/SLAM-Hive/slam_hive_results/mapping_results/3410/2400_vins-fusion-stereo-imu+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/0497f03c-9d7b-11ef-9928-0242ac110002/roslaunch-ec4476c7b30c-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
[0m[ INFO] [1731033715.675191541]: init begins[0m
[31m[ERROR] [1731033715.675342584]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731033715.676235492]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://ec4476c7b30c:46053/[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] [1731033716.681571233]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731033716.681859874]: Connected to master at [localhost:11311][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] [1731033716.698786928]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731033716.700470405]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731033716.700504176]: 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] [1731033716.700742284]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731033716.700941375]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731033716.701112804]: waiting for image and imu...[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://ec4476c7b30c:11311/[0m
]2;roscore http://ec4476c7b30c:11311/
[1msetting /run_id to 0497f03c-9d7b-11ef-9928-0242ac110002[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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1731033725.601928501]: 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: 327395598.50 
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] [1731033727.007466298]: gyroscope bias initial calibration -0.00247702    0.020721   0.0771378[0m
[0m[ INFO] [1731033727.048768904]: 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: -0.009187 0.837893 0.005477 0.545730 
time: 1403638128.745097, t: 0.000480 0.000450 -0.000139 q: -0.009440 0.838432 0.004547 0.544905 
time: 1403638128.845097, t: 0.000481 0.000269 -0.000135 q: -0.008968 0.838773 0.004254 0.544391 
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time: 1403638147.545097, t: 0.018420 0.040878 0.006076 q: 0.028541 0.840178 -0.044828 0.539701 
time: 1403638147.745097, t: 0.019549 0.040875 0.006344 q: 0.027359 0.839515 -0.043723 0.540883 
time: 1403638147.845097, t: 0.022791 0.039966 0.008571 q: 0.029489 0.835190 -0.046188 0.547225 
time: 1403638147.945097, t: 0.029928 0.038694 0.016040 q: 0.031441 0.827137 -0.048498 0.559020 
time: 1403638148.045097, t: 0.039794 0.037623 0.030384 q: 0.032162 0.821521 -0.048895 0.567167 
time: 1403638148.145097, t: 0.050785 0.036252 0.052668 q: 0.032506 0.817645 -0.047256 0.572858 
time: 1403638148.245097, t: 0.062378 0.034980 0.087283 q: 0.031024 0.816119 -0.044956 0.575297 
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time: 1403638148.545097, t: 0.089015 0.033267 0.205132 q: 0.029016 0.821398 -0.035707 0.568497 
optimize pose graph 
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time: 1403638148.745097, t: 0.113054 0.034065 0.199016 q: 0.026340 0.828425 -0.031736 0.558579 
time: 1403638148.845097, t: 0.125731 0.037401 0.199231 q: 0.024703 0.829981 -0.030706 0.556397 
time: 1403638148.945097, t: 0.142267 0.041639 0.217491 q: 0.024252 0.829362 -0.029734 0.557392 
time: 1403638149.045097, t: 0.163629 0.046430 0.232578 q: 0.022728 0.826207 -0.027886 0.562217 
time: 1403638149.145097, t: 0.185031 0.052333 0.265124 q: 0.022593 0.823010 -0.026500 0.566959 
time: 1403638149.245097, t: 0.210736 0.059184 0.302541 q: 0.021825 0.821300 -0.026676 0.569454 
