/SLAM-Hive/slam_hive_results/mapping_results/3342/2340_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1731020212.805500648]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731020212.811815696]: init begins[0m
[31m[ERROR] [1731020212.813208236]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/945de610-9d5b-11ef-8e62-0242ac110002/roslaunch-5d9aef25a3ef-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://5d9aef25a3ef:39765/[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] [1731020214.422667937]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731020214.429815760]: 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] [1731020214.455930162]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731020214.456669319]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731020214.456770656]: 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] [1731020214.457390266]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[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://5d9aef25a3ef:11311/[0m
]2;roscore http://5d9aef25a3ef:11311/
[1msetting /run_id to 945de610-9d5b-11ef-8e62-0242ac110002[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
[1mprocess[rosout-1]: started with pid [192][0m
started core service [/rosout]
[0m[ INFO] [1731020215.633567053]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
MULTIPLE_THREAD is 1
no previous pose graph
[33m[ WARN] [1731020215.635502327]: waiting for image and imu...[0m
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1731020223.049969226]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 327383366.70 
init first imu pose
averge acc 9.439445 -0.460368 -3.138128
init R0 
  0.318508   0.137589   0.937882
         0   -0.98941   0.145148
   0.94792 -0.0462307  -0.315135
[33m[ WARN] [1731020227.029113981]: gyroscope bias initial calibration -0.00582878   0.0243179   0.0801026[0m
[0m[ INFO] [1731020227.282083548]: Initialization finish![0m
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time: 1403636868.701667, t: -0.119225 -0.087114 0.247292 q: -0.040059 0.930389 0.026446 0.363418 
optimize pose graph 
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time: 1403636875.901666, t: -0.203858 -0.068686 0.169502 q: -0.019644 0.914643 -0.137061 0.379812 
time: 1403636876.001667, t: -0.235827 -0.106719 0.171161 q: -0.004730 0.912147 -0.159471 0.377537 
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time: 1403636876.501667, t: -0.209490 -0.360554 0.180392 q: 0.065027 0.894265 -0.235546 0.374940 
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time: 1403636876.701667, t: -0.107465 -0.445738 0.185950 q: 0.077119 0.889639 -0.216491 0.394622 
optimize pose graph 
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time: 1403636876.901666, t: 0.010707 -0.462845 0.192203 q: 0.064425 0.893502 -0.169089 0.410991 
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time: 1403636877.201667, t: 0.150903 -0.337121 0.190835 q: 0.003493 0.900275 -0.061589 0.430930 
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time: 1403636879.301666, t: 0.047978 -0.471538 0.200253 q: 0.028786 0.897840 -0.120591 0.422507 
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time: 1403636879.801666, t: 0.136118 -0.256038 0.229745 q: -0.045335 0.900681 -0.007270 0.432048 
time: 1403636879.901666, t: 0.115432 -0.201105 0.231622 q: -0.056789 0.904121 0.006825 0.423432 
time: 1403636880.001667, t: 0.081988 -0.157381 0.232948 q: -0.063358 0.907927 0.015021 0.414039 
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time: 1403636880.101666, t: 0.041129 -0.133528 0.233954 q: -0.065622 0.910606 0.019193 0.407580 
time: 1403636880.201667, t: -0.002840 -0.132887 0.235626 q: -0.060777 0.911322 0.014936 0.406909 
wait for imu ... 
time: 1403636880.301666, t: -0.048239 -0.150017 0.237617 q: -0.047644 0.910032 -0.001082 0.411790 
time: 1403636880.501667, t: -0.140103 -0.198036 0.248636 q: -0.009258 0.905216 -0.044273 0.422538 
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time: 1403636880.601666, t: -0.187565 -0.208696 0.257662 q: 0.006666 0.904529 -0.062466 0.421759 
