403638152.645097, t: 1.287900 1.486271 0.560919 q: -0.101611 0.807993 0.180398 0.551615 
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time: 1403638152.845097, t: 1.356669 1.661636 0.561389 q: -0.118261 0.805688 0.186214 0.549732 
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time: 1403638153.045097, t: 1.424167 1.844516 0.593503 q: -0.140256 0.797942 0.207350 0.548291 
time: 1403638153.145097, t: 1.458669 1.934831 0.615442 q: -0.147174 0.798536 0.218559 0.541213 
time: 1403638153.245097, t: 1.494142 2.024526 0.634314 q: -0.151432 0.798030 0.227070 0.537267 
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time: 1403638153.645097, t: 1.648177 2.407309 0.696280 q: -0.167517 0.782350 0.287006 0.526777 
optimize pose graph 
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time: 1403638206.845097, t: 6.977486 10.073864 3.037874 q: -0.259452 0.714250 0.359917 0.541287 
time: 1403638206.945097, t: 6.872026 10.177778 3.044449 q: -0.265589 0.710574 0.362976 0.541107 
time: 1403638207.045097, t: 6.763976 10.274775 3.044431 q: -0.270937 0.707360 0.364143 0.541881 
time: 1403638207.145097, t: 6.652701 10.365192 3.035683 q: -0.273274 0.705002 0.365211 0.543061 
time: 1403638207.245097, t: 6.534839 10.450246 3.020014 q: -0.277152 0.702628 0.367455 0.542657 
time: 1403638207.345097, t: 6.411243 10.524792 2.997620 q: -0.284769 0.697143 0.373380 0.541743 
time: 1403638207.445097, t: 6.282712 10.593738 2.973480 q: -0.294596 0.688573 0.384036 0.539996 
time: 1403638207.545097, t: 6.150621 10.649803 2.953615 q: -0.306294 0.680782 0.398467 0.532864 
time: 1403638207.645097, t: 6.014878 10.695678 2.940588 q: -0.313498 0.679170 0.412861 0.519608 
optimize pose graph 
time: 1403638207.745097, t: 5.878735 10.732859 2.931866 q: -0.318655 0.680885 0.423367 0.505583 
time: 1403638207.845097, t: 5.744193 10.766339 2.930306 q: -0.321488 0.683213 0.430444 0.494553 
time: 1403638207.945097, t: 5.612856 10.789123 2.936158 q: -0.321530 0.686665 0.435843 0.484924 
time: 1403638208.045097, t: 5.483480 10.807181 2.946746 q: -0.321087 0.687311 0.438289 0.482089 
time: 1403638208.145097, t: 5.358734 10.822482 2.955843 q: -0.324954 0.684950 0.435533 0.485344 
time: 1403638208.245097, t: 5.236657 10.835658 2.959288 q: -0.326696 0.681657 0.432914 0.491121 
time: 1403638208.345097, t: 5.116734 10.844461 2.953202 q: -0.324197 0.683098 0.432982 0.490714 
time: 1403638208.445097, t: 4.999687 10.848855 2.939995 q: -0.320796 0.685646 0.434913 0.487679 
time: 1403638208.545097, t: 4.883396 10.851390 2.927429 q: -0.322542 0.685369 0.439391 0.482878 
time: 1403638208.645097, t: 4.769981 10.851030 2.922923 q: -0.327119 0.680253 0.448618 0.478530 
time: 1403638208.745097, t: 4.658741 10.848136 2.925786 q: -0.334512 0.675906 0.454846 0.473675 
time: 1403638208.845097, t: 4.551862 10.842505 2.933088 q: -0.340350 0.670818 0.460344 0.471433 
time: 1403638208.945097, t: 4.449942 10.834832 2.937878 q: -0.342904 0.665771 0.466045 0.471134 
time: 1403638209.045097, t: 4.349766 10.823603 2.936574 q: -0.345240 0.663021 0.469328 0.470046 
time: 1403638209.145097, t: 4.250226 10.808764 2.927724 q: -0.346988 0.661645 0.471400 0.468622 