time: 1403638149.345097, t: 0.235647 0.067318 0.332185 q: 0.019397 0.820152 -0.028180 0.571122 
time: 1403638149.445097, t: 0.261719 0.074153 0.363159 q: 0.019376 0.819175 -0.027922 0.572536 
time: 1403638149.545097, t: 0.286312 0.082120 0.384035 q: 0.020433 0.818603 -0.026823 0.573369 
time: 1403638149.645097, t: 0.309716 0.090328 0.399649 q: 0.019871 0.818794 -0.023805 0.573249 
time: 1403638149.745097, t: 0.338051 0.101387 0.417050 q: 0.016873 0.818615 -0.018015 0.573813 
time: 1403638149.845097, t: 0.359548 0.109543 0.425019 q: 0.013412 0.819094 -0.013444 0.573345 
time: 1403638149.945097, t: 0.385095 0.119831 0.431194 q: 0.011298 0.819084 -0.010105 0.573473 
time: 1403638150.045097, t: 0.407120 0.131871 0.428804 q: 0.014222 0.819027 -0.004702 0.573560 
time: 1403638150.145097, t: 0.428708 0.145247 0.422584 q: 0.020890 0.819270 0.002305 0.573023 
time: 1403638150.245097, t: 0.449994 0.163795 0.409210 q: 0.027354 0.818940 0.007733 0.573175 
time: 1403638150.345097, t: 0.471265 0.187396 0.390564 q: 0.027090 0.821912 0.007868 0.568916 
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time: 1403638150.545097, t: 0.515468 0.249065 0.363277 q: 0.008099 0.832405 0.009682 0.554024 
optimize pose graph 
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time: 1403638150.945097, t: 0.653038 0.405794 0.401864 q: -0.011951 0.828033 0.035986 0.559396 
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time: 1403638151.145097, t: 0.736598 0.499512 0.419972 q: -0.024198 0.821060 0.060954 0.567062 
time: 1403638151.245097, t: 0.777272 0.549759 0.419142 q: -0.036966 0.819817 0.079110 0.565928 
time: 1403638151.345097, t: 0.817909 0.601709 0.413340 q: -0.051260 0.818688 0.098989 0.563314 
time: 1403638151.445097, t: 0.857425 0.658099 0.409269 q: -0.068679 0.816264 0.118342 0.561241 
time: 1403638151.545097, t: 0.896064 0.716866 0.410127 q: -0.083094 0.813180 0.137115 0.559494 
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time: 1403638151.745097, t: 0.972098 0.839699 0.432599 q: -0.100343 0.808404 0.162236 0.556860 
time: 1403638151.845097, t: 1.009878 0.903949 0.455133 q: -0.104346 0.807664 0.168965 0.555194 
time: 1403638151.945097, t: 1.046357 0.970045 0.484069 q: -0.105513 0.807213 0.173778 0.554143 
time: 1403638152.045097, t: 1.083699 1.039515 0.513589 q: -0.106387 0.807332 0.175685 0.553201 
time: 1403638152.145097, t: 1.119969 1.106808 0.538243 q: -0.106278 0.807139 0.177400 0.552956 
time: 1403638152.245097, t: 1.153312 1.178687 0.556841 q: -0.106014 0.806763 0.178627 0.553161 
time: 1403638152.345097, t: 1.188524 1.251359 0.568642 q: -0.103240 0.806115 0.179981 0.554190 
time: 1403638152.445097, t: 1.222691 1.326733 0.571887 q: -0.100442 0.806416 0.180929 0.553959 
time: 1403638152.545097, t: 1.254273 1.404791 0.568547 q: -0.099243 0.806315 0.182251 0.553887 
optimize pose graph 
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optimize pose graph 
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time: 1403638206.845097, t: 6.974006 10.077478 3.038085 q: -0.259551 0.714184 0.360043 0.541243 
time: 1403638206.945097, t: 6.868502 10.181366 3.044662 q: -0.265688 0.710507 0.363101 0.541061 
time: 1403638207.045097, t: 6.760405 10.278330 3.044642 q: -0.271036 0.707293 0.364267 0.541835 
time: 1403638207.145097, t: 6.649083 10.368718 3.035893 q: -0.273374 0.704934 0.365335 0.543014 
time: 1403638207.245097, t: 6.531205 10.453786 3.020234 q: -0.277250 0.702563 0.367577 0.542609 