time: 1403636880.701667, t: -0.233181 -0.203257 0.264527 q: 0.013688 0.907071 -0.073865 0.414220 
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time: 1403636880.901666, t: -0.296769 -0.151318 0.271807 q: 0.003904 0.911257 -0.074497 0.405026 
time: 1403636881.001667, t: -0.306905 -0.115259 0.273641 q: -0.004883 0.908576 -0.063681 0.412808 
time: 1403636881.101666, t: -0.302636 -0.077867 0.275850 q: -0.012819 0.903920 -0.047074 0.424910 
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time: 1403636881.901666, t: 0.020641 -0.111156 0.271290 q: -0.034877 0.890846 0.052173 0.449949 
time: 1403636882.001667, t: 0.053364 -0.159383 0.262705 q: -0.031957 0.892507 0.039785 0.448138 
time: 1403636882.101666, t: 0.071958 -0.208111 0.251962 q: -0.028379 0.892427 0.027535 0.449456 
time: 1403636882.201667, t: 0.074601 -0.251424 0.238734 q: -0.022398 0.891175 0.017543 0.452766 
time: 1403636882.301666, t: 0.063789 -0.282528 0.224125 q: -0.016197 0.888649 0.010518 0.458180 
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time: 1403636882.701667, t: 0.021951 -0.258889 0.169093 q: -0.051492 0.870698 0.029352 0.488234 
optimize pose graph 
time: 1403636882.801666, t: 0.037546 -0.236914 0.155812 q: -0.069871 0.853881 0.045997 0.513702 
time: 1403636882.901666, t: 0.057512 -0.215970 0.136683 q: -0.087274 0.838026 0.065253 0.534638 
time: 1403636883.001667, t: 0.076570 -0.196118 0.113213 q: -0.105169 0.830591 0.084377 0.540314 
time: 1403636883.101666, t: 0.094280 -0.178613 0.089164 q: -0.117216 0.827824 0.102745 0.538898 
time: 1403636883.201667, t: 0.110840 -0.163635 0.066888 q: -0.119812 0.821952 0.117606 0.544250 
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time: 1403636883.801666, t: 0.152453 -0.129355 0.005413 q: -0.144524 0.794216 0.154792 0.569537 
time: 1403636883.901666, t: 0.154569 -0.128696 0.001146 q: -0.152160 0.792980 0.155505 0.569077 
time: 1403636884.001667, t: 0.156335 -0.128401 -0.000953 q: -0.153643 0.790159 0.158574 0.571749 
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time: 1403636884.301666, t: 0.155598 -0.129975 -0.001548 q: -0.156466 0.779708 0.161287 0.584431 
time: 1403636884.401666, t: 0.155114 -0.129701 -0.001505 q: -0.157504 0.779336 0.160657 0.584822 
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time: 1403636884.601666, t: 0.155038 -0.129837 -0.001288 q: -0.156719 0.779244 0.160932 0.585081 
time: 1403636884.701667, t: 0.155157 -0.129885 -0.001366 q: -0.156576 0.779495 0.160846 0.584808 
optimize pose graph 
time: 1403636884.801666, t: 0.155205 -0.129959 -0.001360 q: -0.156276 0.779538 0.160840 0.584833 
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time: 1403636885.401666, t: 0.155145 -0.129980 -0.001335 q: -0.156044 0.779789 0.160382 0.584685 
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optimize pose graph 
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time: 1403636902.801666, t: 1.271503 -1.125437 0.288891 q: -0.057818 0.813040 0.084937 0.573069 
optimize pose graph 
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time: 1403636904.201667, t: 1.703883 -1.555610 0.421456 q: -0.085907 0.816217 0.082831 0.565286 
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time: 1403636904.401666, t: 1.780898 -1.625849 0.470218 q: -0.083684 0.814194 0.081777 0.568680 
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time: 1403636904.601666, t: 1.858158 -1.706051 0.503000 q: -0.076579 0.813538 0.083987 0.570296 
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optimize pose graph 
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wait for imu ... 
wait for imu ... 
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time: 1403636985.701667, t: 8.575435 -7.093584 -1.514550 q: 0.195612 0.779030 -0.248224 0.541510 
time: 1403636985.801666, t: 8.669463 -7.110152 -1.502908 q: 0.195268 0.778189 -0.241664 0.545793 
time: 1403636985.901666, t: 8.763481 -7.122266 -1.488899 q: 0.196897 0.768977 -0.234898 0.561008 
time: 1403636986.101666, t: 8.939507 -7.122660 -1.483006 q: 0.199972 0.757874 -0.226534 0.578205 
