/SLAM-Hive/slam_hive_results/mapping_results/3361/2400_vins-fusion-stereo-imu+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/5e59042e-9d64-11ef-9faa-0242ac110002/roslaunch-ea24c2b001b4-117.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
[31m[ERROR] [1731023987.931269250]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731023987.934451901]: init begins[0m
[31m[ERROR] [1731023987.935618319]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://ea24c2b001b4:46101/[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] [1731023989.189388284]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731023989.192056989]: 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] [1731023989.197942669]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731023989.198180909]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731023989.198207865]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://ea24c2b001b4:11311/[0m
]2;roscore http://ea24c2b001b4:11311/
[1msetting /run_id to 5e59042e-9d64-11ef-9faa-0242ac110002[0m
 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
[0m[ INFO] [1731023989.336374325]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731023989.359160552]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731023989.359397344]: waiting for image and imu...[0m
[1mprocess[rosout-1]: started with pid [191][0m
started core service [/rosout]
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] [1731023997.686457004]: 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: 327385870.60 
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] [1731023999.122490730]: gyroscope bias initial calibration -0.00247702    0.020721   0.0771378[0m
[0m[ INFO] [1731023999.164215115]: Initialization finish![0m
time: 1403638128.345097, t: 0.000045 0.000028 -0.000046 q: -0.009364 0.837732 0.005765 0.545970 
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time: 1403638128.545097, t: 0.000139 0.000257 -0.000133 q: -0.009278 0.837835 0.005507 0.545818 
time: 1403638128.645097, t: 0.000164 0.000224 -0.000118 q: -0.009193 0.837883 0.005482 0.545744 
time: 1403638128.845097, t: 0.000481 0.000269 -0.000135 q: -0.008974 0.838764 0.004258 0.544405 
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time: 1403638139.045097, t: 0.018357 0.040740 0.005637 q: 0.030980 0.840812 -0.046149 0.538467 
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time: 1403638139.245097, t: 0.018377 0.040884 0.005553 q: 0.030583 0.840737 -0.046597 0.538567 
optimize pose graph 
time: 1403638139.345097, t: 0.018376 0.040857 0.005540 q: 0.030654 0.840745 -0.046513 0.538558 
time: 1403638139.445097, t: 0.018406 0.040787 0.005531 q: 0.030803 0.840712 -0.046410 0.538609 
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time: 1403638139.945097, t: 0.018427 0.040783 0.005445 q: 0.030821 0.840620 -0.046377 0.538755 
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time: 1403638142.245097, t: 0.018417 0.040741 0.005330 q: 0.030494 0.840399 -0.046342 0.539121 
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time: 1403638147.745097, t: 0.019503 0.040939 0.006312 q: 0.027345 0.839525 -0.043654 0.540874 
time: 1403638147.845097, t: 0.022757 0.040033 0.008543 q: 0.029479 0.835201 -0.046120 0.547215 
time: 1403638147.945097, t: 0.029925 0.038767 0.016027 q: 0.031445 0.827151 -0.048421 0.559007 
time: 1403638148.045097, t: 0.039789 0.037688 0.030378 q: 0.032154 0.821533 -0.048825 0.567156 
time: 1403638148.145097, t: 0.050808 0.036318 0.052634 q: 0.032490 0.817656 -0.047192 0.572849 
