/SLAM-Hive/slam_hive_results/mapping_results/3442/2100_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1731040117.310883703]: init begins[0m
[31m[ERROR] [1731040117.311105174]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731040117.311978821]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ec53122c-9d89-11ef-a989-0242ac110002/roslaunch-09a16ae13fab-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://09a16ae13fab:40863/[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] [1731040118.428805754]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731040118.432076271]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://09a16ae13fab:11311/[0m
]2;roscore http://09a16ae13fab:11311/
[1msetting /run_id to ec53122c-9d89-11ef-a989-0242ac110002[0m
config_file: /slamhive/mappingtask.yaml
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
result path /home/output/vio.csv
[33m[ WARN] [1731040118.476459128]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1731040118.476661412]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731040118.476683740]: 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
set g       0       0 9.81007
[0m[ INFO] [1731040118.476832734]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731040118.501176012]: waiting for image and imu...[0m
[1mprocess[rosout-1]: started with pid [228][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] [1731040127.140463329]: 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: 327402000.03 
init first imu pose
averge acc 9.049359 -0.057205 -3.951263
init R0 
    0.400188    0.0132665     0.916337
-2.46519e-32    -0.999895    0.0144762
    0.916433  -0.00579322    -0.400146
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1731040128.496243380]: IMU excitation not enouth![0m
[0m[ INFO] [1731040128.497446656]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1731040128.682452509]: IMU excitation not enouth![0m
[0m[ INFO] [1731040128.682836866]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731040128.778921550]: IMU excitation not enouth![0m
[0m[ INFO] [1731040128.779599724]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731040128.979348464]: IMU excitation not enouth![0m
[0m[ INFO] [1731040128.979711004]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731040129.186045078]: IMU excitation not enouth![0m
[0m[ INFO] [1731040129.187178525]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731040129.299042032]: IMU excitation not enouth![0m
[0m[ INFO] [1731040129.299699912]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731040129.486419410]: IMU excitation not enouth![0m
[0m[ INFO] [1731040129.912400953]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1731040130.157757592]: gyroscope bias initial calibration -0.000859371    0.0337782    0.0783913[0m
[0m[ INFO] [1731040130.264276193]: Initialization finish![0m
time: 1403638129.795097, t: 0.006738 0.000507 0.065013 q: -0.022322 0.836050 0.001308 0.548198 
time: 1403638129.895097, t: 0.006789 0.003296 0.083757 q: -0.021169 0.841337 0.007045 0.540051 
time: 1403638129.995097, t: 0.008242 0.006269 0.113552 q: -0.021500 0.840005 0.009920 0.542062 
time: 1403638130.095097, t: 0.009948 0.007897 0.151563 q: -0.030954 0.830639 0.001677 0.555948 
time: 1403638130.195097, t: 0.011763 0.010656 0.190580 q: -0.036212 0.828377 0.003896 0.558986 
time: 1403638130.295097, t: 0.013057 0.013020 0.231391 q: -0.041291 0.825854 0.006371 0.562334 
time: 1403638130.395097, t: 0.014410 0.014040 0.273810 q: -0.053545 0.819149 -0.002942 0.571068 
time: 1403638130.495097, t: 0.013849 0.016061 0.313367 q: -0.056811 0.819099 0.002380 0.570827 
time: 1403638130.595097, t: 0.013564 0.018323 0.352159 q: -0.050214 0.820822 0.011589 0.568855 
time: 1403638130.695097, t: 0.011240 0.018798 0.391037 q: -0.053759 0.814119 0.006440 0.578168 
time: 1403638130.795097, t: 0.009827 0.018680 0.426335 q: -0.071339 0.807227 -0.007285 0.585869 
time: 1403638130.895097, t: 0.007272 0.017486 0.452175 q: -0.077650 0.805385 -0.008330 0.587584 
time: 1403638130.995097, t: 0.003580 0.013269 0.463765 q: -0.075969 0.795531 -0.015206 0.600939 