time: 1403638209.245097, t: 4.153154 10.792263 2.911581 q: -0.347838 0.661253 0.472216 0.467723 
time: 1403638209.345097, t: 4.058941 10.772392 2.889454 q: -0.349008 0.662102 0.472105 0.465758 
time: 1403638209.445097, t: 3.968660 10.751657 2.860668 q: -0.350416 0.662347 0.471659 0.464805 
time: 1403638209.545097, t: 3.882005 10.729266 2.825110 q: -0.352829 0.660362 0.469667 0.467810 
time: 1403638209.645097, t: 3.798218 10.703187 2.772863 q: -0.354076 0.660748 0.467910 0.468083 
time: 1403638209.745097, t: 3.716432 10.674770 2.701282 q: -0.352359 0.661926 0.467966 0.467659 
optimize pose graph 
time: 1403638209.845097, t: 3.638035 10.644193 2.612541 q: -0.349117 0.659963 0.469686 0.471127 
time: 1403638209.945097, t: 3.560428 10.608321 2.513998 q: -0.349352 0.656766 0.468796 0.476280 
time: 1403638210.045097, t: 3.485973 10.572310 2.412253 q: -0.351651 0.652369 0.466884 0.482469 
time: 1403638210.145097, t: 3.412359 10.527667 2.312889 q: -0.356193 0.649029 0.463470 0.486913 
time: 1403638210.245097, t: 3.335542 10.477322 2.221815 q: -0.358983 0.647263 0.461445 0.489132 
time: 1403638210.345097, t: 3.260298 10.415605 2.134711 q: -0.357749 0.646857 0.462176 0.489883 
time: 1403638210.445097, t: 3.183672 10.348462 2.048729 q: -0.357443 0.648100 0.462172 0.488465 
time: 1403638210.545097, t: 3.107334 10.275921 1.958319 q: -0.358706 0.648200 0.460722 0.488776 
time: 1403638210.645097, t: 3.031260 10.196430 1.863396 q: -0.359746 0.647697 0.459248 0.490064 
time: 1403638210.745097, t: 2.954441 10.110032 1.764329 q: -0.360986 0.648308 0.457758 0.489737 
time: 1403638210.845097, t: 2.880320 10.015202 1.671877 q: -0.360714 0.649651 0.457647 0.488260 
time: 1403638210.945097, t: 2.801286 9.915251 1.588262 q: -0.358387 0.653572 0.459141 0.483313 
time: 1403638211.045097, t: 2.728983 9.809413 1.511781 q: -0.357626 0.657025 0.459964 0.478387 
time: 1403638211.145097, t: 2.657168 9.699180 1.445343 q: -0.356033 0.659878 0.461303 0.474343 
time: 1403638211.245097, t: 2.585823 9.588479 1.386023 q: -0.355396 0.662155 0.461613 0.471337 
time: 1403638211.345097, t: 2.516517 9.477424 1.334806 q: -0.353070 0.664512 0.459869 0.471473 
time: 1403638211.445097, t: 2.451287 9.360364 1.281584 q: -0.348243 0.669839 0.452980 0.474185 
time: 1403638211.545097, t: 2.393181 9.238831 1.224256 q: -0.341737 0.677032 0.442781 0.478319 
time: 1403638211.645097, t: 2.332185 9.115090 1.160836 q: -0.335648 0.686813 0.426246 0.483676 
time: 1403638211.745097, t: 2.274944 8.985667 1.091447 q: -0.326117 0.699029 0.406468 0.489683 
time: 1403638211.845097, t: 2.223875 8.851699 1.020994 q: -0.316317 0.713651 0.382790 0.494083 
optimize pose graph 
time: 1403638211.945097, t: 2.181853 8.714902 0.956992 q: -0.303850 0.726012 0.360138 0.500882 
time: 1403638212.045097, t: 2.144863 8.574153 0.900116 q: -0.290331 0.737159 0.338769 0.507484 
time: 1403638212.145097, t: 2.112564 8.430704 0.850442 q: -0.273599 0.745869 0.320153 0.516067 
time: 1403638212.245097, t: 2.083350 8.282768 0.809815 q: -0.256502 0.753547 0.301228 0.525009 
time: 1403638212.345097, t: 2.054803 8.130076 0.778480 q: -0.240583 0.761484 0.282144 0.531655 
time: 1403638212.445097, t: 2.031672 7.976114 0.754055 q: -0.223546 0.768146 0.263480 0.539033 