time: 1403638207.345097, t: 6.407555 10.528244 2.997832 q: -0.284869 0.697075 0.373503 0.541693 
time: 1403638207.445097, t: 6.278994 10.597139 2.973691 q: -0.294696 0.688503 0.384158 0.539945 
time: 1403638207.545097, t: 6.146877 10.653156 2.953825 q: -0.306393 0.680708 0.398587 0.532811 
time: 1403638207.645097, t: 6.011119 10.698996 2.940798 q: -0.313594 0.679095 0.412982 0.519553 
time: 1403638207.745097, t: 5.874945 10.736061 2.932065 q: -0.318752 0.680806 0.423490 0.505527 
time: 1403638207.845097, t: 5.740389 10.769542 2.930518 q: -0.321581 0.683134 0.430566 0.494497 
time: 1403638207.945097, t: 5.609036 10.792278 2.936373 q: -0.321621 0.686584 0.435966 0.484867 
time: 1403638208.045097, t: 5.479645 10.810288 2.946962 q: -0.321177 0.687230 0.438412 0.482032 
time: 1403638208.145097, t: 5.354892 10.825542 2.956061 q: -0.325045 0.684870 0.435656 0.485286 
time: 1403638208.245097, t: 5.232807 10.838672 2.959507 q: -0.326788 0.681577 0.433036 0.491062 
time: 1403638208.345097, t: 5.112873 10.847431 2.953423 q: -0.324290 0.683018 0.433105 0.490656 
time: 1403638208.445097, t: 4.995819 10.851781 2.940217 q: -0.320888 0.685566 0.435036 0.487621 
time: 1403638208.545097, t: 4.879519 10.854278 2.927652 q: -0.322633 0.685288 0.439515 0.482820 
time: 1403638208.645097, t: 4.766093 10.853875 2.923146 q: -0.327209 0.680171 0.448740 0.478471 
optimize pose graph 
time: 1403638208.745097, t: 4.654848 10.850939 2.926009 q: -0.334601 0.675822 0.454968 0.473614 
time: 1403638208.845097, t: 4.547969 10.845267 2.933312 q: -0.340439 0.670733 0.460465 0.471371 
time: 1403638208.945097, t: 4.446050 10.837557 2.938102 q: -0.342993 0.665685 0.466165 0.471072 
time: 1403638209.045097, t: 4.345876 10.826292 2.936799 q: -0.345329 0.662934 0.469448 0.469984 
time: 1403638209.145097, t: 4.246344 10.811408 2.927948 q: -0.347078 0.661558 0.471521 0.468558 
time: 1403638209.245097, t: 4.149289 10.794868 2.911803 q: -0.347929 0.661165 0.472337 0.467657 
time: 1403638209.345097, t: 4.055060 10.774962 2.889681 q: -0.349097 0.662015 0.472225 0.465694 
time: 1403638209.445097, t: 3.964788 10.754195 2.860897 q: -0.350505 0.662259 0.471779 0.464740 
time: 1403638209.545097, t: 3.878132 10.731769 2.825337 q: -0.352918 0.660275 0.469787 0.467745 
time: 1403638209.645097, t: 3.794347 10.705657 2.773090 q: -0.354165 0.660662 0.468030 0.468018 
time: 1403638209.745097, t: 3.712560 10.677209 2.701508 q: -0.352448 0.661839 0.468087 0.467594 
time: 1403638209.845097, t: 3.634168 10.646601 2.612764 q: -0.349207 0.659876 0.469806 0.471063 
time: 1403638209.945097, t: 3.556572 10.610709 2.514223 q: -0.349442 0.656679 0.468916 0.476216 
time: 1403638210.045097, t: 3.482125 10.574659 2.412471 q: -0.351743 0.652282 0.467003 0.482404 
time: 1403638210.145097, t: 3.408523 10.529989 2.313106 q: -0.356286 0.648943 0.463588 0.486847 
time: 1403638210.245097, t: 3.331717 10.479612 2.222026 q: -0.359076 0.647178 0.461563 0.489065 
time: 1403638210.345097, t: 3.256494 10.417858 2.134920 q: -0.357842 0.646771 0.462294 0.489817 
time: 1403638210.445097, t: 3.179890 10.350692 2.048937 q: -0.357536 0.648014 0.462291 0.488399 
time: 1403638210.545097, t: 3.103583 10.278122 1.958535 q: -0.358799 0.648114 0.460841 0.488709 
time: 1403638210.645097, t: 3.027531 10.198599 1.863614 q: -0.359839 0.647611 0.459367 0.489997 
time: 1403638210.745097, t: 2.950744 10.112172 1.764544 q: -0.361079 0.648223 0.457877 0.489670 
optimize pose graph 
time: 1403638210.845097, t: 2.876649 10.017309 1.672092 q: -0.360807 0.649566 0.457767 0.488192 