time: 1403638131.095097, t: 0.000581 0.009897 0.457646 q: -0.073231 0.788917 -0.019121 0.609822 
time: 1403638131.195097, t: 0.001501 0.011382 0.434846 q: -0.064142 0.797250 -0.009418 0.600158 
time: 1403638131.295097, t: 0.003625 0.014262 0.405338 q: -0.052389 0.808467 0.004120 0.586191 
time: 1403638131.395097, t: 0.004055 0.013683 0.374628 q: -0.049520 0.810987 0.005188 0.582942 
time: 1403638131.495097, t: 0.003522 0.010320 0.341101 q: -0.043189 0.810794 0.006355 0.583701 
time: 1403638131.595097, t: 0.000196 0.007708 0.301922 q: -0.040311 0.814515 0.007998 0.578685 
time: 1403638131.695097, t: -0.001955 0.004055 0.261031 q: -0.036722 0.815836 0.011638 0.576999 
time: 1403638131.795097, t: -0.005980 -0.000996 0.216355 q: -0.029459 0.816225 0.015973 0.576761 
time: 1403638131.895097, t: -0.007064 -0.005742 0.174229 q: -0.020145 0.817900 0.019568 0.574674 
time: 1403638131.995097, t: -0.010706 -0.009081 0.140579 q: -0.013437 0.819750 0.025798 0.571982 
time: 1403638132.095097, t: -0.007877 -0.004963 0.126238 q: -0.003751 0.825616 0.041201 0.562714 
time: 1403638132.195097, t: -0.008776 -0.003460 0.138469 q: -0.003326 0.826255 0.047580 0.561273 
time: 1403638132.295097, t: -0.007719 -0.001869 0.180083 q: -0.015650 0.818148 0.039766 0.573417 
time: 1403638132.395097, t: -0.007518 0.001146 0.235473 q: -0.028285 0.813618 0.034354 0.579695 
time: 1403638132.495097, t: -0.006660 0.004357 0.293726 q: -0.047533 0.805177 0.023137 0.590673 
time: 1403638132.595097, t: -0.006543 0.007466 0.348920 q: -0.065882 0.790917 0.008744 0.608304 
time: 1403638132.695097, t: -0.005550 0.015613 0.389830 q: -0.072385 0.790911 0.004892 0.607615 
time: 1403638132.795097, t: -0.004226 0.026712 0.415247 q: -0.074359 0.796416 0.003176 0.600151 
time: 1403638132.895097, t: -0.006113 0.034686 0.426258 q: -0.079980 0.788846 -0.005345 0.609341 
time: 1403638132.995097, t: -0.006692 0.036041 0.421091 q: -0.086367 0.782223 -0.006092 0.616953 
time: 1403638133.095097, t: -0.005218 0.026741 0.403200 q: -0.076716 0.787169 0.008188 0.611893 
wait for imu ... 
time: 1403638133.195097, t: -0.002797 0.004985 0.380008 q: -0.065219 0.791503 0.009827 0.607596 
time: 1403638133.295097, t: -0.000731 -0.027292 0.356122 q: -0.049643 0.793091 -0.000224 0.607076 
time: 1403638133.395097, t: -0.002957 -0.067621 0.330632 q: -0.031833 0.799183 -0.007685 0.600195 
time: 1403638133.495097, t: -0.009426 -0.113655 0.309174 q: -0.012176 0.802368 -0.021882 0.596304 
time: 1403638133.595097, t: -0.021442 -0.161222 0.290510 q: -0.004409 0.803804 -0.044276 0.593227 
time: 1403638133.695097, t: -0.038576 -0.204145 0.271444 q: -0.003081 0.807141 -0.061924 0.587094 
time: 1403638133.795097, t: -0.054241 -0.240774 0.254091 q: 0.010905 0.808934 -0.075917 0.582875 
time: 1403638133.895097, t: -0.064057 -0.267884 0.237294 q: 0.027180 0.811285 -0.083849 0.577968 
time: 1403638133.995097, t: -0.060412 -0.278122 0.229176 q: 0.034119 0.810328 -0.089587 0.578082 
time: 1403638134.095097, t: -0.039018 -0.264484 0.227633 q: 0.037395 0.813313 -0.084656 0.574419 
time: 1403638134.195097, t: -0.004529 -0.244953 0.227213 q: 0.039624 0.814869 -0.077902 0.573018 
time: 1403638134.295097, t: 0.018873 -0.210282 0.235518 q: 0.035599 0.805472 -0.085502 0.585352 
time: 1403638134.395097, t: 0.056292 -0.170845 0.240227 q: 0.026365 0.806961 -0.090131 0.583092 
time: 1403638134.495097, t: 0.090337 -0.128133 0.242581 q: 0.018707 0.808172 -0.093700 0.581144 
time: 1403638134.595097, t: 0.117899 -0.085623 0.245794 q: 0.007779 0.806482 -0.098403 0.582961 
time: 1403638134.695097, t: 0.133306 -0.040387 0.248881 q: 0.002402 0.809999 -0.096881 0.578369 
time: 1403638134.795097, t: 0.148176 0.004414 0.252244 q: -0.000467 0.817256 -0.090926 0.569056 
time: 1403638134.895097, t: 0.154998 0.046062 0.263254 q: 0.001611 0.819416 -0.086379 0.566650 
time: 1403638134.995097, t: 0.162895 0.080871 0.269497 q: 0.000619 0.815451 -0.086610 0.572310 
time: 1403638135.095097, t: 0.161913 0.109892 0.269380 q: 0.003560 0.819381 -0.078511 0.567836 
time: 1403638135.195097, t: 0.159723 0.127606 0.263566 q: 0.004579 0.823769 -0.070720 0.562479 