time: 1403638212.545097, t: 2.006942 7.818195 0.738313 q: -0.211012 0.774724 0.241493 0.544939 
time: 1403638212.645097, t: 1.980855 7.656055 0.725508 q: -0.196652 0.782016 0.219991 0.548984 
time: 1403638212.745097, t: 1.956276 7.490842 0.722029 q: -0.178556 0.789115 0.200307 0.552533 
time: 1403638212.845097, t: 1.931166 7.323670 0.725228 q: -0.162907 0.794401 0.176952 0.557742 
time: 1403638212.945097, t: 1.909171 7.153251 0.730796 q: -0.146906 0.800207 0.152257 0.561165 
time: 1403638213.045097, t: 1.889374 6.982096 0.744955 q: -0.128928 0.805773 0.126932 0.563911 
time: 1403638213.145097, t: 1.871677 6.809515 0.760227 q: -0.113302 0.811512 0.099271 0.564585 
time: 1403638213.245097, t: 1.855525 6.634454 0.769781 q: -0.099798 0.820164 0.069883 0.559005 
time: 1403638213.345097, t: 1.842885 6.457210 0.772284 q: -0.089110 0.829042 0.038329 0.550708 
time: 1403638213.445097, t: 1.837858 6.274977 0.768964 q: -0.080044 0.835261 0.006076 0.543962 
time: 1403638213.545097, t: 1.839014 6.086242 0.764893 q: -0.068076 0.836498 -0.022102 0.543276 
time: 1403638213.645097, t: 1.848857 5.892213 0.761642 q: -0.044932 0.829656 -0.034174 0.555414 
time: 1403638213.745097, t: 1.862864 5.691098 0.759516 q: -0.023140 0.821151 -0.037175 0.569028 
time: 1403638213.845097, t: 1.878771 5.489988 0.761676 q: -0.007055 0.816368 -0.037288 0.576284 
time: 1403638213.945097, t: 1.892462 5.291228 0.771831 q: 0.001661 0.815504 -0.037034 0.577563 
optimize pose graph 
time: 1403638214.045097, t: 1.902492 5.091509 0.786257 q: 0.003151 0.818158 -0.037011 0.573792 
time: 1403638214.245097, t: 1.926415 4.698289 0.825229 q: 0.002639 0.831143 -0.031977 0.555132 
time: 1403638214.345097, t: 1.941340 4.504015 0.841997 q: 0.000400 0.835803 -0.028943 0.548266 
time: 1403638214.445097, t: 1.963016 4.313502 0.852076 q: -0.000626 0.837294 -0.024439 0.546206 
time: 1403638214.545097, t: 1.989448 4.127145 0.858908 q: -0.001616 0.832088 -0.020331 0.554269 
time: 1403638214.645097, t: 2.019424 3.940889 0.858846 q: -0.002647 0.825654 -0.016668 0.563925 
time: 1403638214.745097, t: 2.049315 3.754224 0.853852 q: -0.003824 0.819236 -0.013101 0.573294 
time: 1403638214.845097, t: 2.077286 3.573623 0.842736 q: -0.005029 0.815194 -0.010244 0.579075 
time: 1403638214.945097, t: 2.105011 3.394957 0.825999 q: -0.005712 0.812708 -0.008119 0.582586 
time: 1403638215.045097, t: 2.131662 3.218764 0.803398 q: -0.006718 0.811901 -0.007112 0.583713 
time: 1403638215.145097, t: 2.156200 3.045628 0.776301 q: -0.005995 0.812173 -0.005429 0.583360 
time: 1403638215.245097, t: 2.180206 2.873864 0.746079 q: -0.004337 0.814233 -0.003989 0.580508 
time: 1403638215.345097, t: 2.202327 2.707298 0.714947 q: -0.000210 0.815928 -0.001478 0.578151 
time: 1403638215.445097, t: 2.224165 2.544337 0.687453 q: 0.005180 0.815494 0.002327 0.578738 
time: 1403638215.545097, t: 2.244686 2.386943 0.668348 q: 0.006255 0.815759 0.002926 0.578350 
time: 1403638215.645097, t: 2.264685 2.233523 0.657696 q: 0.005722 0.813759 0.003004 0.581167 
time: 1403638215.745097, t: 2.281970 2.087608 0.653555 q: 0.001536 0.813377 0.000122 0.581735 
time: 1403638215.845097, t: 2.296075 1.944203 0.646380 q: 0.000573 0.813476 -0.005490 0.581572 