time: 1403636986.201667, t: 9.019196 -7.110727 -1.495279 q: 0.195169 0.766080 -0.229504 0.567767 
time: 1403636986.301666, t: 9.092718 -7.091895 -1.511182 q: 0.191127 0.775518 -0.232637 0.554907 
time: 1403636986.401666, t: 9.167021 -7.068518 -1.529702 q: 0.186930 0.780212 -0.235521 0.548504 
time: 1403636986.501667, t: 9.241909 -7.040368 -1.548039 q: 0.179358 0.781181 -0.240511 0.547487 
time: 1403636986.601666, t: 9.316694 -7.008967 -1.559062 q: 0.172551 0.780231 -0.244781 0.549133 
time: 1403636986.701667, t: 9.388808 -6.977415 -1.558731 q: 0.167545 0.779643 -0.248065 0.550045 
time: 1403636986.801666, t: 9.460649 -6.947915 -1.549404 q: 0.162022 0.778576 -0.251528 0.551636 
optimize pose graph 
time: 1403636986.901666, t: 9.529675 -6.918888 -1.529973 q: 0.161024 0.777390 -0.252598 0.553109 
time: 1403636987.001667, t: 9.594186 -6.891802 -1.501099 q: 0.163733 0.776838 -0.251419 0.553628 
time: 1403636987.101666, t: 9.654259 -6.865857 -1.468941 q: 0.169426 0.776455 -0.249065 0.553515 
time: 1403636987.201667, t: 9.713573 -6.838981 -1.439448 q: 0.172468 0.775334 -0.248874 0.554233 
time: 1403636987.301666, t: 9.768699 -6.812472 -1.416997 q: 0.173878 0.773574 -0.249801 0.555832 
time: 1403636987.401666, t: 9.823757 -6.783999 -1.400519 q: 0.173671 0.772249 -0.249176 0.558015 
time: 1403636987.501667, t: 9.875866 -6.756189 -1.389080 q: 0.174881 0.770453 -0.243666 0.562536 
time: 1403636987.601666, t: 9.926603 -6.724070 -1.382685 q: 0.177666 0.768236 -0.237764 0.567200 
time: 1403636987.701667, t: 9.971234 -6.689197 -1.380649 q: 0.177703 0.767403 -0.234369 0.569723 
time: 1403636987.801666, t: 10.011445 -6.650844 -1.375931 q: 0.175045 0.767545 -0.232701 0.571037 
time: 1403636987.901666, t: 10.046246 -6.609532 -1.361834 q: 0.169864 0.768451 -0.233673 0.570987 
time: 1403636988.001667, t: 10.076159 -6.565749 -1.344324 q: 0.160780 0.770621 -0.238015 0.568896 
time: 1403636988.101666, t: 10.102859 -6.520065 -1.328362 q: 0.151905 0.773118 -0.244047 0.565380 
time: 1403636988.201667, t: 10.124146 -6.476716 -1.316599 q: 0.146083 0.773966 -0.248668 0.563739 
time: 1403636988.301666, t: 10.140412 -6.436375 -1.309196 q: 0.143302 0.770193 -0.251526 0.568333 
time: 1403636988.401666, t: 10.150418 -6.402090 -1.298216 q: 0.144442 0.763740 -0.251463 0.576718 
time: 1403636988.501667, t: 10.153065 -6.367352 -1.279672 q: 0.148011 0.759609 -0.249160 0.582242 
time: 1403636988.601666, t: 10.144776 -6.333931 -1.255203 q: 0.148637 0.757367 -0.248456 0.585296 
time: 1403636988.701667, t: 10.127798 -6.303176 -1.231910 q: 0.148359 0.756309 -0.248588 0.586677 
time: 1403636988.801666, t: 10.100943 -6.274145 -1.213533 q: 0.149592 0.754636 -0.247489 0.588978 
time: 1403636988.901666, t: 10.066439 -6.245919 -1.201773 q: 0.149074 0.752094 -0.247626 0.592295 
time: 1403636989.001667, t: 10.019948 -6.217981 -1.195017 q: 0.148320 0.749467 -0.248288 0.595527 
optimize pose graph 
time: 1403636989.101666, t: 9.963036 -6.191514 -1.192927 q: 0.147789 0.747675 -0.249209 0.597525 
time: 1403636989.201667, t: 9.894077 -6.165534 -1.193536 q: 0.147814 0.747642 -0.250006 0.597227 
time: 1403636989.301666, t: 9.814613 -6.140799 -1.191311 q: 0.153540 0.753913 -0.247857 0.588734 
time: 1403636989.401666, t: 9.727847 -6.116537 -1.181830 q: 0.159935 0.763831 -0.245330 0.575149 
time: 1403636989.501667, t: 9.634915 -6.092588 -1.165687 q: 0.161587 0.771507 -0.245400 0.564310 
time: 1403636989.601666, t: 9.538838 -6.068331 -1.144088 q: 0.164379 0.775238 -0.244221 0.558875 
time: 1403636989.701667, t: 9.441601 -6.043899 -1.124607 q: 0.168828 0.778213 -0.241453 0.554601 
time: 1403636989.801666, t: 9.344914 -6.017052 -1.110947 q: 0.170696 0.779516 -0.240436 0.552637 
time: 1403636989.901666, t: 9.251957 -5.990918 -1.100153 q: 0.170243 0.777999 -0.240541 0.554864 
time: 1403636990.001667, t: 9.155882 -5.962304 -1.094495 q: 0.170263 0.773149 -0.240440 0.561640 
time: 1403636990.101666, t: 9.061486 -5.934049 -1.086311 q: 0.171370 0.769129 -0.239427 0.567228 
time: 1403636990.201667, t: 8.962370 -5.902759 -1.072244 q: 0.172731 0.768901 -0.238165 0.567656 