time: 1403638148.245097, t: 0.062284 0.035053 0.087309 q: 0.031014 0.816131 -0.044898 0.575285 
time: 1403638148.345097, t: 0.072296 0.034222 0.136440 q: 0.029313 0.815495 -0.041812 0.576507 
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time: 1403638148.645097, t: 0.096960 0.034144 0.205664 q: 0.028390 0.825532 -0.033251 0.562659 
optimize pose graph 
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time: 1403638148.845097, t: 0.125611 0.037519 0.199385 q: 0.024680 0.829997 -0.030636 0.556379 
time: 1403638148.945097, t: 0.142235 0.041740 0.217505 q: 0.024228 0.829373 -0.029665 0.557381 
time: 1403638149.045097, t: 0.163576 0.046561 0.232650 q: 0.022704 0.826219 -0.027817 0.562203 
time: 1403638149.145097, t: 0.184979 0.052481 0.265206 q: 0.022570 0.823022 -0.026431 0.566945 
time: 1403638149.245097, t: 0.210709 0.059330 0.302591 q: 0.021801 0.821313 -0.026607 0.569439 
time: 1403638149.345097, t: 0.235628 0.067473 0.332234 q: 0.019373 0.820165 -0.028112 0.571107 
time: 1403638149.445097, t: 0.261704 0.074303 0.363186 q: 0.019353 0.819188 -0.027854 0.572521 
time: 1403638149.645097, t: 0.309708 0.090485 0.399669 q: 0.019849 0.818807 -0.023738 0.573235 
time: 1403638149.745097, t: 0.338035 0.101525 0.417041 q: 0.016851 0.818626 -0.017948 0.573800 
time: 1403638149.845097, t: 0.359534 0.109688 0.425013 q: 0.013390 0.819106 -0.013376 0.573330 
time: 1403638149.945097, t: 0.385074 0.119970 0.431177 q: 0.011276 0.819095 -0.010038 0.573459 
time: 1403638150.045097, t: 0.407098 0.132013 0.428784 q: 0.014200 0.819037 -0.004635 0.573546 
time: 1403638150.145097, t: 0.428682 0.145388 0.422561 q: 0.020867 0.819280 0.002373 0.573009 
time: 1403638150.245097, t: 0.449965 0.163938 0.409185 q: 0.027331 0.818949 0.007800 0.573162 
time: 1403638150.345097, t: 0.471232 0.187542 0.390537 q: 0.027067 0.821921 0.007936 0.568902 
time: 1403638150.445097, t: 0.493058 0.215960 0.374733 q: 0.018266 0.828030 0.006659 0.560347 
time: 1403638150.545097, t: 0.515426 0.249216 0.363246 q: 0.008077 0.832415 0.009750 0.554009 
time: 1403638150.645097, t: 0.543157 0.286294 0.364756 q: 0.000521 0.834285 0.013822 0.551159 
optimize pose graph 
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time: 1403638151.145097, t: 0.736535 0.499699 0.419919 q: -0.024223 0.821068 0.061022 0.567042 
time: 1403638151.245097, t: 0.777200 0.549962 0.419090 q: -0.036993 0.819824 0.079178 0.565907 
time: 1403638151.345097, t: 0.817831 0.601910 0.413280 q: -0.051288 0.818694 0.099057 0.563291 
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time: 1403638151.645097, t: 0.934279 0.777457 0.417598 q: -0.093732 0.810478 0.151706 0.557965 
time: 1403638151.745097, t: 0.972006 0.839924 0.432527 q: -0.100375 0.808406 0.162304 0.556832 
time: 1403638151.845097, t: 1.009764 0.904185 0.455054 q: -0.104382 0.807664 0.169036 0.555167 
time: 1403638151.945097, t: 1.046231 0.970290 0.483987 q: -0.105551 0.807211 0.173851 0.554117 
time: 1403638152.045097, t: 1.083560 1.039770 0.513505 q: -0.106428 0.807329 0.175760 0.553175 
time: 1403638152.145097, t: 1.119825 1.107069 0.538157 q: -0.106320 0.807135 0.177475 0.552930 
time: 1403638152.245097, t: 1.153150 1.178958 0.556755 q: -0.106059 0.806757 0.178704 0.553136 
time: 1403638152.345097, t: 1.188350 1.251637 0.568555 q: -0.103286 0.806109 0.180059 0.554166 
time: 1403638152.445097, t: 1.222503 1.327018 0.571798 q: -0.100490 0.806408 0.181008 0.553934 
time: 1403638152.545097, t: 1.254063 1.405086 0.568458 q: -0.099293 0.806307 0.182332 0.553864 