time: 1403638215.945097, t: 2.306935 1.805650 0.630780 q: 0.002994 0.813288 -0.010067 0.581766 
time: 1403638216.045097, t: 2.313110 1.668551 0.612031 q: 0.004341 0.813282 -0.014005 0.581685 
time: 1403638216.145097, t: 2.318343 1.534501 0.592598 q: 0.007467 0.813317 -0.015525 0.581565 
time: 1403638216.245097, t: 2.320413 1.404846 0.579555 q: 0.010319 0.812098 -0.016361 0.583200 
time: 1403638216.345097, t: 2.320664 1.280888 0.572494 q: 0.012530 0.811128 -0.017086 0.584485 
time: 1403638216.445097, t: 2.318465 1.161891 0.570688 q: 0.014130 0.809899 -0.017841 0.586128 
time: 1403638216.545097, t: 2.314345 1.047414 0.569821 q: 0.014987 0.810189 -0.018067 0.585698 
time: 1403638216.645097, t: 2.308291 0.938736 0.562693 q: 0.018476 0.811578 -0.016692 0.583713 
time: 1403638216.745097, t: 2.300209 0.833000 0.549313 q: 0.021006 0.812878 -0.014868 0.581865 
time: 1403638216.845097, t: 2.292640 0.732286 0.530561 q: 0.024811 0.809338 -0.016486 0.586587 
time: 1403638216.945097, t: 2.280370 0.635500 0.509299 q: 0.029264 0.806967 -0.023678 0.589396 
time: 1403638217.045097, t: 2.266734 0.543293 0.484781 q: 0.032197 0.807398 -0.037410 0.587939 
time: 1403638217.145097, t: 2.247692 0.455301 0.457936 q: 0.037814 0.809543 -0.053072 0.583432 
time: 1403638217.245097, t: 2.225978 0.370992 0.430130 q: 0.045087 0.811123 -0.064788 0.579525 
time: 1403638217.345097, t: 2.203784 0.290982 0.407766 q: 0.051207 0.811969 -0.072699 0.576887 
time: 1403638217.445097, t: 2.179545 0.215842 0.394828 q: 0.055427 0.812858 -0.078477 0.574484 
time: 1403638217.545097, t: 2.155707 0.144114 0.389968 q: 0.062468 0.813767 -0.079235 0.572366 
time: 1403638217.645097, t: 2.131164 0.076071 0.393019 q: 0.069768 0.814609 -0.076771 0.570658 
time: 1403638217.845097, t: 2.083335 -0.041407 0.418022 q: 0.082575 0.816943 -0.068834 0.566610 
time: 1403638217.945097, t: 2.062258 -0.088389 0.437581 q: 0.084989 0.815605 -0.065818 0.568536 
time: 1403638218.045097, t: 2.044707 -0.129100 0.447483 q: 0.084220 0.813777 -0.064089 0.571459 
optimize pose graph 
time: 1403638218.145097, t: 2.026717 -0.162266 0.453820 q: 0.082298 0.812377 -0.063643 0.573778 
time: 1403638218.245097, t: 2.009846 -0.188145 0.453402 q: 0.080871 0.809665 -0.062175 0.577959 
time: 1403638218.345097, t: 1.995902 -0.205687 0.445929 q: 0.076300 0.805870 -0.062760 0.583792 
time: 1403638218.445097, t: 1.975476 -0.215803 0.448465 q: 0.070089 0.805526 -0.064466 0.584859 
time: 1403638218.545097, t: 1.957662 -0.218657 0.452078 q: 0.067289 0.806364 -0.065078 0.583964 
time: 1403638218.645097, t: 1.930780 -0.217607 0.467780 q: 0.064278 0.808354 -0.066064 0.581436 
time: 1403638218.745097, t: 1.903172 -0.212251 0.481296 q: 0.064533 0.813042 -0.069650 0.574411 
time: 1403638218.845097, t: 1.875769 -0.204340 0.490784 q: 0.068581 0.816335 -0.076799 0.568327 
time: 1403638218.945097, t: 1.851086 -0.193479 0.489708 q: 0.065142 0.816580 -0.088581 0.566663 
time: 1403638219.045097, t: 1.827611 -0.180458 0.485903 q: 0.055694 0.814640 -0.102726 0.568074 
time: 1403638219.145097, t: 1.803266 -0.168725 0.482837 q: 0.053231 0.812170 -0.110426 0.570396 
time: 1403638219.245097, t: 1.780328 -0.160290 0.476134 q: 0.061495 0.808033 -0.108266 0.575829 