time: 1403638135.295097, t: 0.156931 0.129079 0.252974 q: 0.006552 0.825581 -0.067609 0.560180 
time: 1403638135.395097, t: 0.146623 0.118852 0.242847 q: 0.009587 0.822997 -0.069666 0.563676 
time: 1403638135.495097, t: 0.135167 0.097170 0.232510 q: 0.018398 0.825408 -0.068607 0.560049 
time: 1403638135.595097, t: 0.127651 0.071137 0.226812 q: 0.025972 0.830208 -0.068636 0.552602 
time: 1403638135.695097, t: 0.120406 0.038469 0.224600 q: 0.030735 0.826091 -0.078351 0.557216 
time: 1403638135.795097, t: 0.103591 0.003186 0.221481 q: 0.027970 0.822835 -0.091385 0.560187 
time: 1403638135.895097, t: 0.081790 -0.027653 0.219596 q: 0.038176 0.828150 -0.087093 0.552381 
time: 1403638135.995097, t: 0.057134 -0.056467 0.226428 q: 0.049998 0.833519 -0.082995 0.543929 
time: 1403638136.095097, t: 0.035178 -0.094259 0.244785 q: 0.059062 0.826281 -0.088994 0.553038 
time: 1403638136.195097, t: 0.012031 -0.137939 0.259308 q: 0.056681 0.815896 -0.102769 0.566162 
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time: 1403638136.395097, t: -0.034494 -0.216374 0.252486 q: 0.072350 0.815277 -0.108994 0.564101 
time: 1403638136.495097, t: -0.049751 -0.236986 0.246456 q: 0.078099 0.817735 -0.111222 0.559321 
time: 1403638136.595097, t: -0.054960 -0.238871 0.250288 q: 0.072094 0.818223 -0.121853 0.557194 
time: 1403638136.695097, t: -0.050521 -0.220103 0.262733 q: 0.058506 0.817009 -0.123629 0.560169 
time: 1403638136.795097, t: -0.042131 -0.187773 0.277414 q: 0.041288 0.816725 -0.119488 0.563008 
time: 1403638136.895097, t: -0.031100 -0.146810 0.287950 q: 0.016326 0.809439 -0.121000 0.574371 
time: 1403638136.995097, t: -0.019150 -0.104031 0.283488 q: -0.002532 0.799487 -0.124065 0.587726 
time: 1403638137.095097, t: -0.009057 -0.063660 0.260081 q: -0.009583 0.799973 -0.118239 0.588194 
time: 1403638137.195097, t: -0.002534 -0.029363 0.225393 q: -0.006881 0.808191 -0.104767 0.579486 
time: 1403638137.295097, t: 0.000604 -0.002130 0.185797 q: -0.003398 0.817144 -0.090726 0.569238 
time: 1403638137.395097, t: 0.001420 0.018040 0.145782 q: -0.001019 0.822644 -0.083494 0.562392 
time: 1403638137.495097, t: 0.003526 0.031217 0.107356 q: 0.009212 0.830711 -0.074953 0.551558 
time: 1403638137.595097, t: 0.004344 0.040688 0.075389 q: 0.023973 0.839436 -0.063826 0.539164 
time: 1403638137.695097, t: 0.005288 0.047066 0.050074 q: 0.032149 0.840161 -0.063891 0.537600 
time: 1403638137.795097, t: 0.003062 0.050476 0.031116 q: 0.034656 0.839337 -0.069292 0.538062 
time: 1403638137.895097, t: 0.000057 0.052863 0.017679 q: 0.040936 0.845015 -0.065736 0.529105 
time: 1403638137.995097, t: -0.000721 0.055074 0.008454 q: 0.046695 0.853666 -0.058044 0.515466 
time: 1403638138.095097, t: -0.000624 0.056666 0.003441 q: 0.048307 0.853954 -0.054500 0.515227 
time: 1403638138.195097, t: -0.001273 0.055647 0.002998 q: 0.044811 0.846022 -0.062293 0.527597 
time: 1403638138.295097, t: -0.001725 0.055236 0.001641 q: 0.042473 0.842216 -0.065024 0.533516 
time: 1403638138.395097, t: -0.003030 0.055759 0.001923 q: 0.042630 0.837682 -0.065586 0.540527 
time: 1403638138.495097, t: -0.003445 0.055605 0.001872 q: 0.043219 0.837486 -0.064489 0.540917 
time: 1403638138.595097, t: -0.003417 0.055735 0.001784 q: 0.042481 0.837443 -0.064375 0.541055 
wait for imu ... 
wait for imu ... 
time: 1403638138.795097, t: -0.003392 0.055906 0.001795 q: 0.040992 0.837549 -0.064065 0.541043 
time: 1403638138.895097, t: -0.003191 0.056316 0.001747 q: 0.039267 0.837386 -0.064881 0.541326 
time: 1403638138.995097, t: -0.003247 0.056239 0.001799 q: 0.039160 0.837512 -0.064284 0.541210 
optimize pose graph 
time: 1403638139.095097, t: -0.003252 0.056162 0.001825 q: 0.038979 0.837596 -0.063722 0.541159 
wait for imu ... 
time: 1403638139.195097, t: -0.003262 0.056128 0.001858 q: 0.038796 0.837586 -0.063277 0.541240 
wait for imu ... 
time: 1403638139.295097, t: -0.003266 0.056149 0.001875 q: 0.038490 0.837593 -0.063038 0.541278 
wait for imu ... 
time: 1403638139.395097, t: -0.003258 0.056203 0.001903 q: 0.037996 0.837615 -0.062990 0.541285 
wait for imu ... 
wait for imu ... 