time: 1403638152.645097, t: 1.287023 1.487373 0.561033 q: -0.101823 0.807928 0.180630 0.551595 
optimize pose graph 
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time: 1403638207.645097, t: 6.009187 10.700136 2.940740 q: -0.313644 0.679056 0.413045 0.519524 
time: 1403638207.745097, t: 5.873012 10.737187 2.932008 q: -0.318800 0.680766 0.423553 0.505497 
time: 1403638207.845097, t: 5.738447 10.770644 2.930461 q: -0.321627 0.683094 0.430629 0.494467 
time: 1403638207.945097, t: 5.607088 10.793357 2.936315 q: -0.321666 0.686544 0.436029 0.484837 
time: 1403638208.045097, t: 5.477691 10.811344 2.946905 q: -0.321222 0.687189 0.438475 0.482002 
time: 1403638208.145097, t: 5.352935 10.826575 2.956005 q: -0.325091 0.684830 0.435719 0.485256 
time: 1403638208.245097, t: 5.230846 10.839682 2.959451 q: -0.326834 0.681537 0.433099 0.491032 
time: 1403638208.345097, t: 5.110909 10.848419 2.953368 q: -0.324336 0.682978 0.433168 0.490625 
time: 1403638208.445097, t: 4.993859 10.852754 2.940165 q: -0.320934 0.685526 0.435099 0.487591 
time: 1403638208.545097, t: 4.877548 10.855222 2.927597 q: -0.322678 0.685248 0.439578 0.482790 
time: 1403638208.645097, t: 4.764123 10.854801 2.923092 q: -0.327254 0.680130 0.448803 0.478440 
optimize pose graph 
time: 1403638208.745097, t: 4.652893 10.851858 2.925961 q: -0.334644 0.675781 0.455030 0.473583 
time: 1403638208.845097, t: 4.546001 10.846156 2.933259 q: -0.340483 0.670691 0.460526 0.471339 
time: 1403638208.945097, t: 4.444084 10.838428 2.938049 q: -0.343037 0.665642 0.466227 0.471040 
time: 1403638209.045097, t: 4.343906 10.827141 2.936745 q: -0.345373 0.662891 0.469509 0.469951 
time: 1403638209.145097, t: 4.244364 10.812243 2.927896 q: -0.347120 0.661515 0.471581 0.468527 
time: 1403638209.245097, t: 4.147297 10.795687 2.911753 q: -0.347970 0.661123 0.472397 0.467627 
time: 1403638209.345097, t: 4.053092 10.775762 2.889626 q: -0.349140 0.661972 0.472285 0.465662 
time: 1403638209.445097, t: 3.962814 10.754974 2.860840 q: -0.350547 0.662216 0.471839 0.464709 
time: 1403638209.545097, t: 3.876168 10.732534 2.825282 q: -0.352961 0.660232 0.469847 0.467713 
time: 1403638209.645097, t: 3.792386 10.706408 2.773033 q: -0.354208 0.660619 0.468090 0.467985 
time: 1403638209.745097, t: 3.710601 10.677944 2.701451 q: -0.352491 0.661797 0.468147 0.467562 
time: 1403638209.845097, t: 3.632212 10.647321 2.612707 q: -0.349250 0.659833 0.469866 0.471031 
time: 1403638209.945097, t: 3.554622 10.611406 2.514163 q: -0.349486 0.656636 0.468975 0.476183 
time: 1403638210.045097, t: 3.480182 10.575351 2.412414 q: -0.351787 0.652240 0.467062 0.482371 
time: 1403638210.145097, t: 3.406544 10.530711 2.313086 q: -0.356325 0.648903 0.463646 0.486816 
time: 1403638210.245097, t: 3.329788 10.480276 2.221969 q: -0.359121 0.647136 0.461621 0.489032 
time: 1403638210.345097, t: 3.254578 10.418508 2.134864 q: -0.357887 0.646729 0.462352 0.489784 
time: 1403638210.445097, t: 3.177985 10.351327 2.048881 q: -0.357580 0.647972 0.462349 0.488366 
time: 1403638210.545097, t: 3.101694 10.278743 1.958481 q: -0.358844 0.648073 0.460900 0.488676 
time: 1403638210.645097, t: 3.025653 10.199204 1.863560 q: -0.359884 0.647570 0.459426 0.489964 
time: 1403638210.745097, t: 2.948883 10.112763 1.764490 q: -0.361124 0.648182 0.457936 0.489636 
optimize pose graph 
time: 1403638210.845097, t: 2.874802 10.017885 1.672038 q: -0.360851 0.649525 0.457826 0.488159 
time: 1403638210.945097, t: 2.795822 9.917888 1.588420 q: -0.358523 0.653446 0.459321 0.483213 