time: 1403636990.301666, t: 8.863469 -5.870143 -1.051948 q: 0.173017 0.772403 -0.236913 0.563321 
time: 1403636990.401666, t: 8.761195 -5.832769 -1.026801 q: 0.173103 0.775806 -0.235559 0.559171 
time: 1403636990.501667, t: 8.661277 -5.795162 -1.004110 q: 0.169761 0.778694 -0.235817 0.556064 
time: 1403636990.601666, t: 8.561546 -5.755456 -0.988707 q: 0.168312 0.780403 -0.235049 0.554432 
time: 1403636990.701667, t: 8.464261 -5.716101 -0.977627 q: 0.167481 0.782686 -0.233899 0.551945 
time: 1403636990.801666, t: 8.367548 -5.675546 -0.975242 q: 0.167500 0.783959 -0.232476 0.550733 
time: 1403636990.901666, t: 8.272550 -5.634106 -0.978960 q: 0.166603 0.784311 -0.232019 0.550697 
time: 1403636991.001667, t: 8.180071 -5.594146 -0.987351 q: 0.167121 0.784400 -0.231262 0.550731 
time: 1403636991.101666, t: 8.089145 -5.553362 -0.998706 q: 0.167976 0.783948 -0.230960 0.551242 
optimize pose graph 
time: 1403636991.201667, t: 8.002421 -5.513042 -1.011039 q: 0.169175 0.784073 -0.231128 0.550626 
time: 1403636991.301666, t: 7.913806 -5.470183 -1.018674 q: 0.168980 0.784427 -0.231959 0.549832 
time: 1403636991.401666, t: 7.829714 -5.427512 -1.017007 q: 0.168987 0.784967 -0.233298 0.548491 
time: 1403636991.501667, t: 7.745587 -5.381822 -1.004779 q: 0.170203 0.785224 -0.234270 0.547332 
time: 1403636991.701667, t: 7.592810 -5.298593 -0.959630 q: 0.162131 0.782972 -0.244580 0.548498 
time: 1403636991.801666, t: 7.522208 -5.260396 -0.931268 q: 0.157380 0.781436 -0.251002 0.549169 
time: 1403636991.901666, t: 7.444147 -5.222005 -0.903633 q: 0.154689 0.780559 -0.255986 0.548881 
time: 1403636992.001667, t: 7.371921 -5.189042 -0.883753 q: 0.157364 0.780256 -0.257115 0.548022 
time: 1403636992.101666, t: 7.295476 -5.157234 -0.867921 q: 0.166769 0.778823 -0.253233 0.549087 
time: 1403636992.201667, t: 7.224132 -5.131428 -0.864642 q: 0.173583 0.775799 -0.250363 0.552560 
time: 1403636992.301666, t: 7.150430 -5.104645 -0.859611 q: 0.177045 0.774776 -0.249664 0.553214 
time: 1403636992.401666, t: 7.080528 -5.077381 -0.862023 q: 0.178658 0.776783 -0.250756 0.549373 
time: 1403636992.501667, t: 7.007610 -5.047472 -0.860654 q: 0.179163 0.779641 -0.252823 0.544189 
time: 1403636992.601666, t: 6.941771 -5.016941 -0.854882 q: 0.181057 0.781131 -0.254008 0.540864 
time: 1403636992.701667, t: 6.877590 -4.986070 -0.840382 q: 0.182525 0.781464 -0.255347 0.539255 
time: 1403636992.801666, t: 6.813533 -4.954482 -0.824440 q: 0.184365 0.782047 -0.256206 0.537374 
time: 1403636992.901666, t: 6.754763 -4.922645 -0.817646 q: 0.187505 0.781603 -0.256233 0.536920 
time: 1403636993.001667, t: 6.698822 -4.891044 -0.813445 q: 0.189399 0.779760 -0.256685 0.538716 
time: 1403636993.101666, t: 6.648347 -4.859046 -0.816893 q: 0.186844 0.775726 -0.258628 0.544472 
time: 1403636993.201667, t: 6.597499 -4.824839 -0.815222 q: 0.179675 0.773875 -0.256083 0.550686 
optimize pose graph 
time: 1403636993.301666, t: 6.548362 -4.789079 -0.806641 q: 0.171259 0.775308 -0.247559 0.555231 
time: 1403636993.401666, t: 6.502642 -4.753139 -0.792417 q: 0.161273 0.778247 -0.234412 0.559798 
time: 1403636993.501667, t: 6.455759 -4.715159 -0.769356 q: 0.149597 0.782540 -0.218603 0.563440 
time: 1403636993.601666, t: 6.406880 -4.677877 -0.739779 q: 0.138211 0.787445 -0.201574 0.565859 
time: 1403636993.701667, t: 6.357827 -4.641150 -0.711282 q: 0.128065 0.792493 -0.188303 0.565770 
time: 1403636993.801666, t: 6.307829 -4.603890 -0.689180 q: 0.121609 0.796129 -0.178555 0.565251 
time: 1403636993.901666, t: 6.258046 -4.566483 -0.673957 q: 0.119133 0.798286 -0.170114 0.565339 
time: 1403636994.001667, t: 6.207084 -4.529759 -0.662999 q: 0.117116 0.796353 -0.164869 0.570021 
time: 1403636994.101666, t: 6.154904 -4.491793 -0.656940 q: 0.119200 0.791696 -0.159792 0.577474 
time: 1403636994.201667, t: 6.101046 -4.452886 -0.654133 q: 0.120528 0.786787 -0.156464 0.584772 
time: 1403636994.301666, t: 6.043023 -4.411379 -0.656556 q: 0.121194 0.782256 -0.155191 0.591019 
time: 1403636994.401666, t: 5.981582 -4.366207 -0.661409 q: 0.122414 0.779741 -0.154247 0.594329 