time: 1403638219.345097, t: 1.754896 -0.152188 0.468053 q: 0.070078 0.801854 -0.104737 0.584080 
time: 1403638219.445097, t: 1.728776 -0.144176 0.461828 q: 0.074554 0.794333 -0.102607 0.594095 
time: 1403638219.545097, t: 1.698228 -0.133433 0.460182 q: 0.075541 0.792329 -0.102138 0.596722 
time: 1403638219.645097, t: 1.662458 -0.119290 0.462476 q: 0.071700 0.794670 -0.104658 0.593637 
time: 1403638219.745097, t: 1.619216 -0.103283 0.465253 q: 0.065088 0.797329 -0.108927 0.590055 
time: 1403638219.845097, t: 1.571448 -0.087777 0.463511 q: 0.056266 0.800513 -0.114817 0.585517 
time: 1403638219.945097, t: 1.519992 -0.073900 0.458259 q: 0.048262 0.802727 -0.120636 0.582020 
time: 1403638220.045097, t: 1.466985 -0.065130 0.445248 q: 0.043133 0.805117 -0.124180 0.578365 
time: 1403638220.145097, t: 1.409183 -0.062282 0.433794 q: 0.045443 0.807382 -0.122594 0.575360 
optimize pose graph 
time: 1403638220.245097, t: 1.354973 -0.066487 0.425972 q: 0.059248 0.809424 -0.113365 0.573124 
time: 1403638220.345097, t: 1.295597 -0.071318 0.429324 q: 0.071198 0.811414 -0.105208 0.570499 
time: 1403638220.445097, t: 1.234581 -0.074148 0.438905 q: 0.076341 0.812031 -0.102100 0.569520 
time: 1403638220.545097, t: 1.177744 -0.075886 0.451782 q: 0.078070 0.811539 -0.101558 0.570084 
time: 1403638220.645097, t: 1.119092 -0.073903 0.463740 q: 0.079782 0.811191 -0.102043 0.570256 
time: 1403638220.745097, t: 1.063928 -0.072053 0.469706 q: 0.080006 0.811052 -0.103506 0.570158 
time: 1403638220.845097, t: 1.008398 -0.067808 0.468882 q: 0.079269 0.810538 -0.105331 0.570658 
time: 1403638220.945097, t: 0.953401 -0.061500 0.460697 q: 0.078979 0.811210 -0.107204 0.569393 
time: 1403638221.045097, t: 0.899163 -0.054123 0.447330 q: 0.079221 0.811797 -0.107793 0.568411 
time: 1403638221.145097, t: 0.845896 -0.045863 0.429529 q: 0.079815 0.812521 -0.108522 0.567152 
time: 1403638221.245097, t: 0.794257 -0.035588 0.420718 q: 0.079156 0.813930 -0.109653 0.565003 
time: 1403638221.345097, t: 0.743991 -0.024812 0.418052 q: 0.077215 0.815379 -0.111623 0.562792 
time: 1403638221.445097, t: 0.695610 -0.013567 0.419193 q: 0.074618 0.815915 -0.114198 0.561849 
time: 1403638221.545097, t: 0.649107 -0.003512 0.416768 q: 0.072385 0.815783 -0.116240 0.561914 
time: 1403638221.645097, t: 0.605734 0.005323 0.409432 q: 0.072148 0.814703 -0.117067 0.563338 
time: 1403638221.745097, t: 0.565334 0.014085 0.400470 q: 0.070304 0.812063 -0.118751 0.567018 
time: 1403638221.845097, t: 0.528650 0.019757 0.395604 q: 0.069576 0.811072 -0.118471 0.568582 
time: 1403638221.945097, t: 0.487963 0.025238 0.397609 q: 0.073575 0.809809 -0.115020 0.570585 
time: 1403638222.045097, t: 0.448956 0.030570 0.407985 q: 0.076956 0.810151 -0.112479 0.570159 
time: 1403638222.145097, t: 0.409658 0.037783 0.417351 q: 0.078529 0.813331 -0.111454 0.565601 
time: 1403638222.245097, t: 0.371624 0.043013 0.423252 q: 0.078309 0.817017 -0.111979 0.560189 
optimize pose graph 
time: 1403638222.345097, t: 0.336070 0.049100 0.423729 q: 0.077368 0.820412 -0.112803 0.555170 
time: 1403638222.445097, t: 0.305838 0.058773 0.415180 q: 0.076909 0.823053 -0.113587 0.551150 
time: 1403638222.545097, t: 0.276492 0.064021 0.407004 q: 0.076606 0.822689 -0.113679 0.551716 