time: 1403638211.045097, t: 2.723567 9.812002 1.511939 q: -0.357761 0.656898 0.460145 0.478287 
time: 1403638211.145097, t: 2.651808 9.701722 1.445503 q: -0.356168 0.659750 0.461484 0.474243 
time: 1403638211.245097, t: 2.580522 9.590977 1.386173 q: -0.355529 0.662026 0.461795 0.471238 
time: 1403638211.345097, t: 2.511267 9.479865 1.334967 q: -0.353204 0.664384 0.460052 0.471374 
time: 1403638211.445097, t: 2.446090 9.362754 1.281744 q: -0.348378 0.669713 0.453165 0.474088 
time: 1403638211.545097, t: 2.388047 9.241184 1.224413 q: -0.341873 0.676909 0.442968 0.478223 
time: 1403638211.645097, t: 2.327103 9.117373 1.161023 q: -0.335786 0.686694 0.426437 0.483581 
time: 1403638211.745097, t: 2.269949 8.987928 1.091605 q: -0.326257 0.698916 0.406663 0.489591 
time: 1403638211.845097, t: 2.218953 8.853914 1.021147 q: -0.316459 0.713543 0.382989 0.493993 
time: 1403638211.945097, t: 2.177018 8.717093 0.957140 q: -0.303993 0.725912 0.360342 0.500793 
time: 1403638212.045097, t: 2.140094 8.576296 0.900267 q: -0.290477 0.737064 0.338976 0.507401 
time: 1403638212.145097, t: 2.107875 8.432818 0.850595 q: -0.273747 0.745779 0.320362 0.515988 
time: 1403638212.245097, t: 2.078742 8.284853 0.809968 q: -0.256653 0.753463 0.301440 0.524935 
time: 1403638212.345097, t: 2.050282 8.132137 0.778634 q: -0.240736 0.761405 0.282358 0.531585 
time: 1403638212.445097, t: 2.027235 7.978149 0.754208 q: -0.223701 0.768073 0.263696 0.538968 
time: 1403638212.545097, t: 2.002596 7.820210 0.738468 q: -0.211169 0.774656 0.241711 0.544877 
time: 1403638212.645097, t: 1.976597 7.658049 0.725665 q: -0.196809 0.781955 0.220210 0.548926 
time: 1403638212.745097, t: 1.952111 7.492806 0.722183 q: -0.178715 0.789059 0.200529 0.552481 
time: 1403638212.845097, t: 1.927095 7.325605 0.725382 q: -0.163068 0.794353 0.177175 0.557693 
optimize pose graph 
time: 1403638212.945097, t: 1.905179 7.155163 0.730944 q: -0.147067 0.800165 0.152481 0.561121 
time: 1403638213.045097, t: 1.885490 6.983982 0.745108 q: -0.129090 0.805738 0.127159 0.563873 
time: 1403638213.145097, t: 1.867892 6.811382 0.760381 q: -0.113464 0.811485 0.099499 0.564551 
time: 1403638213.345097, t: 1.839297 6.459048 0.772440 q: -0.089268 0.829033 0.038562 0.550680 
time: 1403638213.445097, t: 1.834374 6.276798 0.769119 q: -0.080200 0.835261 0.006311 0.543937 
time: 1403638213.545097, t: 1.835636 6.088059 0.765047 q: -0.068231 0.836506 -0.021867 0.543254 
time: 1403638213.645097, t: 1.845589 5.894030 0.761795 q: -0.045091 0.829667 -0.033941 0.555399 
time: 1403638213.745097, t: 1.859710 5.692919 0.759668 q: -0.023302 0.821163 -0.036945 0.569019 
time: 1403638213.845097, t: 1.875733 5.491809 0.761825 q: -0.007219 0.816380 -0.037058 0.576280 
time: 1403638213.945097, t: 1.889536 5.293054 0.771979 q: 0.001496 0.815516 -0.036805 0.577561 
time: 1403638214.045097, t: 1.899679 5.093336 0.786403 q: 0.002988 0.818170 -0.036781 0.573791 
time: 1403638214.145097, t: 1.911241 4.895891 0.804319 q: 0.003545 0.824616 -0.034859 0.564606 
time: 1403638214.245097, t: 1.923825 4.700122 0.825373 q: 0.002481 0.831153 -0.031744 0.555131 
time: 1403638214.345097, t: 1.938860 4.505856 0.842141 q: 0.000244 0.835812 -0.028709 0.548264 
time: 1403638214.445097, t: 1.960646 4.315339 0.852217 q: -0.000782 0.837302 -0.024204 0.546205 
time: 1403638214.545097, t: 1.987182 4.128993 0.859049 q: -0.001774 0.832094 -0.020098 0.554267 
time: 1403638214.645097, t: 2.017264 3.942746 0.858985 q: -0.002808 0.825659 -0.016436 0.563923 