time: 1403638139.495097, t: -0.003263 0.056262 0.001923 q: 0.037406 0.837649 -0.062879 0.541287 
time: 1403638139.595097, t: -0.003249 0.056310 0.001952 q: 0.036930 0.837656 -0.062683 0.541331 
time: 1403638139.695097, t: -0.003265 0.056347 0.001983 q: 0.036535 0.837683 -0.062483 0.541339 
wait for imu ... 
time: 1403638139.795097, t: -0.003251 0.056362 0.002019 q: 0.036133 0.837717 -0.062321 0.541332 
wait for imu ... 
time: 1403638139.895097, t: -0.003247 0.056381 0.002064 q: 0.035904 0.837727 -0.062086 0.541359 
time: 1403638139.995097, t: -0.003256 0.056372 0.002072 q: 0.035697 0.837768 -0.061975 0.541322 
wait for imu ... 
time: 1403638140.095097, t: -0.003234 0.056395 0.002118 q: 0.035350 0.837795 -0.061771 0.541327 
time: 1403638140.195097, t: -0.003238 0.056404 0.002123 q: 0.035109 0.837796 -0.061683 0.541351 
wait for imu ... 
time: 1403638140.295097, t: -0.003239 0.056426 0.002141 q: 0.034769 0.837795 -0.061495 0.541395 
time: 1403638140.395097, t: -0.003227 0.056443 0.002159 q: 0.034561 0.837800 -0.061425 0.541409 
time: 1403638140.495097, t: -0.003236 0.056461 0.002161 q: 0.034364 0.837815 -0.061346 0.541407 
time: 1403638140.595097, t: -0.003235 0.056469 0.002198 q: 0.034076 0.837812 -0.061169 0.541450 
time: 1403638140.695097, t: -0.003237 0.056476 0.002201 q: 0.033940 0.837807 -0.061039 0.541481 
time: 1403638140.795097, t: -0.003232 0.056495 0.002224 q: 0.033708 0.837801 -0.060927 0.541518 
time: 1403638140.895097, t: -0.003229 0.056516 0.002257 q: 0.033469 0.837815 -0.060806 0.541524 
time: 1403638140.995097, t: -0.003230 0.056533 0.002277 q: 0.033271 0.837825 -0.060669 0.541537 
wait for imu ... 
wait for imu ... 
time: 1403638141.095097, t: -0.003225 0.056553 0.002296 q: 0.033073 0.837793 -0.060540 0.541613 
wait for imu ... 
time: 1403638141.195097, t: -0.003225 0.056556 0.002305 q: 0.032834 0.837793 -0.060437 0.541639 
time: 1403638141.295097, t: -0.003222 0.056563 0.002314 q: 0.032747 0.837799 -0.060352 0.541644 
time: 1403638141.395097, t: -0.003225 0.056574 0.002328 q: 0.032558 0.837782 -0.060255 0.541693 
time: 1403638141.495097, t: -0.003219 0.056570 0.002336 q: 0.032420 0.837797 -0.060191 0.541685 
wait for imu ... 
time: 1403638141.595097, t: -0.003212 0.056582 0.002361 q: 0.032306 0.837788 -0.060086 0.541717 
wait for imu ... 
time: 1403638141.695097, t: -0.003210 0.056579 0.002371 q: 0.032153 0.837801 -0.059994 0.541716 
time: 1403638141.795097, t: -0.003209 0.056593 0.002390 q: 0.032045 0.837799 -0.059913 0.541734 
time: 1403638141.895097, t: -0.003206 0.056593 0.002392 q: 0.031954 0.837790 -0.059861 0.541759 
wait for imu ... 
time: 1403638141.995097, t: -0.003239 0.056608 0.002425 q: 0.031830 0.837781 -0.059749 0.541793 
wait for imu ... 
time: 1403638142.095097, t: -0.003219 0.056638 0.002445 q: 0.031753 0.837809 -0.059649 0.541766 
wait for imu ... 
wait for imu ... 
time: 1403638142.195097, t: -0.003238 0.056613 0.002446 q: 0.031836 0.837770 -0.059854 0.541799 
time: 1403638142.295097, t: -0.003250 0.056516 0.002456 q: 0.032086 0.837781 -0.060155 0.541734 
wait for imu ... 
time: 1403638142.395097, t: -0.003254 0.056595 0.002489 q: 0.032164 0.837830 -0.060053 0.541664 
wait for imu ... 
time: 1403638142.495097, t: -0.003238 0.056651 0.002495 q: 0.031816 0.837906 -0.059883 0.541585 
wait for imu ... 
time: 1403638142.595097, t: -0.003197 0.056720 0.002484 q: 0.031195 0.837936 -0.059351 0.541635 
wait for imu ... 
wait for imu ... 
time: 1403638142.695097, t: -0.003226 0.056734 0.002511 q: 0.031417 0.838033 -0.059433 0.541462 
time: 1403638142.795097, t: -0.003239 0.056637 0.002538 q: 0.031890 0.838066 -0.059697 0.541354 
time: 1403638142.895097, t: -0.003231 0.056627 0.002554 q: 0.031860 0.838097 -0.059562 0.541322 
time: 1403638142.995097, t: -0.003220 0.056695 0.002556 q: 0.031745 0.838084 -0.059182 0.541392 
time: 1403638143.095097, t: -0.003233 0.056670 0.002567 q: 0.031822 0.838146 -0.059220 0.541287 
wait for imu ... 