time: 1403638222.645097, t: 0.251281 0.070647 0.394734 q: 0.076429 0.817088 -0.113638 0.560011 time: 1403638222.745097, t: 0.229940 0.076784 0.380057 q: 0.077123 0.813427 -0.113286 0.565292 
time: 1403638222.845097, t: 0.208800 0.083317 0.363273 q: 0.077907 0.810826 -0.112695 0.569027 
time: 1403638222.945097, t: 0.188704 0.090487 0.346955 q: 0.078283 0.803290 -0.111932 0.579713 
time: 1403638223.045097, t: 0.164693 0.096920 0.330663 q: 0.077593 0.802916 -0.111728 0.580363 
time: 1403638223.145097, t: 0.135742 0.106582 0.321332 q: 0.078169 0.808759 -0.111732 0.572114 
time: 1403638223.245097, t: 0.110099 0.117694 0.314280 q: 0.071931 0.818674 -0.116791 0.557637 
time: 1403638223.345097, t: 0.083921 0.126083 0.312119 q: 0.068931 0.820933 -0.119126 0.554189 
time: 1403638223.445097, t: 0.061461 0.131168 0.311953 q: 0.062431 0.817487 -0.123711 0.559029 
time: 1403638223.545097, t: 0.041914 0.134435 0.304518 q: 0.053936 0.812930 -0.129778 0.565150 
time: 1403638223.645097, t: 0.022207 0.131737 0.295526 q: 0.061250 0.811955 -0.124866 0.566909 
time: 1403638223.745097, t: 0.001673 0.125083 0.285887 q: 0.072747 0.812640 -0.116926 0.566262 
time: 1403638223.845097, t: -0.018464 0.118230 0.274480 q: 0.080261 0.813661 -0.111621 0.564850 
time: 1403638223.945097, t: -0.035798 0.113737 0.260590 q: 0.085389 0.813872 -0.107955 0.564506 
time: 1403638224.045097, t: -0.053940 0.110482 0.244304 q: 0.086692 0.816086 -0.106946 0.561294 
time: 1403638224.145097, t: -0.070277 0.111013 0.226016 q: 0.084288 0.821721 -0.108423 0.553096 
time: 1403638224.245097, t: -0.080644 0.111552 0.208987 q: 0.082441 0.825046 -0.109833 0.548124 
time: 1403638224.345097, t: -0.082837 0.112358 0.197534 q: 0.082610 0.820950 -0.109800 0.554221 
optimize pose graph 
time: 1403638224.445097, t: -0.088204 0.117701 0.186422 q: 0.076563 0.814727 -0.114577 0.563233 
time: 1403638224.545097, t: -0.090836 0.123673 0.176388 q: 0.076710 0.807475 -0.114427 0.573590 
time: 1403638224.645097, t: -0.094327 0.128285 0.165213 q: 0.078207 0.809904 -0.113175 0.570202 
time: 1403638224.745097, t: -0.098682 0.133795 0.153732 q: 0.077262 0.820146 -0.113994 0.555334 
time: 1403638224.845097, t: -0.099565 0.140115 0.146167 q: 0.076356 0.822891 -0.114525 0.551275 
time: 1403638224.945097, t: -0.095124 0.145636 0.146696 q: 0.069336 0.815720 -0.118875 0.561838 
time: 1403638225.045097, t: -0.091910 0.149961 0.149822 q: 0.063040 0.809302 -0.121963 0.571123 
time: 1403638225.145097, t: -0.088698 0.152211 0.153272 q: 0.067417 0.808620 -0.118097 0.572399 
time: 1403638225.245097, t: -0.086488 0.152364 0.157091 q: 0.071670 0.815250 -0.114055 0.563225 
time: 1403638225.345097, t: -0.083839 0.151830 0.162785 q: 0.074490 0.818977 -0.111791 0.557881 
time: 1403638225.445097, t: -0.078784 0.150950 0.166068 q: 0.076324 0.814908 -0.110313 0.563854 
time: 1403638225.545097, t: -0.072994 0.150677 0.162681 q: 0.079145 0.804589 -0.108191 0.578505 
time: 1403638225.645097, t: -0.070044 0.151605 0.152319 q: 0.081475 0.794243 -0.106344 0.592647 
time: 1403638225.745097, t: -0.071935 0.155205 0.130302 q: 0.082280 0.796478 -0.105663 0.589651 
time: 1403638225.845097, t: -0.077983 0.161160 0.098585 q: 0.080802 0.807816 -0.106812 0.574016 