time: 1403638214.745097, t: 2.047266 3.756067 0.853990 q: -0.003989 0.819241 -0.012870 0.573292 
time: 1403638214.845097, t: 2.075339 3.575471 0.842871 q: -0.005195 0.815198 -0.010015 0.579072 
time: 1403638214.945097, t: 2.103166 3.396807 0.826133 q: -0.005880 0.812711 -0.007890 0.582584 
time: 1403638215.045097, t: 2.129920 3.220611 0.803530 q: -0.006886 0.811904 -0.006883 0.583710 
time: 1403638215.145097, t: 2.154553 3.047479 0.776432 q: -0.006163 0.812175 -0.005200 0.583358 
time: 1403638215.245097, t: 2.178667 2.875701 0.746204 q: -0.004505 0.814235 -0.003759 0.580506 
time: 1403638215.345097, t: 2.200882 2.709145 0.715071 q: -0.000377 0.815929 -0.001248 0.578150 
time: 1403638215.445097, t: 2.222802 2.546177 0.687572 q: 0.005010 0.815493 0.002557 0.578740 
time: 1403638215.545097, t: 2.243445 2.388802 0.668459 q: 0.006092 0.815760 0.003155 0.578350 
time: 1403638215.645097, t: 2.263518 2.235376 0.657807 q: 0.005555 0.813758 0.003233 0.581168 
time: 1403638215.745097, t: 2.280885 2.089466 0.653666 q: 0.001369 0.813377 0.000351 0.581735 
time: 1403638215.845097, t: 2.295072 1.946067 0.646490 q: 0.000406 0.813478 -0.005262 0.581572 
time: 1403638215.945097, t: 2.306013 1.807515 0.630887 q: 0.002827 0.813292 -0.009838 0.581766 
time: 1403638216.045097, t: 2.312266 1.670418 0.612139 q: 0.004174 0.813286 -0.013776 0.581686 
time: 1403638216.145097, t: 2.317576 1.536367 0.592705 q: 0.007299 0.813322 -0.015296 0.581567 
time: 1403638216.245097, t: 2.319722 1.406700 0.579660 q: 0.010151 0.812103 -0.016133 0.583203 
time: 1403638216.345097, t: 2.320042 1.282735 0.572599 q: 0.012361 0.811133 -0.016858 0.584488 
time: 1403638216.445097, t: 2.317910 1.163729 0.570792 q: 0.013960 0.809904 -0.017613 0.586132 
time: 1403638216.545097, t: 2.313855 1.049239 0.569926 q: 0.014818 0.810195 -0.017839 0.585702 
time: 1403638216.645097, t: 2.307862 0.940549 0.562796 q: 0.018307 0.811583 -0.016463 0.583718 
time: 1403638216.745097, t: 2.299840 0.834801 0.549414 q: 0.020838 0.812883 -0.014639 0.581871 
time: 1403638216.845097, t: 2.292327 0.734076 0.530663 q: 0.024641 0.809343 -0.016258 0.586594 
time: 1403638216.945097, t: 2.280113 0.637276 0.509398 q: 0.029094 0.806974 -0.023451 0.589404 
time: 1403638217.045097, t: 2.266540 0.545057 0.484870 q: 0.032028 0.807408 -0.037180 0.587949 
time: 1403638217.145097, t: 2.247538 0.457045 0.458031 q: 0.037645 0.809559 -0.052843 0.583443 
time: 1403638217.245097, t: 2.225870 0.372723 0.430222 q: 0.044920 0.811142 -0.064559 0.579537 
time: 1403638217.345097, t: 2.203725 0.292704 0.407851 q: 0.051041 0.811990 -0.072470 0.576901 
time: 1403638217.445097, t: 2.179525 0.217544 0.394919 q: 0.055261 0.812880 -0.078247 0.574499 
time: 1403638217.545097, t: 2.155727 0.145801 0.390058 q: 0.062302 0.813790 -0.079005 0.572383 
time: 1403638217.645097, t: 2.131222 0.077743 0.393108 q: 0.069603 0.814631 -0.076541 0.570678 
time: 1403638217.745097, t: 2.106852 0.015164 0.403235 q: 0.077203 0.815479 -0.072494 0.569015 
time: 1403638217.845097, t: 2.083458 -0.039762 0.418111 q: 0.082411 0.816963 -0.068604 0.566633 
time: 1403638217.945097, t: 2.062407 -0.086757 0.437670 q: 0.084824 0.815624 -0.065588 0.568560 
time: 1403638218.045097, t: 2.044877 -0.127480 0.447572 q: 0.084055 0.813796 -0.063860 0.571483 
time: 1403638218.145097, t: 2.026906 -0.160658 0.453908 q: 0.082132 0.812395 -0.063414 0.573801 
time: 1403638218.245097, t: 2.010050 -0.186547 0.453490 q: 0.080705 0.809683 -0.061946 0.577982 
time: 1403638218.345097, t: 1.996112 -0.204098 0.446017 q: 0.076132 0.805888 -0.062533 0.583814 