time: 1403638143.195097, t: -0.003255 0.056658 0.002569 q: 0.031753 0.838190 -0.059356 0.541207 
time: 1403638143.295097, t: -0.003242 0.056647 0.002546 q: 0.031719 0.838158 -0.059448 0.541249 
time: 1403638143.395097, t: -0.003249 0.056663 0.002565 q: 0.031828 0.838151 -0.059479 0.541251 
time: 1403638143.495097, t: -0.003252 0.056662 0.002561 q: 0.031934 0.838152 -0.059501 0.541240 
time: 1403638143.595097, t: -0.003268 0.056618 0.002569 q: 0.032084 0.838156 -0.059683 0.541206 
time: 1403638143.695097, t: -0.003239 0.056632 0.002551 q: 0.031947 0.838143 -0.059673 0.541234 
time: 1403638143.795097, t: -0.003247 0.056632 0.002555 q: 0.031898 0.838145 -0.059629 0.541239 
time: 1403638143.895097, t: -0.003252 0.056643 0.002550 q: 0.031870 0.838139 -0.059716 0.541240 
time: 1403638143.995097, t: -0.003260 0.056634 0.002550 q: 0.031898 0.838119 -0.059727 0.541268 
wait for imu ... 
time: 1403638144.095097, t: -0.003264 0.056629 0.002552 q: 0.031862 0.838151 -0.059728 0.541222 
time: 1403638144.195097, t: -0.003275 0.056622 0.002547 q: 0.031916 0.838114 -0.059727 0.541275 
time: 1403638144.295097, t: -0.003263 0.056624 0.002539 q: 0.031855 0.838097 -0.059655 0.541314 
time: 1403638144.395097, t: -0.003253 0.056620 0.002524 q: 0.031822 0.838077 -0.059664 0.541345 
wait for imu ... 
time: 1403638144.495097, t: -0.003259 0.056604 0.002526 q: 0.031865 0.838073 -0.059716 0.541343 
time: 1403638144.595097, t: -0.003256 0.056614 0.002520 q: 0.031820 0.838081 -0.059754 0.541330 
time: 1403638144.695097, t: -0.003244 0.056618 0.002542 q: 0.031748 0.838030 -0.059624 0.541426 
time: 1403638144.795097, t: -0.003261 0.056628 0.002539 q: 0.031721 0.838037 -0.059666 0.541413 
wait for imu ... 
time: 1403638144.895097, t: -0.003259 0.056628 0.002539 q: 0.031750 0.838059 -0.059672 0.541377 
time: 1403638144.995097, t: -0.003250 0.056612 0.002554 q: 0.031795 0.838027 -0.059635 0.541427 
wait for imu ... 
wait for imu ... 
time: 1403638145.095097, t: -0.003256 0.056608 0.002547 q: 0.031756 0.838035 -0.059660 0.541415 
time: 1403638145.195097, t: -0.003251 0.056621 0.002565 q: 0.031804 0.838027 -0.059645 0.541426 
time: 1403638145.295097, t: -0.003251 0.056610 0.002564 q: 0.031768 0.838042 -0.059638 0.541406 
wait for imu ... 
time: 1403638145.395097, t: -0.003285 0.056597 0.002578 q: 0.031864 0.838027 -0.059651 0.541421 
time: 1403638145.495097, t: -0.003275 0.056611 0.002605 q: 0.031843 0.838016 -0.059634 0.541442 
wait for imu ... 
time: 1403638145.595097, t: -0.003245 0.056589 0.002611 q: 0.031777 0.838030 -0.059574 0.541430 
time: 1403638145.695097, t: -0.003237 0.056587 0.002626 q: 0.031765 0.838001 -0.059575 0.541476 
wait for imu ... 
time: 1403638145.795097, t: -0.003241 0.056589 0.002624 q: 0.031810 0.838038 -0.059513 0.541423 
time: 1403638145.895097, t: -0.003248 0.056595 0.002626 q: 0.031803 0.837998 -0.059528 0.541483 
time: 1403638145.995097, t: -0.003230 0.056603 0.002632 q: 0.031763 0.837993 -0.059540 0.541492 
wait for imu ... 
wait for imu ... 
time: 1403638146.095097, t: -0.003215 0.056602 0.002656 q: 0.031714 0.838035 -0.059457 0.541440 
time: 1403638146.195097, t: -0.003224 0.056602 0.002653 q: 0.031751 0.837974 -0.059486 0.541528 
wait for imu ... 
time: 1403638146.295097, t: -0.003199 0.056611 0.002687 q: 0.031815 0.837987 -0.059484 0.541504 
time: 1403638146.395097, t: -0.003193 0.056601 0.002704 q: 0.031853 0.838006 -0.059436 0.541478 
wait for imu ... 