time: 1403638210.945097, t: 2.797651 9.917328 1.588474 q: -0.358479 0.653487 0.459261 0.483246 
time: 1403638211.045097, t: 2.725380 9.811456 1.511993 q: -0.357718 0.656940 0.460085 0.478321 
time: 1403638211.145097, t: 2.653602 9.701191 1.445556 q: -0.356124 0.659792 0.461424 0.474276 
time: 1403638211.245097, t: 2.582298 9.590462 1.386226 q: -0.355486 0.662068 0.461735 0.471271 
time: 1403638211.345097, t: 2.513024 9.479366 1.335020 q: -0.353161 0.664426 0.459991 0.471406 
time: 1403638211.445097, t: 2.447829 9.362270 1.281797 q: -0.348335 0.669754 0.453104 0.474120 
time: 1403638211.645097, t: 2.328820 9.116943 1.161050 q: -0.335741 0.686733 0.426374 0.483612 
time: 1403638211.745097, t: 2.271623 8.987486 1.091657 q: -0.326212 0.698953 0.406599 0.489621 
time: 1403638211.845097, t: 2.220602 8.853486 1.021200 q: -0.316414 0.713578 0.382923 0.494022 
time: 1403638211.945097, t: 2.178643 8.716677 0.957195 q: -0.303947 0.725945 0.360275 0.500822 
time: 1403638212.045097, t: 2.141694 8.575889 0.900322 q: -0.290430 0.737095 0.338908 0.507428 
time: 1403638212.145097, t: 2.109448 8.432420 0.850648 q: -0.273700 0.745809 0.320293 0.516014 
time: 1403638212.245097, t: 2.080288 8.284464 0.810022 q: -0.256605 0.753490 0.301370 0.524959 
time: 1403638212.345097, t: 2.051801 8.131755 0.778687 q: -0.240687 0.761431 0.282287 0.531608 
time: 1403638212.445097, t: 2.028726 7.977775 0.754261 q: -0.223652 0.768097 0.263625 0.538989 
time: 1403638212.545097, t: 2.004057 7.819842 0.738520 q: -0.211119 0.774678 0.241639 0.544897 
time: 1403638212.645097, t: 1.978029 7.657689 0.725717 q: -0.196759 0.781975 0.220138 0.548945 
time: 1403638212.745097, t: 1.953513 7.492453 0.722235 q: -0.178664 0.789077 0.200456 0.552498 
time: 1403638212.845097, t: 1.928467 7.325261 0.725433 q: -0.163017 0.794369 0.177102 0.557709 
optimize pose graph 
time: 1403638212.945097, t: 1.906515 7.154831 0.730994 q: -0.147015 0.800179 0.152407 0.561135 
time: 1403638213.045097, t: 1.886802 6.983653 0.745159 q: -0.129038 0.805750 0.127084 0.563885 
time: 1403638213.145097, t: 1.869190 6.811056 0.760436 q: -0.113413 0.811494 0.099425 0.564562 
time: 1403638213.245097, t: 1.853086 6.635983 0.769985 q: -0.099907 0.820152 0.070038 0.558985 
time: 1403638213.345097, t: 1.840513 6.458733 0.772489 q: -0.089217 0.829036 0.038485 0.550689 
time: 1403638213.445097, t: 1.835556 6.276488 0.769168 q: -0.080150 0.835261 0.006234 0.543945 
time: 1403638213.545097, t: 1.836784 6.087750 0.765095 q: -0.068182 0.836503 -0.021944 0.543261 
time: 1403638213.645097, t: 1.846701 5.893721 0.761843 q: -0.045040 0.829663 -0.034018 0.555403 
time: 1403638213.745097, t: 1.860785 5.692609 0.759715 q: -0.023250 0.821160 -0.037021 0.569022 
time: 1403638213.845097, t: 1.876771 5.491498 0.761873 q: -0.007167 0.816376 -0.037134 0.576281 
time: 1403638213.945097, t: 1.890536 5.292742 0.772027 q: 0.001549 0.815512 -0.036880 0.577561 
time: 1403638214.045097, t: 1.900642 5.093023 0.786451 q: 0.003041 0.818166 -0.036857 0.573791 
time: 1403638214.145097, t: 1.912167 4.895577 0.804367 q: 0.003596 0.824613 -0.034935 0.564607 
time: 1403638214.245097, t: 1.924714 4.699806 0.825421 q: 0.002532 0.831150 -0.031821 0.555131 
time: 1403638214.345097, t: 1.939730 4.505551 0.842164 q: 0.000295 0.835809 -0.028786 0.548265 
time: 1403638214.445097, t: 1.961464 4.315028 0.852260 q: -0.000731 0.837299 -0.024282 0.546205 
time: 1403638214.545097, t: 1.987965 4.128678 0.859093 q: -0.001723 0.832092 -0.020175 0.554268 