time: 1403638218.445097, t: 1.975693 -0.214227 0.448553 q: 0.069921 0.805544 -0.064239 0.584879 
time: 1403638218.545097, t: 1.957864 -0.217081 0.452190 q: 0.067121 0.806383 -0.064852 0.583982 
time: 1403638218.645097, t: 1.930996 -0.216054 0.467869 q: 0.064110 0.808372 -0.065837 0.581455 
time: 1403638218.745097, t: 1.903384 -0.210713 0.481384 q: 0.064367 0.813061 -0.069421 0.574429 
time: 1403638218.845097, t: 1.875976 -0.202817 0.490872 q: 0.068418 0.816357 -0.076569 0.568347 
optimize pose graph 
time: 1403638218.945097, t: 1.851281 -0.191974 0.489799 q: 0.064979 0.816605 -0.088351 0.566681 
time: 1403638219.045097, t: 1.827796 -0.178974 0.485994 q: 0.055530 0.814669 -0.102497 0.568089 
time: 1403638219.145097, t: 1.803443 -0.167249 0.482930 q: 0.053066 0.812201 -0.110198 0.570412 
time: 1403638219.245097, t: 1.780498 -0.158826 0.476227 q: 0.061329 0.808064 -0.108039 0.575847 
time: 1403638219.345097, t: 1.755062 -0.150738 0.468148 q: 0.069910 0.801883 -0.104511 0.584100 
time: 1403638219.445097, t: 1.728934 -0.142741 0.461923 q: 0.074383 0.794362 -0.102383 0.594116 
time: 1403638219.545097, t: 1.698383 -0.132021 0.460277 q: 0.075369 0.792358 -0.101914 0.596743 
time: 1403638219.645097, t: 1.662600 -0.117892 0.462569 q: 0.071529 0.794700 -0.104434 0.593657 
time: 1403638219.745097, t: 1.619350 -0.101907 0.465346 q: 0.064918 0.797360 -0.108702 0.590074 
time: 1403638219.845097, t: 1.571571 -0.086436 0.463586 q: 0.056097 0.800546 -0.114591 0.585533 
time: 1403638219.945097, t: 1.520104 -0.072584 0.458348 q: 0.048094 0.802761 -0.120409 0.582034 
time: 1403638220.045097, t: 1.467094 -0.063841 0.445338 q: 0.042965 0.805152 -0.123952 0.578378 
time: 1403638220.145097, t: 1.409285 -0.061029 0.433886 q: 0.045276 0.807417 -0.122366 0.575374 
time: 1403638220.245097, t: 1.355078 -0.065263 0.426063 q: 0.059081 0.809456 -0.113136 0.573141 
time: 1403638220.345097, t: 1.295701 -0.070132 0.429415 q: 0.071032 0.811444 -0.104978 0.570519 
time: 1403638220.445097, t: 1.234682 -0.072999 0.438996 q: 0.076175 0.812060 -0.101869 0.569542 
time: 1403638220.545097, t: 1.177846 -0.074769 0.451873 q: 0.077904 0.811568 -0.101328 0.570107 
time: 1403638220.645097, t: 1.119189 -0.072820 0.463831 q: 0.079616 0.811220 -0.101813 0.570279 
time: 1403638220.745097, t: 1.064024 -0.071002 0.469797 q: 0.079839 0.811081 -0.103276 0.570181 
time: 1403638220.845097, t: 1.008491 -0.066788 0.468973 q: 0.079103 0.810567 -0.105101 0.570681 
time: 1403638220.945097, t: 0.953489 -0.060512 0.460787 q: 0.078813 0.811240 -0.106974 0.569416 
optimize pose graph 
time: 1403638221.045097, t: 0.899245 -0.053164 0.447420 q: 0.079055 0.811827 -0.107563 0.568434 
time: 1403638221.145097, t: 0.845967 -0.044935 0.429619 q: 0.079649 0.812552 -0.108292 0.567175 
time: 1403638221.245097, t: 0.794322 -0.034689 0.420807 q: 0.078991 0.813961 -0.109422 0.565026 
time: 1403638221.345097, t: 0.744049 -0.023941 0.418141 q: 0.077051 0.815411 -0.111392 0.562814 
time: 1403638221.445097, t: 0.695657 -0.012723 0.419283 q: 0.074454 0.815947 -0.113967 0.561871 
time: 1403638221.545097, t: 0.649146 -0.002694 0.416858 q: 0.072221 0.815816 -0.116008 0.561935 
time: 1403638221.645097, t: 0.605766 0.006117 0.409521 q: 0.071984 0.814736 -0.116836 0.563359 
time: 1403638221.745097, t: 0.565360 0.014856 0.400558 q: 0.070139 0.812097 -0.118521 0.567038 
time: 1403638221.845097, t: 0.528668 0.020510 0.395693 q: 0.069410 0.811106 -0.118242 0.568603 