time: 1403636994.501667, t: 5.914296 -4.315546 -0.668263 q: 0.122532 0.780364 -0.154908 0.593314 
time: 1403636994.601666, t: 5.841282 -4.263659 -0.669349 q: 0.118183 0.783589 -0.158398 0.589009 
time: 1403636994.701667, t: 5.765529 -4.207412 -0.664986 q: 0.111268 0.788944 -0.164357 0.581527 
time: 1403636994.801666, t: 5.686903 -4.151284 -0.654378 q: 0.101594 0.794268 -0.172353 0.573683 
time: 1403636994.901666, t: 5.607008 -4.097338 -0.641453 q: 0.094409 0.796084 -0.178538 0.570493 
time: 1403636995.001667, t: 5.525366 -4.046681 -0.633357 q: 0.094445 0.794361 -0.179432 0.572604 
time: 1403636995.101666, t: 5.441872 -3.999671 -0.629703 q: 0.101571 0.791320 -0.174184 0.577196 
time: 1403636995.201667, t: 5.358069 -3.954056 -0.625469 q: 0.107739 0.788719 -0.168956 0.581178 
time: 1403636995.301666, t: 5.270641 -3.909229 -0.615012 q: 0.111131 0.787351 -0.165256 0.583454 
time: 1403636995.401666, t: 5.180662 -3.863221 -0.598140 q: 0.112913 0.789802 -0.162148 0.580664 
optimize pose graph 
time: 1403636995.501667, t: 5.087843 -3.816167 -0.574945 q: 0.111920 0.794457 -0.161728 0.574591 
time: 1403636995.601666, t: 4.992582 -3.767687 -0.545005 q: 0.111002 0.796236 -0.161553 0.572353 
time: 1403636995.701667, t: 4.898566 -3.720291 -0.515948 q: 0.108666 0.796238 -0.163138 0.572348 
time: 1403636995.801666, t: 4.803586 -3.671123 -0.491684 q: 0.103997 0.796195 -0.166888 0.572195 
time: 1403636995.901666, t: 4.709202 -3.626593 -0.476858 q: 0.096521 0.797272 -0.172462 0.570349 
time: 1403636996.001667, t: 4.613524 -3.583064 -0.465797 q: 0.092899 0.798312 -0.175797 0.568474 
time: 1403636996.101666, t: 4.521175 -3.544727 -0.459266 q: 0.097994 0.800281 -0.172684 0.565799 
time: 1403636996.201667, t: 4.425564 -3.508030 -0.451741 q: 0.103373 0.801502 -0.169151 0.564177 
time: 1403636996.301666, t: 4.335740 -3.474940 -0.439375 q: 0.107182 0.802281 -0.165625 0.563405 
time: 1403636996.401666, t: 4.244669 -3.442391 -0.419002 q: 0.104878 0.803358 -0.161006 0.563644 
time: 1403636996.501667, t: 4.158999 -3.409639 -0.390170 q: 0.100596 0.805237 -0.151717 0.564318 
time: 1403636996.601666, t: 4.072948 -3.375204 -0.355351 q: 0.093693 0.808068 -0.138822 0.564780 
time: 1403636996.701667, t: 3.991478 -3.341078 -0.323439 q: 0.083771 0.811505 -0.122739 0.565134 
time: 1403636996.801666, t: 3.910759 -3.306815 -0.307501 q: 0.071191 0.814943 -0.104954 0.565494 
time: 1403636996.901666, t: 3.830915 -3.272684 -0.304070 q: 0.055631 0.817900 -0.086759 0.566054 
time: 1403636997.001667, t: 3.755040 -3.238782 -0.306329 q: 0.040436 0.820339 -0.067223 0.566471 
time: 1403636997.101666, t: 3.681646 -3.205146 -0.313600 q: 0.027083 0.822397 -0.049298 0.566127 
time: 1403636997.201667, t: 3.611812 -3.174216 -0.325701 q: 0.017036 0.823920 -0.036275 0.565287 
time: 1403636997.301666, t: 3.545432 -3.145795 -0.340617 q: 0.011223 0.824805 -0.026404 0.564689 
time: 1403636997.401666, t: 3.481891 -3.119214 -0.349910 q: 0.008381 0.825574 -0.020186 0.563871 
time: 1403636997.501667, t: 3.423642 -3.094644 -0.350735 q: 0.007357 0.825336 -0.017253 0.564331 
optimize pose graph 
time: 1403636997.601666, t: 3.371193 -3.069718 -0.343737 q: 0.007218 0.826130 -0.017088 0.563174 
time: 1403636997.701667, t: 3.320335 -3.045692 -0.329627 q: 0.008948 0.826512 -0.017323 0.562581 
time: 1403636997.801666, t: 3.274456 -3.022104 -0.308067 q: 0.011848 0.827600 -0.018146 0.560900 
time: 1403636997.901666, t: 3.237825 -2.998773 -0.279742 q: 0.014069 0.827844 -0.019776 0.560434 
time: 1403636998.001667, t: 3.199976 -2.976706 -0.243761 q: 0.015078 0.827742 -0.021924 0.560477 
time: 1403636998.101666, t: 3.167802 -2.953547 -0.202961 q: 0.016018 0.827884 -0.024089 0.560153 
time: 1403636998.201667, t: 3.142688 -2.932177 -0.162645 q: 0.015135 0.826570 -0.027175 0.561974 
time: 1403636998.301666, t: 3.118561 -2.911031 -0.129110 q: 0.016190 0.827055 -0.028623 0.561158 
time: 1403636998.401666, t: 3.098269 -2.890149 -0.102260 q: 0.016004 0.826688 -0.030211 0.561621 
time: 1403636998.501667, t: 3.082010 -2.871044 -0.077938 q: 0.015499 0.826404 -0.032067 0.561950 