time: 1403638146.495097, t: -0.003200 0.056597 0.002711 q: 0.031870 0.838036 -0.059508 0.541423 
time: 1403638146.595097, t: -0.003193 0.056612 0.002708 q: 0.031944 0.837993 -0.059492 0.541488 
time: 1403638146.695097, t: -0.003171 0.056596 0.002742 q: 0.031991 0.838039 -0.059490 0.541413 
wait for imu ... 
time: 1403638146.795097, t: -0.003189 0.056614 0.002710 q: 0.031975 0.837952 -0.059459 0.541553 
time: 1403638146.895097, t: -0.003137 0.056607 0.002775 q: 0.032065 0.838029 -0.059360 0.541439 
time: 1403638146.995097, t: -0.003156 0.056616 0.002775 q: 0.032145 0.838145 -0.059428 0.541246 
time: 1403638147.095097, t: -0.003138 0.056733 0.002715 q: 0.032033 0.838213 -0.059340 0.541157 
wait for imu ... 
time: 1403638147.195097, t: -0.003113 0.056754 0.002692 q: 0.032108 0.838311 -0.059224 0.541014 
wait for imu ... 
time: 1403638147.295097, t: -0.003119 0.056787 0.002711 q: 0.032021 0.838272 -0.059340 0.541066 
wait for imu ... 
wait for imu ... 
time: 1403638147.395097, t: -0.003098 0.056791 0.002756 q: 0.032075 0.838150 -0.059284 0.541258 
time: 1403638147.495097, t: -0.003156 0.056676 0.002952 q: 0.031962 0.837704 -0.059097 0.541976 
wait for imu ... 
time: 1403638147.595097, t: -0.003145 0.056681 0.003093 q: 0.031442 0.837259 -0.059265 0.542676 
time: 1403638147.695097, t: -0.002703 0.056670 0.002968 q: 0.031041 0.837413 -0.058457 0.542548 
time: 1403638147.795097, t: -0.000818 0.056240 0.004044 q: 0.031644 0.835196 -0.059051 0.545857 
time: 1403638147.895097, t: 0.003964 0.054939 0.008136 q: 0.034305 0.828080 -0.062038 0.556110 
time: 1403638147.995097, t: 0.012443 0.053459 0.018270 q: 0.034994 0.821355 -0.064188 0.565714 
time: 1403638148.095097, t: 0.022150 0.051714 0.036317 q: 0.035746 0.816236 -0.063496 0.573105 
time: 1403638148.195097, t: 0.032622 0.049710 0.063392 q: 0.036395 0.813403 -0.060389 0.577411 
time: 1403638148.295097, t: 0.041345 0.048014 0.105140 q: 0.034723 0.813110 -0.057567 0.578215 
time: 1403638148.395097, t: 0.049369 0.047099 0.155417 q: 0.033104 0.812854 -0.054538 0.578963 
time: 1403638148.495097, t: 0.056139 0.046761 0.189864 q: 0.032995 0.816727 -0.051415 0.573781 
time: 1403638148.595097, t: 0.065734 0.046069 0.200350 q: 0.032983 0.820809 -0.048956 0.568145 
time: 1403638148.695097, t: 0.072854 0.047639 0.193413 q: 0.032277 0.824458 -0.046824 0.563058 
time: 1403638148.795097, t: 0.085354 0.047036 0.185251 q: 0.030198 0.826944 -0.045601 0.559618 
time: 1403638148.895097, t: 0.094976 0.052205 0.184454 q: 0.028787 0.827626 -0.044183 0.558798 
time: 1403638148.995097, t: 0.116480 0.055324 0.206255 q: 0.027715 0.825825 -0.043039 0.561599 
optimize pose graph 
time: 1403638149.095097, t: 0.130762 0.058168 0.227853 q: 0.027380 0.822055 -0.041479 0.567234 
time: 1403638149.195097, t: 0.150051 0.062583 0.257984 q: 0.027044 0.819769 -0.040879 0.570593 
time: 1403638149.295097, t: 0.173562 0.067183 0.289035 q: 0.025065 0.818522 -0.042216 0.572373 
time: 1403638149.495097, t: 0.217963 0.076478 0.338011 q: 0.024810 0.816446 -0.041833 0.575370 
wait for imu ... 
time: 1403638149.595097, t: 0.237828 0.081875 0.352791 q: 0.025632 0.816339 -0.040343 0.575592 
time: 1403638149.695097, t: 0.258688 0.089070 0.361820 q: 0.022950 0.816552 -0.035682 0.575711 
wait for imu ... 