time: 1403638221.945097, t: 0.487978 0.025968 0.397697 q: 0.073409 0.809841 -0.114790 0.570606 
time: 1403638222.045097, t: 0.448966 0.031278 0.408073 q: 0.076790 0.810183 -0.112250 0.570181 
time: 1403638222.145097, t: 0.409662 0.038468 0.417438 q: 0.078364 0.813362 -0.111223 0.565624 
time: 1403638222.245097, t: 0.371624 0.043677 0.423339 q: 0.078146 0.817048 -0.111748 0.560212 
time: 1403638222.345097, t: 0.336067 0.049737 0.423830 q: 0.077206 0.820444 -0.112570 0.555192 
time: 1403638222.445097, t: 0.305820 0.059399 0.415272 q: 0.076748 0.823085 -0.113353 0.551173 
time: 1403638222.545097, t: 0.276472 0.064630 0.407095 q: 0.076446 0.822722 -0.113445 0.551738 
time: 1403638222.645097, t: 0.251251 0.071243 0.394826 q: 0.076266 0.817120 -0.113406 0.560033 
time: 1403638222.745097, t: 0.229906 0.077368 0.380148 q: 0.076959 0.813459 -0.113055 0.565315 
time: 1403638222.845097, t: 0.208762 0.083890 0.363363 q: 0.077741 0.810858 -0.112465 0.569049 
time: 1403638222.945097, t: 0.188656 0.091049 0.347045 q: 0.078114 0.803322 -0.111704 0.579736 
time: 1403638223.045097, t: 0.164642 0.097469 0.330751 q: 0.077424 0.802948 -0.111500 0.580386 
time: 1403638223.145097, t: 0.135676 0.107114 0.321421 q: 0.078003 0.808790 -0.111503 0.572137 
optimize pose graph 
time: 1403638223.245097, t: 0.110026 0.118212 0.314368 q: 0.071769 0.818707 -0.116559 0.557658 
time: 1403638223.345097, t: 0.083841 0.126587 0.312207 q: 0.068770 0.820967 -0.118893 0.554209 
time: 1403638223.445097, t: 0.061381 0.131658 0.312042 q: 0.062268 0.817522 -0.123479 0.559047 
time: 1403638223.545097, t: 0.041832 0.134914 0.304606 q: 0.053771 0.812966 -0.129548 0.565165 
time: 1403638223.645097, t: 0.021194 0.132541 0.295644 q: 0.061093 0.811984 -0.124641 0.566935 
time: 1403638223.745097, t: 0.001457 0.125639 0.286004 q: 0.072584 0.812673 -0.116699 0.566282 
time: 1403638223.945097, t: -0.035976 0.114251 0.260685 q: 0.085226 0.813903 -0.107727 0.564530 
time: 1403638224.045097, t: -0.054116 0.110986 0.244399 q: 0.086531 0.816116 -0.106718 0.561318 
time: 1403638224.145097, t: -0.070447 0.111505 0.226103 q: 0.084128 0.821751 -0.108193 0.553120 
time: 1403638224.245097, t: -0.080819 0.112039 0.209080 q: 0.082283 0.825076 -0.109602 0.548148 
time: 1403638224.345097, t: -0.083009 0.112842 0.197627 q: 0.082451 0.820981 -0.109570 0.554245 
time: 1403638224.445097, t: -0.088360 0.118158 0.186471 q: 0.076400 0.814758 -0.114348 0.563256 
time: 1403638224.545097, t: -0.091003 0.124143 0.176453 q: 0.076544 0.807507 -0.114200 0.573613 
time: 1403638224.645097, t: -0.094506 0.128761 0.165305 q: 0.078043 0.809936 -0.112948 0.570225 
time: 1403638224.745097, t: -0.098865 0.134269 0.153825 q: 0.077101 0.820178 -0.113764 0.555357 
time: 1403638224.845097, t: -0.099752 0.140589 0.146260 q: 0.076197 0.822923 -0.114294 0.551297 
time: 1403638224.945097, t: -0.095313 0.146112 0.146790 q: 0.069173 0.815754 -0.118645 0.561858 
time: 1403638225.045097, t: -0.092102 0.150460 0.149914 q: 0.062876 0.809336 -0.121736 0.571141 
time: 1403638225.145097, t: -0.088857 0.152668 0.153340 q: 0.067248 0.808652 -0.117873 0.572421 
time: 1403638225.245097, t: -0.086681 0.152853 0.157189 q: 0.071508 0.815281 -0.113827 0.563246 
optimize pose graph 
time: 1403638225.345097, t: -0.084031 0.152322 0.162883 q: 0.074329 0.819008 -0.111561 0.557902 
time: 1403638225.445097, t: -0.078976 0.151445 0.166165 q: 0.076161 0.814938 -0.110084 0.563876 
time: 1403638225.545097, t: -0.073186 0.151175 0.162778 q: 0.078978 0.804619 -0.107965 0.578528 