time: 1403636998.601666, t: 3.066944 -2.853083 -0.047165 q: 0.017039 0.823170 -0.031819 0.566646 
time: 1403636998.701667, t: 3.056088 -2.836114 -0.009128 q: 0.020449 0.815024 -0.030182 0.578279 
time: 1403636998.801666, t: 3.043771 -2.820888 0.033750 q: 0.023541 0.809915 -0.028936 0.585360 
time: 1403636998.901666, t: 3.030154 -2.804575 0.075254 q: 0.029048 0.808407 -0.025520 0.587352 
time: 1403636999.001667, t: 3.013957 -2.786207 0.108207 q: 0.032761 0.808800 -0.023664 0.586693 
time: 1403636999.101666, t: 2.994092 -2.764536 0.134658 q: 0.035553 0.809011 -0.022195 0.586298 
time: 1403636999.201667, t: 2.974066 -2.739634 0.154629 q: 0.037090 0.810691 -0.021910 0.583887 
time: 1403636999.301666, t: 2.953722 -2.712107 0.169109 q: 0.035815 0.812402 -0.023346 0.581528 
time: 1403636999.401666, t: 2.929984 -2.681453 0.177881 q: 0.031077 0.812943 -0.027121 0.580880 
time: 1403636999.501667, t: 2.906362 -2.649425 0.181628 q: 0.028158 0.812592 -0.029419 0.581409 
time: 1403636999.601666, t: 2.882746 -2.616945 0.181937 q: 0.026528 0.810428 -0.031001 0.584415 
time: 1403636999.701667, t: 2.854701 -2.583475 0.178929 q: 0.025999 0.808529 -0.031978 0.587011 
optimize pose graph 
time: 1403636999.801666, t: 2.824593 -2.549694 0.173536 q: 0.026022 0.808118 -0.032821 0.587529 
time: 1403636999.901666, t: 2.790572 -2.515997 0.167266 q: 0.027624 0.808335 -0.032024 0.587202 
time: 1403637000.001667, t: 2.755791 -2.480834 0.160318 q: 0.031779 0.808261 -0.029514 0.587225 
time: 1403637000.101666, t: 2.716821 -2.444102 0.160039 q: 0.033927 0.809250 -0.027746 0.585827 
time: 1403637000.201667, t: 2.676951 -2.404985 0.168349 q: 0.033102 0.810989 -0.027881 0.583459 
time: 1403637000.301666, t: 2.636896 -2.362875 0.177396 q: 0.031870 0.812407 -0.028788 0.581507 
time: 1403637000.401666, t: 2.596286 -2.319997 0.185409 q: 0.029743 0.811863 -0.030154 0.582310 
time: 1403637000.501667, t: 2.552980 -2.275617 0.187131 q: 0.031815 0.811827 -0.028878 0.582315 
time: 1403637000.601666, t: 2.509726 -2.231110 0.189916 q: 0.032533 0.811999 -0.028511 0.582053 
wait for imu ... 
wait for imu ... 
time: 1403637000.701667, t: 2.463523 -2.183959 0.196819 q: 0.030415 0.811053 -0.030125 0.583404 
time: 1403637000.801666, t: 2.417253 -2.135419 0.212343 q: 0.030397 0.810436 -0.030721 0.584230 
time: 1403637000.901666, t: 2.370783 -2.084860 0.229553 q: 0.029956 0.810535 -0.031751 0.584062 
time: 1403637001.001667, t: 2.321921 -2.035574 0.239023 q: 0.030199 0.810221 -0.032641 0.584435 
time: 1403637001.101666, t: 2.270090 -1.985538 0.242892 q: 0.029914 0.810029 -0.033408 0.584672 
time: 1403637001.201667, t: 2.216020 -1.934677 0.245604 q: 0.029066 0.809371 -0.034650 0.585554 
time: 1403637001.301666, t: 2.159010 -1.885068 0.252395 q: 0.028156 0.809516 -0.035562 0.585343 
time: 1403637001.401666, t: 2.100025 -1.835258 0.267253 q: 0.025784 0.810817 -0.037622 0.583520 
time: 1403637001.501667, t: 2.037373 -1.788355 0.289349 q: 0.025764 0.813827 -0.038667 0.579247 
time: 1403637001.601666, t: 1.976932 -1.740594 0.309024 q: 0.026096 0.815294 -0.039744 0.577092 
time: 1403637001.701667, t: 1.912681 -1.694587 0.327465 q: 0.026471 0.815448 -0.040326 0.576817 
time: 1403637001.801666, t: 1.852437 -1.648748 0.337593 q: 0.025878 0.814566 -0.041707 0.577991 
time: 1403637001.901666, t: 1.791422 -1.603765 0.340925 q: 0.026860 0.816088 -0.041692 0.575795 
time: 1403637002.001667, t: 1.732165 -1.557902 0.339204 q: 0.027509 0.816993 -0.041596 0.574488 
time: 1403637002.101666, t: 1.672344 -1.514060 0.333878 q: 0.027881 0.817629 -0.041836 0.573546 
time: 1403637002.201667, t: 1.615924 -1.470821 0.322772 q: 0.027673 0.817817 -0.041897 0.573283 
time: 1403637002.301666, t: 1.558517 -1.428608 0.308812 q: 0.029077 0.817818 -0.041096 0.573271 
time: 1403637002.401666, t: 1.500236 -1.386072 0.299255 q: 0.031114 0.818311 -0.039384 0.572580 
time: 1403637002.501667, t: 1.445828 -1.343734 0.297549 q: 0.032744 0.817777 -0.038173 0.573334 
time: 1403637002.601666, t: 1.391666 -1.301529 0.305276 q: 0.035385 0.817418 -0.036233 0.573814 