time: 1403638149.795097, t: 0.282509 0.095209 0.373870 q: 0.019906 0.816830 -0.030508 0.575727 
time: 1403638149.895097, t: 0.303486 0.103268 0.378904 q: 0.017269 0.816839 -0.026848 0.575982 
time: 1403638149.995097, t: 0.328712 0.112700 0.385253 q: 0.017212 0.817339 -0.023201 0.575433 
time: 1403638150.095097, t: 0.352096 0.124447 0.384326 q: 0.023697 0.817409 -0.016996 0.575319 
time: 1403638150.295097, t: 0.403425 0.159725 0.369895 q: 0.035102 0.818582 -0.008880 0.573248 
time: 1403638150.395097, t: 0.428690 0.184814 0.354928 q: 0.032473 0.822724 -0.010008 0.567425 
time: 1403638150.495097, t: 0.456428 0.217159 0.346073 q: 0.021567 0.828370 -0.010572 0.559667 
time: 1403638150.595097, t: 0.484993 0.250689 0.341423 q: 0.013848 0.832017 -0.006583 0.554539 
time: 1403638150.695097, t: 0.517833 0.287443 0.349307 q: 0.007964 0.832201 -0.002766 0.554411 
time: 1403638150.795097, t: 0.553376 0.323674 0.362743 q: 0.004434 0.831012 0.003832 0.556223 
time: 1403638150.895097, t: 0.594151 0.361949 0.378720 q: 0.000283 0.828413 0.013219 0.559962 
time: 1403638150.995097, t: 0.637074 0.401056 0.390612 q: -0.003830 0.824100 0.021544 0.566021 
wait for imu ... 
optimize pose graph 
time: 1403638151.095097, t: 0.684511 0.446732 0.397245 q: -0.009576 0.821883 0.033867 0.568568 
time: 1403638151.195097, t: 0.727173 0.492644 0.398745 q: -0.018966 0.819493 0.051310 0.570473 
time: 1403638151.295097, t: 0.771155 0.541399 0.392379 q: -0.033211 0.819128 0.070265 0.568322 
time: 1403638151.395097, t: 0.814644 0.593329 0.386025 q: -0.048658 0.817755 0.090589 0.566306 
time: 1403638151.495097, t: 0.854397 0.645260 0.383923 q: -0.064743 0.815367 0.110108 0.564677 
time: 1403638151.595097, t: 0.893478 0.699582 0.387488 q: -0.077471 0.813112 0.126763 0.562830 
time: 1403638151.695097, t: 0.930449 0.755465 0.398597 q: -0.086519 0.810604 0.139280 0.562172 
time: 1403638151.795097, t: 0.969063 0.812497 0.416718 q: -0.091720 0.809817 0.148009 0.560247 
time: 1403638151.895097, t: 1.011206 0.880613 0.434458 q: -0.094508 0.809291 0.152666 0.559294 
time: 1403638151.995097, t: 1.048003 0.934230 0.472315 q: -0.094852 0.809397 0.156742 0.557952 
time: 1403638152.095097, t: 1.087519 0.998370 0.498499 q: -0.094903 0.809780 0.157628 0.557139 
time: 1403638152.195097, t: 1.125338 1.062118 0.519663 q: -0.094454 0.809724 0.158099 0.557162 
time: 1403638152.295097, t: 1.162307 1.128965 0.532586 q: -0.091915 0.809302 0.159513 0.557797 
time: 1403638152.395097, t: 1.200742 1.198441 0.540163 q: -0.088229 0.809184 0.160567 0.558261 
wait for imu ... 
time: 1403638152.495097, t: 1.237699 1.271449 0.539385 q: -0.084542 0.809684 0.161207 0.557922 
time: 1403638152.595097, t: 1.272932 1.347703 0.533443 q: -0.084684 0.809740 0.160648 0.557980 
time: 1403638152.695097, t: 1.309472 1.429457 0.525765 q: -0.090189 0.811532 0.158984 0.554983 
time: 1403638152.795097, t: 1.347995 1.514476 0.524590 q: -0.097849 0.809985 0.162211 0.555011 
time: 1403638152.895097, t: 1.385575 1.600318 0.532036 q: -0.109307 0.805927 0.168458 0.556916 
time: 1403638152.995097, t: 1.423788 1.688193 0.546976 q: -0.120091 0.801899 0.179840 0.556951 
optimize pose graph 
time: 1403638153.095097, t: 1.459859 1.774296 0.567370 q: -0.128781 0.802206 0.192128 0.550425 
time: 1403638153.195097, t: 1.495693 1.859815 0.588014 q: -0.134278 0.802717 0.202036 0.544790 
time: 1403638153.295097, t: 1.537031 1.946465 0.605304 q: -0.137767 0.801882 0.210757 0.541836 
time: 1403638153.395097, t: 1.578349 2.032972 0.617468 q: -0.144019 0.800059 0.221259 0.538711 
time: 1403638153.495097, t: 1.622046 2.123336 0.629510 q: -0.146294 0.796427 0.237830 0.536413 
time: 1403638153.595097, t: 1.665359 2.215187 0.646905 q: -0.149172 0.792069 0.256583 0.533423 
time: 1403638153.695097, t: 1.705698 2.309618 0.669219 q: -0.158039 0.786220 0.273667 0.531026 
time: 1403638153.795097, t: 1.745647 2.409366 0.690450 q: -0.171248 0.779627 0.286676 0.529786 