time: 1403638214.645097, t: 2.018012 3.942427 0.859030 q: -0.002756 0.825657 -0.016513 0.563924 
time: 1403638214.745097, t: 2.047978 3.755751 0.854035 q: -0.003936 0.819239 -0.012946 0.573293 
time: 1403638214.845097, t: 2.076017 3.575152 0.842917 q: -0.005142 0.815197 -0.010091 0.579074 
time: 1403638214.945097, t: 2.103811 3.396486 0.826179 q: -0.005826 0.812710 -0.007965 0.582585 
time: 1403638215.045097, t: 2.130531 3.220290 0.803576 q: -0.006832 0.811903 -0.006958 0.583711 
time: 1403638215.145097, t: 2.155132 3.047157 0.776479 q: -0.006109 0.812174 -0.005276 0.583359 
time: 1403638215.245097, t: 2.179212 2.875381 0.746252 q: -0.004451 0.814234 -0.003835 0.580507 
time: 1403638215.345097, t: 2.201395 2.708820 0.715119 q: -0.000324 0.815929 -0.001324 0.578151 
time: 1403638215.445097, t: 2.223286 2.545851 0.687620 q: 0.005063 0.815493 0.002482 0.578740 
time: 1403638215.545097, t: 2.243878 2.388465 0.668515 q: 0.006142 0.815759 0.003080 0.578352 
time: 1403638215.645097, t: 2.263939 2.235043 0.657860 q: 0.005607 0.813758 0.003158 0.581168 
time: 1403638215.745097, t: 2.281280 2.089132 0.653718 q: 0.001422 0.813377 0.000276 0.581736 
time: 1403638215.845097, t: 2.295441 1.945731 0.646543 q: 0.000459 0.813477 -0.005336 0.581573 
time: 1403638215.945097, t: 2.306356 1.807179 0.630940 q: 0.002880 0.813290 -0.009913 0.581767 
time: 1403638216.045097, t: 2.312585 1.670082 0.612191 q: 0.004227 0.813284 -0.013851 0.581686 
time: 1403638216.145097, t: 2.317870 1.536033 0.592757 q: 0.007353 0.813320 -0.015371 0.581567 
time: 1403638216.245097, t: 2.319992 1.406368 0.579713 q: 0.010205 0.812101 -0.016207 0.583202 
time: 1403638216.345097, t: 2.320290 1.282406 0.572651 q: 0.012415 0.811131 -0.016932 0.584487 
time: 1403638216.445097, t: 2.318136 1.163402 0.570844 q: 0.014014 0.809902 -0.017687 0.586131 
time: 1403638216.545097, t: 2.314060 1.048915 0.569977 q: 0.014872 0.810193 -0.017913 0.585701 
time: 1403638216.645097, t: 2.308047 0.940229 0.562848 q: 0.018361 0.811581 -0.016538 0.583717 
time: 1403638216.745097, t: 2.300006 0.834484 0.549466 q: 0.020891 0.812881 -0.014714 0.581869 
time: 1403638216.845097, t: 2.292473 0.733766 0.530715 q: 0.024696 0.809341 -0.016333 0.586592 
time: 1403638216.945097, t: 2.280243 0.636967 0.509449 q: 0.029148 0.806971 -0.023525 0.589402 
time: 1403638217.045097, t: 2.266642 0.544752 0.484930 q: 0.032082 0.807405 -0.037256 0.587946 
time: 1403638217.145097, t: 2.247638 0.456765 0.458091 q: 0.037701 0.809553 -0.052918 0.583440 
time: 1403638217.245097, t: 2.225951 0.372441 0.430280 q: 0.044974 0.811136 -0.064634 0.579533 
time: 1403638217.345097, t: 2.203788 0.292419 0.407915 q: 0.051094 0.811983 -0.072545 0.576897 
time: 1403638217.445097, t: 2.179577 0.217269 0.394976 q: 0.055314 0.812873 -0.078322 0.574495 
time: 1403638217.545097, t: 2.155767 0.145531 0.390115 q: 0.062355 0.813782 -0.079080 0.572378 
time: 1403638217.645097, t: 2.131248 0.077474 0.393160 q: 0.069655 0.814623 -0.076617 0.570672 
time: 1403638217.745097, t: 2.106868 0.014903 0.403291 q: 0.077255 0.815472 -0.072570 0.569008 
time: 1403638217.845097, t: 2.083464 -0.040019 0.418166 q: 0.082463 0.816956 -0.068679 0.566626 
time: 1403638217.945097, t: 2.062405 -0.087010 0.437724 q: 0.084877 0.815618 -0.065663 0.568553 
time: 1403638218.045097, t: 2.044868 -0.127729 0.447626 q: 0.084108 0.813790 -0.063935 0.571476 
time: 1403638218.145097, t: 2.026891 -0.160903 0.453963 q: 0.082185 0.812389 -0.063489 0.573794 
time: 1403638218.245097, t: 2.010030 -0.186789 0.453544 q: 0.080758 0.809677 -0.062021 0.577975 