time: 1403638225.645097, t: -0.070237 0.152106 0.152416 q: 0.081304 0.794273 -0.106121 0.592670 
time: 1403638225.745097, t: -0.072130 0.155705 0.130399 q: 0.082109 0.796507 -0.105439 0.589675 
time: 1403638225.845097, t: -0.078181 0.161657 0.098682 q: 0.080636 0.807846 -0.106585 0.574040 
time: 1403638225.945097, t: -0.084618 0.168862 0.061726 q: 0.079080 0.818046 -0.107722 0.559413 
time: 1403638226.045097, t: -0.086184 0.179186 0.034895 q: 0.074547 0.828227 -0.108027 0.544806 
time: 1403638226.145097, t: -0.077002 0.188190 0.046712 q: 0.051466 0.826180 -0.122271 0.547565 
time: 1403638226.245097, t: -0.067153 0.193595 0.038983 q: 0.077678 0.831166 -0.106536 0.540166 
time: 1403638226.345097, t: -0.070053 0.202614 0.035124 q: 0.075418 0.827347 -0.107358 0.546153 
time: 1403638226.445097, t: -0.068632 0.207134 0.026525 q: 0.075661 0.827077 -0.107710 0.546459 
time: 1403638226.545097, t: -0.071221 0.209640 0.026004 q: 0.075513 0.826664 -0.107175 0.547209 
time: 1403638226.645097, t: -0.069270 0.208120 0.024590 q: 0.075329 0.826711 -0.107659 0.547069 
time: 1403638226.745097, t: -0.069292 0.208028 0.024658 q: 0.074939 0.827183 -0.108070 0.546328 
time: 1403638226.845097, t: -0.069307 0.208149 0.024559 q: 0.075134 0.826940 -0.107778 0.546726 
time: 1403638226.945097, t: -0.069097 0.207664 0.024779 q: 0.075612 0.827113 -0.107557 0.546442 
time: 1403638227.045097, t: -0.069302 0.207677 0.024748 q: 0.076041 0.827101 -0.107065 0.546496 
time: 1403638227.145097, t: -0.069329 0.207454 0.024932 q: 0.075822 0.827212 -0.107306 0.546312 
time: 1403638227.245097, t: -0.069422 0.207550 0.024929 q: 0.075541 0.827236 -0.107364 0.546303 
time: 1403638227.345097, t: -0.069382 0.207556 0.024983 q: 0.075108 0.827216 -0.107724 0.546323 
time: 1403638227.445097, t: -0.069416 0.207529 0.025050 q: 0.075118 0.827231 -0.107720 0.546299 
optimize pose graph 
time: 1403638227.545097, t: -0.069442 0.207356 0.025192 q: 0.075234 0.827223 -0.107543 0.546329 
time: 1403638227.645097, t: -0.069471 0.207221 0.025333 q: 0.075379 0.827226 -0.107426 0.546328 
time: 1403638227.745097, t: -0.069510 0.207223 0.025330 q: 0.075279 0.827247 -0.107480 0.546300 
time: 1403638227.845097, t: -0.069447 0.207221 0.025287 q: 0.075187 0.827260 -0.107506 0.546288 
time: 1403638227.945097, t: -0.069474 0.207228 0.025298 q: 0.075019 0.827244 -0.107583 0.546320 
time: 1403638228.045097, t: -0.069231 0.208254 0.024261 q: 0.074991 0.827214 -0.107699 0.546346 
time: 1403638228.145097, t: -0.069615 0.207115 0.025436 q: 0.074991 0.827238 -0.107591 0.546331 
time: 1403638228.245097, t: -0.069611 0.207023 0.025477 q: 0.075021 0.827227 -0.107563 0.546349 
time: 1403638228.345097, t: -0.069563 0.206947 0.025470 q: 0.075012 0.827208 -0.107579 0.546375 
time: 1403638228.445097, t: -0.069620 0.206940 0.025498 q: 0.074999 0.827245 -0.107532 0.546331 
time: 1403638228.545097, t: -0.069638 0.206921 0.025578 q: 0.074921 0.827234 -0.107535 0.546357 
time: 1403638228.645097, t: -0.069690 0.206947 0.025592 q: 0.074933 0.827259 -0.107532 0.546319 
time: 1403638228.745097, t: -0.069698 0.206926 0.025614 q: 0.074888 0.827251 -0.107549 0.546334 
time: 1403638228.845097, t: -0.069729 0.206896 0.025681 q: 0.074879 0.827245 -0.107545 0.546346 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731024101.179982206]: Shutdown request received.[0m
[33m[ WARN] [1731024101.180024749]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731024101.180804880]: Shutdown request received.[0m
[33m[ WARN] [1731024101.180826397]: Reason given for shutdown: [user request][0m
killed