time: 1403637002.701667, t: 1.335539 -1.258184 0.320213 q: 0.036657 0.817719 -0.036035 0.573318 
time: 1403637002.801666, t: 1.282304 -1.213482 0.333247 q: 0.036824 0.817466 -0.037012 0.573606 
time: 1403637002.901666, t: 1.228542 -1.167845 0.340803 q: 0.033777 0.816895 -0.040444 0.574374 
time: 1403637003.001667, t: 1.173924 -1.125931 0.340615 q: 0.033251 0.817104 -0.041781 0.574012 
time: 1403637003.101666, t: 1.122784 -1.079905 0.335575 q: 0.033139 0.817408 -0.043579 0.573451 
time: 1403637003.201667, t: 1.071475 -1.033062 0.325907 q: 0.033932 0.816952 -0.044703 0.573969 
time: 1403637003.301666, t: 1.022075 -0.990664 0.314124 q: 0.033887 0.815879 -0.046018 0.575392 
time: 1403637003.401666, t: 0.972283 -0.945203 0.306563 q: 0.033741 0.814551 -0.047086 0.577192 
time: 1403637003.501667, t: 0.924059 -0.900363 0.307962 q: 0.033230 0.813321 -0.048676 0.578822 
time: 1403637003.601666, t: 0.873229 -0.857834 0.316305 q: 0.032541 0.813618 -0.049637 0.578363 
time: 1403637003.701667, t: 0.821863 -0.814016 0.329267 q: 0.032384 0.813774 -0.050429 0.578083 
time: 1403637003.801666, t: 0.764926 -0.771930 0.338692 q: 0.030740 0.814222 -0.050545 0.577532 
optimize pose graph 
time: 1403637003.901666, t: 0.716767 -0.729840 0.343032 q: 0.032147 0.816058 -0.048400 0.575042 
time: 1403637004.001667, t: 0.663406 -0.689718 0.340616 q: 0.032677 0.818713 -0.045673 0.571450 
time: 1403637004.101666, t: 0.616421 -0.653178 0.333594 q: 0.033233 0.820883 -0.043290 0.568483 
time: 1403637004.201667, t: 0.567219 -0.614227 0.321686 q: 0.033559 0.822130 -0.041284 0.566809 
time: 1403637004.301666, t: 0.524375 -0.574655 0.316620 q: 0.031311 0.822304 -0.040869 0.566715 
time: 1403637004.401666, t: 0.479696 -0.538528 0.318952 q: 0.028817 0.821141 -0.042402 0.568418 
time: 1403637004.501667, t: 0.441498 -0.499516 0.333242 q: 0.028755 0.816802 -0.043858 0.574529 
time: 1403637004.601666, t: 0.398544 -0.462197 0.357951 q: 0.028301 0.814348 -0.046831 0.577792 
time: 1403637004.701667, t: 0.358787 -0.424141 0.385293 q: 0.020141 0.813744 -0.055870 0.578182 
time: 1403637004.801666, t: 0.315638 -0.388030 0.405646 q: 0.013581 0.813232 -0.063762 0.578277 
time: 1403637004.901666, t: 0.274788 -0.355557 0.410693 q: 0.012130 0.815952 -0.067703 0.574014 
time: 1403637005.001667, t: 0.234176 -0.328649 0.400377 q: 0.015630 0.820183 -0.067587 0.567879 
time: 1403637005.101666, t: 0.195797 -0.307935 0.384031 q: 0.023716 0.820110 -0.063608 0.568165 
time: 1403637005.201667, t: 0.160794 -0.289324 0.366173 q: 0.030747 0.819012 -0.059807 0.569822 
time: 1403637005.301666, t: 0.126949 -0.272439 0.344732 q: 0.034292 0.820968 -0.057508 0.567035 
time: 1403637005.401666, t: 0.092927 -0.257917 0.319998 q: 0.035029 0.821936 -0.055681 0.565768 
time: 1403637005.501667, t: 0.055280 -0.241685 0.298384 q: 0.036346 0.818957 -0.051712 0.570363 
time: 1403637005.601666, t: 0.026468 -0.223444 0.282819 q: 0.034348 0.818160 -0.050591 0.571729 
time: 1403637005.701667, t: -0.006350 -0.207098 0.276688 q: 0.027703 0.822313 -0.052905 0.565893 
time: 1403637005.801666, t: -0.033038 -0.190983 0.282524 q: 0.024541 0.823961 -0.053848 0.563547 
time: 1403637005.901666, t: -0.056595 -0.175515 0.295393 q: 0.027922 0.822375 -0.050435 0.566017 
time: 1403637006.001667, t: -0.077819 -0.161111 0.305238 q: 0.030485 0.819922 -0.048386 0.569612 
time: 1403637006.101666, t: -0.098043 -0.145961 0.311384 q: 0.028701 0.818003 -0.049537 0.572358 
time: 1403637006.201667, t: -0.116860 -0.131804 0.315332 q: 0.027735 0.818012 -0.049849 0.572365 
time: 1403637006.301666, t: -0.136511 -0.116760 0.317361 q: 0.025141 0.822225 -0.051674 0.566255 
time: 1403637006.401666, t: -0.152886 -0.104054 0.316142 q: 0.022744 0.828666 -0.053018 0.556762 
time: 1403637006.501667, t: -0.164962 -0.093250 0.314258 q: 0.016591 0.831306 -0.057050 0.552631 
time: 1403637006.601666, t: -0.171957 -0.085830 0.312562 q: 0.012844 0.826897 -0.054862 0.559523 
time: 1403637006.701667, t: -0.176849 -0.080223 0.310008 q: 0.011010 0.822194 -0.044343 0.567370 