time: 1403638218.345097, t: 1.996090 -0.204337 0.446072 q: 0.076186 0.805882 -0.062608 0.583807 
time: 1403638218.445097, t: 1.975669 -0.214462 0.448607 q: 0.069975 0.805538 -0.064314 0.584873 
time: 1403638218.545097, t: 1.957851 -0.217320 0.452227 q: 0.067174 0.806377 -0.064926 0.583977 
time: 1403638218.645097, t: 1.930972 -0.216281 0.467923 q: 0.064164 0.808366 -0.065911 0.581449 
time: 1403638218.745097, t: 1.903361 -0.210935 0.481438 q: 0.064420 0.813055 -0.069496 0.574424 
time: 1403638218.845097, t: 1.875955 -0.203034 0.490926 q: 0.068470 0.816349 -0.076644 0.568341 
optimize pose graph 
time: 1403638218.945097, t: 1.851263 -0.192186 0.489853 q: 0.065031 0.816597 -0.088426 0.566676 
time: 1403638219.045097, t: 1.827779 -0.179178 0.486050 q: 0.055583 0.814659 -0.102572 0.568085 
time: 1403638219.145097, t: 1.803431 -0.167452 0.482983 q: 0.053119 0.812191 -0.110272 0.570407 
time: 1403638219.245097, t: 1.780488 -0.159025 0.476281 q: 0.061382 0.808054 -0.108113 0.575841 
time: 1403638219.345097, t: 1.755053 -0.150933 0.468200 q: 0.069964 0.801873 -0.104585 0.584094 
time: 1403638219.445097, t: 1.728927 -0.142931 0.461976 q: 0.074437 0.794352 -0.102457 0.594110 
time: 1403638219.545097, t: 1.698379 -0.132206 0.460330 q: 0.075424 0.792348 -0.101987 0.596737 
time: 1403638219.645097, t: 1.662598 -0.118063 0.462629 q: 0.071584 0.794690 -0.104508 0.593651 
time: 1403638219.745097, t: 1.619352 -0.102079 0.465400 q: 0.064972 0.797349 -0.108776 0.590068 
time: 1403638219.845097, t: 1.571578 -0.086589 0.463657 q: 0.056151 0.800535 -0.114665 0.585528 
time: 1403638219.945097, t: 1.520113 -0.072734 0.458405 q: 0.048148 0.802749 -0.120483 0.582030 
time: 1403638220.045097, t: 1.467104 -0.063983 0.445393 q: 0.043019 0.805140 -0.124027 0.578374 
time: 1403638220.145097, t: 1.409297 -0.061159 0.433940 q: 0.045329 0.807405 -0.122441 0.575370 
time: 1403638220.245097, t: 1.355089 -0.065384 0.426117 q: 0.059134 0.809445 -0.113211 0.573136 
time: 1403638220.345097, t: 1.295712 -0.070241 0.429469 q: 0.071085 0.811434 -0.105054 0.570513 
time: 1403638220.445097, t: 1.234694 -0.073095 0.439050 q: 0.076228 0.812050 -0.101945 0.569536 
time: 1403638220.545097, t: 1.177858 -0.074855 0.451926 q: 0.077957 0.811558 -0.101403 0.570100 
time: 1403638220.645097, t: 1.119202 -0.072895 0.463884 q: 0.079669 0.811210 -0.101888 0.570272 
time: 1403638220.745097, t: 1.064037 -0.071066 0.469850 q: 0.079892 0.811072 -0.103351 0.570174 
time: 1403638220.845097, t: 1.008506 -0.066843 0.469025 q: 0.079156 0.810557 -0.105177 0.570674 
time: 1403638220.945097, t: 0.953506 -0.060556 0.460840 q: 0.078866 0.811230 -0.107049 0.569409 
optimize pose graph 
time: 1403638221.045097, t: 0.899264 -0.053199 0.447472 q: 0.079108 0.811817 -0.107638 0.568427 
time: 1403638221.145097, t: 0.845985 -0.044963 0.429680 q: 0.079702 0.812542 -0.108367 0.567168 
time: 1403638221.245097, t: 0.794346 -0.034704 0.420861 q: 0.079044 0.813951 -0.109497 0.565019 
time: 1403638221.345097, t: 0.744075 -0.023947 0.418193 q: 0.077103 0.815400 -0.111468 0.562807 
time: 1403638221.445097, t: 0.695686 -0.012719 0.419335 q: 0.074506 0.815936 -0.114043 0.561864 
time: 1403638221.545097, t: 0.649177 -0.002682 0.416910 q: 0.072273 0.815804 -0.116084 0.561929 
time: 1403638221.645097, t: 0.605805 0.006136 0.409570 q: 0.072036 0.814724 -0.116912 0.563353 
time: 1403638221.745097, t: 0.565413 0.014895 0.400598 q: 0.070192 0.812085 -0.118597 0.567032 
time: 1403638221.845097, t: 0.528706 0.020543 0.395745 q: 0.069463 0.811094 -0.118317 0.568597 