time: 1403638225.945097, t: -0.084416 0.168368 0.061629 q: 0.079242 0.818016 -0.107952 0.559390 
time: 1403638226.045097, t: -0.085977 0.178692 0.034798 q: 0.074705 0.828197 -0.108260 0.544784 
time: 1403638226.145097, t: -0.076789 0.187691 0.046614 q: 0.051625 0.826146 -0.122504 0.547550 
time: 1403638226.245097, t: -0.066937 0.193091 0.038886 q: 0.077835 0.831136 -0.106770 0.540143 
time: 1403638226.345097, t: -0.069832 0.202112 0.035027 q: 0.075576 0.827317 -0.107591 0.546131 
time: 1403638226.445097, t: -0.068408 0.206630 0.026427 q: 0.075819 0.827047 -0.107943 0.546437 
optimize pose graph 
time: 1403638226.545097, t: -0.070970 0.209135 0.025878 q: 0.075672 0.826634 -0.107408 0.547187 
time: 1403638226.645097, t: -0.069045 0.207616 0.024492 q: 0.075488 0.826681 -0.107892 0.547046 
time: 1403638226.745097, t: -0.069068 0.207524 0.024560 q: 0.075098 0.827152 -0.108303 0.546306 
time: 1403638226.845097, t: -0.069082 0.207645 0.024460 q: 0.075293 0.826910 -0.108010 0.546704 
time: 1403638226.945097, t: -0.068872 0.207160 0.024680 q: 0.075771 0.827083 -0.107790 0.546420 
time: 1403638227.045097, t: -0.069077 0.207173 0.024650 q: 0.076200 0.827072 -0.107298 0.546474 
time: 1403638227.145097, t: -0.069104 0.206951 0.024833 q: 0.075980 0.827182 -0.107539 0.546289 
time: 1403638227.245097, t: -0.069198 0.207047 0.024831 q: 0.075699 0.827206 -0.107597 0.546281 
time: 1403638227.345097, t: -0.069157 0.207053 0.024885 q: 0.075267 0.827186 -0.107957 0.546301 
time: 1403638227.445097, t: -0.069191 0.207025 0.024951 q: 0.075276 0.827201 -0.107953 0.546277 
time: 1403638227.545097, t: -0.069218 0.206852 0.025093 q: 0.075392 0.827193 -0.107776 0.546307 
time: 1403638227.745097, t: -0.069285 0.206720 0.025232 q: 0.075437 0.827217 -0.107713 0.546278 
time: 1403638227.845097, t: -0.069223 0.206718 0.025189 q: 0.075345 0.827230 -0.107739 0.546265 
time: 1403638227.945097, t: -0.069250 0.206724 0.025199 q: 0.075177 0.827214 -0.107816 0.546298 
time: 1403638228.045097, t: -0.069006 0.207750 0.024163 q: 0.075150 0.827184 -0.107932 0.546324 
time: 1403638228.145097, t: -0.069391 0.206611 0.025338 q: 0.075149 0.827208 -0.107824 0.546308 
time: 1403638228.245097, t: -0.069387 0.206520 0.025379 q: 0.075180 0.827197 -0.107796 0.546326 
time: 1403638228.345097, t: -0.069339 0.206444 0.025372 q: 0.075171 0.827178 -0.107812 0.546353 
time: 1403638228.445097, t: -0.069396 0.206436 0.025400 q: 0.075158 0.827215 -0.107765 0.546308 
time: 1403638228.545097, t: -0.069414 0.206417 0.025479 q: 0.075080 0.827204 -0.107768 0.546335 
time: 1403638228.645097, t: -0.069466 0.206443 0.025494 q: 0.075092 0.827229 -0.107765 0.546297 
time: 1403638228.745097, t: -0.069474 0.206422 0.025516 q: 0.075046 0.827221 -0.107782 0.546311 
time: 1403638228.845097, t: -0.069505 0.206393 0.025583 q: 0.075037 0.827215 -0.107778 0.546324 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731014168.309431250]: Shutdown request received.[0m
[33m[ WARN] [1731014168.309481691]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731014168.310485366]: Shutdown request received.[0m
[33m[ WARN] [1731014168.310516649]: Reason given for shutdown: [user request][0m
killed