time: 1403637006.801666, t: -0.179738 -0.076400 0.303946 q: 0.005185 0.818220 -0.030399 0.574078 
time: 1403637006.901666, t: -0.182234 -0.073680 0.295110 q: -0.006548 0.818436 -0.014464 0.574378 
time: 1403637007.001667, t: -0.184689 -0.072013 0.285755 q: -0.016404 0.819817 0.007582 0.572341 
time: 1403637007.201667, t: -0.189541 -0.072650 0.266754 q: -0.030971 0.816399 0.040988 0.575199 
time: 1403637007.301666, t: -0.191781 -0.074013 0.257820 q: -0.032357 0.811234 0.052756 0.581438 
time: 1403637007.401666, t: -0.197313 -0.074213 0.248354 q: -0.033325 0.807813 0.059603 0.585470 
time: 1403637007.501667, t: -0.206265 -0.072970 0.237214 q: -0.035312 0.809189 0.062284 0.583169 
time: 1403637007.601666, t: -0.217186 -0.070522 0.224402 q: -0.036596 0.813759 0.062709 0.576649 
time: 1403637007.701667, t: -0.229773 -0.066420 0.209996 q: -0.036371 0.821976 0.062078 0.564960 
time: 1403637007.801666, t: -0.240463 -0.060793 0.197634 q: -0.034397 0.825616 0.061731 0.559790 
time: 1403637007.901666, t: -0.248253 -0.052867 0.188516 q: -0.037949 0.820798 0.057169 0.567083 
time: 1403637008.001667, t: -0.254670 -0.044062 0.180735 q: -0.044009 0.814366 0.050375 0.576484 
time: 1403637008.101666, t: -0.263329 -0.036728 0.172910 q: -0.040596 0.816128 0.049517 0.574313 
optimize pose graph 
time: 1403637008.201667, t: -0.272376 -0.029715 0.165153 q: -0.035961 0.825297 0.049409 0.561383 
time: 1403637008.301666, t: -0.278796 -0.022196 0.161069 q: -0.030788 0.831492 0.050063 0.552419 
time: 1403637008.401666, t: -0.280879 -0.013354 0.161581 q: -0.028093 0.831732 0.049319 0.552268 
time: 1403637008.501667, t: -0.278418 -0.002776 0.166841 q: -0.031332 0.824381 0.044880 0.563382 
time: 1403637008.601666, t: -0.274022 0.008190 0.172468 q: -0.034143 0.818277 0.040535 0.572375 
time: 1403637008.701667, t: -0.269966 0.018890 0.173866 q: -0.038955 0.816232 0.035100 0.575340 
time: 1403637008.801666, t: -0.265942 0.027963 0.169897 q: -0.051086 0.819889 0.024887 0.569696 
time: 1403637008.901666, t: -0.260696 0.032888 0.161350 q: -0.058842 0.824113 0.018412 0.563059 
time: 1403637009.001667, t: -0.253141 0.031091 0.149710 q: -0.055425 0.824529 0.019263 0.562770 
time: 1403637009.101666, t: -0.243118 0.023480 0.135482 q: -0.043362 0.823268 0.026321 0.565382 
time: 1403637009.201667, t: -0.232429 0.012753 0.119767 q: -0.031597 0.822199 0.033665 0.567325 
time: 1403637009.301666, t: -0.219867 0.001116 0.101796 q: -0.015556 0.822112 0.044246 0.567390 
time: 1403637009.401666, t: -0.207674 -0.007711 0.087805 q: -0.029552 0.817983 0.045482 0.572680 
time: 1403637009.501667, t: -0.205050 -0.016222 0.083981 q: -0.043329 0.808411 0.059578 0.583990 
time: 1403637009.601666, t: -0.205364 -0.021258 0.076611 q: -0.085654 0.786284 0.048664 0.609961 
time: 1403637009.701667, t: -0.214244 -0.027860 0.074403 q: -0.074554 0.791993 0.035570 0.604916 
time: 1403637009.801666, t: -0.215566 -0.027360 0.073772 q: -0.074250 0.791418 0.032308 0.605888 
time: 1403637009.901666, t: -0.217722 -0.028165 0.073712 q: -0.074718 0.791418 0.033040 0.605791 
time: 1403637010.001667, t: -0.217919 -0.028152 0.073453 q: -0.075062 0.791419 0.032925 0.605754 
time: 1403637010.101666, t: -0.217771 -0.027155 0.073344 q: -0.075741 0.791539 0.032545 0.605532 
time: 1403637010.201667, t: -0.218200 -0.027926 0.073373 q: -0.076039 0.791476 0.032471 0.605582 
time: 1403637010.301666, t: -0.218466 -0.028400 0.073466 q: -0.076413 0.791687 0.032359 0.605265 
optimize pose graph 
time: 1403637010.401666, t: -0.218738 -0.028868 0.073599 q: -0.076372 0.791619 0.032360 0.605359 
time: 1403637010.501667, t: -0.218914 -0.029229 0.073575 q: -0.076378 0.791690 0.032315 0.605268 

Done.
time: 1403637010.601666, t: -0.219091 -0.029405 0.073584 q: -0.076466 0.791715 0.032257 0.605228 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731020378.049417325]: Shutdown request received.[0m
[33m[ WARN] [1731020378.049458896]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731020378.050343160]: Shutdown request received.[0m
[33m[ WARN] [1731020378.050372621]: Reason given for shutdown: [user request][0m
killed