time: 1403638221.945097, t: 0.488017 0.026008 0.397749 q: 0.073462 0.809830 -0.114865 0.570600 
time: 1403638222.045097, t: 0.449007 0.031326 0.408125 q: 0.076843 0.810172 -0.112325 0.570175 
time: 1403638222.145097, t: 0.409705 0.038524 0.417490 q: 0.078417 0.813351 -0.111299 0.565617 
time: 1403638222.245097, t: 0.371668 0.043739 0.423391 q: 0.078198 0.817038 -0.111824 0.560205 
time: 1403638222.345097, t: 0.336113 0.049806 0.423881 q: 0.077258 0.820434 -0.112646 0.555185 
time: 1403638222.445097, t: 0.305869 0.059473 0.415324 q: 0.076800 0.823074 -0.113429 0.551166 
time: 1403638222.545097, t: 0.276522 0.064710 0.407147 q: 0.076497 0.822711 -0.113522 0.551732 
time: 1403638222.645097, t: 0.251302 0.071327 0.394878 q: 0.076318 0.817109 -0.113482 0.560027 
time: 1403638222.745097, t: 0.229959 0.077456 0.380200 q: 0.077011 0.813448 -0.113131 0.565308 
time: 1403638222.945097, t: 0.188713 0.091144 0.347097 q: 0.078168 0.803311 -0.111779 0.579729 
time: 1403638223.045097, t: 0.164699 0.097568 0.330803 q: 0.077478 0.802937 -0.111575 0.580379 
time: 1403638223.145097, t: 0.135737 0.107219 0.321473 q: 0.078056 0.808780 -0.111578 0.572130 
optimize pose graph 
time: 1403638223.245097, t: 0.110090 0.118322 0.314420 q: 0.071821 0.818696 -0.116635 0.557652 
time: 1403638223.345097, t: 0.083907 0.126701 0.312260 q: 0.068821 0.820956 -0.118969 0.554204 
time: 1403638223.445097, t: 0.061446 0.131776 0.312094 q: 0.062321 0.817510 -0.123555 0.559042 
time: 1403638223.545097, t: 0.041898 0.135037 0.304658 q: 0.053824 0.812954 -0.129623 0.565161 
time: 1403638223.645097, t: 0.022193 0.132332 0.295666 q: 0.061138 0.811979 -0.124711 0.566921 
time: 1403638223.745097, t: 0.001659 0.125670 0.286028 q: 0.072635 0.812662 -0.116771 0.566277 
time: 1403638223.845097, t: -0.018475 0.118810 0.274621 q: 0.080149 0.813681 -0.111466 0.564866 
time: 1403638223.945097, t: -0.035810 0.114309 0.260732 q: 0.085277 0.813892 -0.107800 0.564523 
time: 1403638224.045097, t: -0.053951 0.111046 0.244445 q: 0.086581 0.816106 -0.106790 0.561311 
time: 1403638224.145097, t: -0.070290 0.111572 0.226158 q: 0.084178 0.821741 -0.108266 0.553113 
time: 1403638224.245097, t: -0.080657 0.112107 0.209129 q: 0.082332 0.825066 -0.109675 0.548141 
time: 1403638224.445097, t: -0.088219 0.118255 0.186566 q: 0.076451 0.814748 -0.114421 0.563248 
time: 1403638224.545097, t: -0.090853 0.124225 0.176532 q: 0.076596 0.807497 -0.114272 0.573606 
time: 1403638224.645097, t: -0.094347 0.128836 0.165357 q: 0.078094 0.809925 -0.113020 0.570218 
time: 1403638224.745097, t: -0.098705 0.134345 0.153876 q: 0.077152 0.820168 -0.113837 0.555350 
time: 1403638224.845097, t: -0.099590 0.140664 0.146311 q: 0.076247 0.822912 -0.114368 0.551291 
time: 1403638224.945097, t: -0.095151 0.146187 0.146841 q: 0.069224 0.815742 -0.118719 0.561852 
time: 1403638225.045097, t: -0.091938 0.150512 0.149967 q: 0.062927 0.809325 -0.121808 0.571136 
time: 1403638225.145097, t: -0.088694 0.152733 0.153389 q: 0.067300 0.808640 -0.117946 0.572416 
time: 1403638225.245097, t: -0.086518 0.152918 0.157237 q: 0.071558 0.815271 -0.113900 0.563240 
optimize pose graph 
time: 1403638225.345097, t: -0.083868 0.152387 0.162931 q: 0.074379 0.818998 -0.111634 0.557896 
time: 1403638225.445097, t: -0.078813 0.151509 0.166213 q: 0.076212 0.814928 -0.110157 0.563870 
time: 1403638225.545097, t: -0.073023 0.151238 0.162827 q: 0.079030 0.804609 -0.108037 0.578521 
time: 1403638225.645097, t: -0.070074 0.152168 0.152464 q: 0.081357 0.794263 -0.106193 0.592664 
time: 1403638225.745097, t: -0.071966 0.155767 0.130447 q: 0.082163 0.796497 -0.105510 0.589669 
time: 1403638225.845097, t: -0.078016 0.161720 0.098731 q: 0.080688 0.807836 -0.106657 0.574033 
time: 1403638225.945097, t: -0.084451 0.168926 0.061774 q: 0.079130 0.818036 -0.107796 0.559406 
time: 1403638226.045097, t: -0.086016 0.179250 0.034943 q: 0.074596 0.828217 -0.108101 0.544799 
time: 1403638226.145097, t: -0.076832 0.188253 0.046760 q: 0.051516 0.826168 -0.122345 0.547561 
time: 1403638226.245097, t: -0.066982 0.193656 0.039031 q: 0.077727 0.831156 -0.106611 0.540159 
time: 1403638226.345097, t: -0.069881 0.202676 0.035172 q: 0.075468 0.827337 -0.107432 0.546147 
time: 1403638226.445097, t: -0.068458 0.207195 0.026573 q: 0.075710 0.827067 -0.107784 0.546453 
time: 1403638226.545097, t: -0.071043 0.209702 0.026048 q: 0.075563 0.826654 -0.107250 0.547203 
time: 1403638226.645097, t: -0.069096 0.208181 0.024638 q: 0.075378 0.826701 -0.107734 0.547062 
time: 1403638226.745097, t: -0.069118 0.208089 0.024706 q: 0.074989 0.827173 -0.108144 0.546322 
time: 1403638226.845097, t: -0.069133 0.208210 0.024607 q: 0.075184 0.826930 -0.107852 0.546720 
time: 1403638226.945097, t: -0.068923 0.207725 0.024827 q: 0.075662 0.827103 -0.107631 0.546436 
time: 1403638227.045097, t: -0.069128 0.207738 0.024796 q: 0.076091 0.827091 -0.107139 0.546490 
time: 1403638227.145097, t: -0.069155 0.207515 0.024980 q: 0.075871 0.827202 -0.107380 0.546305 
time: 1403638227.245097, t: -0.069249 0.207611 0.024978 q: 0.075590 0.827226 -0.107438 0.546297 
time: 1403638227.345097, t: -0.069208 0.207617 0.025031 q: 0.075158 0.827206 -0.107798 0.546317 
optimize pose graph 
time: 1403638227.445097, t: -0.069242 0.207590 0.025098 q: 0.075167 0.827221 -0.107795 0.546293 
time: 1403638227.545097, t: -0.069268 0.207417 0.025240 q: 0.075283 0.827213 -0.107618 0.546323 
time: 1403638227.645097, t: -0.069298 0.207282 0.025381 q: 0.075429 0.827216 -0.107500 0.546322 
time: 1403638227.745097, t: -0.069336 0.207284 0.025379 q: 0.075328 0.827237 -0.107555 0.546294 
time: 1403638227.845097, t: -0.069274 0.207282 0.025336 q: 0.075236 0.827250 -0.107581 0.546281 
time: 1403638227.945097, t: -0.069301 0.207289 0.025346 q: 0.075068 0.827234 -0.107657 0.546314 
time: 1403638228.045097, t: -0.069057 0.208315 0.024309 q: 0.075041 0.827204 -0.107774 0.546340 
time: 1403638228.145097, t: -0.069441 0.207176 0.025484 q: 0.075040 0.827228 -0.107665 0.546324 
time: 1403638228.245097, t: -0.069437 0.207084 0.025525 q: 0.075071 0.827217 -0.107638 0.546342 
time: 1403638228.345097, t: -0.069389 0.207008 0.025519 q: 0.075062 0.827198 -0.107654 0.546369 
time: 1403638228.445097, t: -0.069447 0.207001 0.025547 q: 0.075049 0.827235 -0.107606 0.546324 
time: 1403638228.545097, t: -0.069465 0.206982 0.025626 q: 0.074971 0.827224 -0.107609 0.546351 
time: 1403638228.645097, t: -0.069517 0.207008 0.025640 q: 0.074983 0.827249 -0.107607 0.546313 
time: 1403638228.745097, t: -0.069525 0.206987 0.025662 q: 0.074937 0.827241 -0.107623 0.546327 
time: 1403638228.845097, t: -0.069556 0.206957 0.025729 q: 0.074929 0.827235 -0.107619 0.546340 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731033829.061031249]: Shutdown request received.[0m
[33m[ WARN] [1731033829.061087071]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731033829.062019322]: Shutdown request received.[0m
[33m[ WARN] [1731033829.062043266]: Reason given for shutdown: [user request][0m
killed