time: 1403638153.895097, t: 1.784834 2.512350 0.706405 q: -0.182050 0.773519 0.296186 0.529905 
time: 1403638153.995097, t: 1.822122 2.617513 0.716547 q: -0.191890 0.768316 0.300532 0.531553 
time: 1403638154.095097, t: 1.859924 2.725470 0.721074 q: -0.197675 0.764463 0.303228 0.533454 
time: 1403638154.195097, t: 1.898682 2.836104 0.721103 q: -0.200107 0.759421 0.304878 0.538782 
time: 1403638154.295097, t: 1.935421 2.947009 0.716735 q: -0.200394 0.755402 0.305819 0.543770 
time: 1403638154.395097, t: 1.971317 3.062145 0.710658 q: -0.203008 0.750263 0.303219 0.551319 
time: 1403638154.495097, t: 2.000841 3.172499 0.698831 q: -0.205184 0.746972 0.300238 0.556587 
time: 1403638154.695097, t: 2.040924 3.388189 0.687048 q: -0.209689 0.750774 0.304227 0.547554 
time: 1403638154.795097, t: 2.053276 3.494018 0.692680 q: -0.209065 0.751806 0.314018 0.540806 
time: 1403638154.895097, t: 2.059971 3.595798 0.703907 q: -0.208279 0.750387 0.323251 0.537632 
time: 1403638154.995097, t: 2.064676 3.701462 0.723107 q: -0.209791 0.746847 0.332663 0.536230 
time: 1403638155.095097, t: 2.067650 3.815549 0.745724 q: -0.215775 0.741553 0.342585 0.534954 
time: 1403638155.195097, t: 2.055485 3.912756 0.772729 q: -0.224215 0.736184 0.349964 0.534122 
time: 1403638155.295097, t: 2.044194 4.017985 0.790361 q: -0.231384 0.729926 0.354951 0.536358 
time: 1403638155.395097, t: 2.027658 4.122632 0.801312 q: -0.236873 0.722811 0.361980 0.538893 
time: 1403638155.495097, t: 2.004671 4.226573 0.805219 q: -0.241703 0.716124 0.371681 0.539072 
time: 1403638155.595097, t: 1.975282 4.331655 0.802796 q: -0.255736 0.710767 0.378617 0.534844 
time: 1403638155.695097, t: 1.939177 4.433633 0.797212 q: -0.274122 0.702219 0.386692 0.531238 
time: 1403638155.795097, t: 1.898980 4.533097 0.787149 q: -0.288992 0.694186 0.399509 0.524388 
time: 1403638155.895097, t: 1.854972 4.628415 0.772897 q: -0.302182 0.687891 0.415712 0.512519 
wait for imu ... 
time: 1403638155.995097, t: 1.806912 4.718083 0.760148 q: -0.312143 0.683648 0.436845 0.494327 
time: 1403638156.095097, t: 1.756823 4.800892 0.755462 q: -0.321129 0.678246 0.459261 0.475329 
time: 1403638156.195097, t: 1.707182 4.882229 0.759668 q: -0.333041 0.670708 0.475335 0.461834 
time: 1403638156.295097, t: 1.658877 4.962861 0.770139 q: -0.341051 0.663742 0.491496 0.448957 
time: 1403638156.395097, t: 1.613535 5.041493 0.780270 q: -0.347409 0.658874 0.503311 0.438029 
time: 1403638156.495097, t: 1.571232 5.122858 0.783641 q: -0.351257 0.655971 0.511025 0.430319 
time: 1403638156.595097, t: 1.532698 5.206206 0.780994 q: -0.354319 0.653102 0.515114 0.427287 
time: 1403638156.695097, t: 1.497379 5.291414 0.771998 q: -0.355043 0.652290 0.517119 0.425500 
time: 1403638156.795097, t: 1.464821 5.380765 0.758147 q: -0.354914 0.651692 0.517889 0.425586 
time: 1403638156.895097, t: 1.433101 5.473848 0.742241 q: -0.353815 0.652235 0.517626 0.425991 
time: 1403638156.995097, t: 1.402917 5.568485 0.729029 q: -0.352106 0.653645 0.516455 0.426666 
time: 1403638157.095097, t: 1.377221 5.670839 0.723295 q: -0.349651 0.656594 0.515583 0.425209 
time: 1403638157.195097, t: 1.352751 5.775211 0.724397 q: -0.345450 0.659922 0.515649 0.423407 
time: 1403638157.295097, t: 1.332659 5.883216 0.730254 q: -0.346656 0.659897 0.514700 0.423614 
time: 1403638157.395097, t: 1.316114 5.994580 0.741861 q: -0.345807 0.655878 0.517632 0.426965 
time: 1403638157.495097, t: 1.300709 6.108917 0.750529 q: -0.347415 0.650073 0.520404 0.431148 
time: 1403638157.595097, t: 1.282540 6.228498 0.754487 q: -0.353644 0.641226 0.525210 0.433498 
time: 1403638157.695097, t: 1.266615 6.348280 0.755381 q: -0.361046 0.627683 0.534116 0.436325 
time: 1403638157.795097, t: 1.244820 6.467727 0.760654 q: -0.369136 0.613356 0.546949 0.434028 
time: 1403638157.895097, t: 1.220370 6.589586 0.774405 q: -0.381725 0.600295 0.559212 0.425692 
time: 1403638157.995097, t: 1.195586 6.706925 0.794867 q: -0.391977 0.588726 0.570842 0.417007 
time: 1403638158.095097, t: 1.170162 6.826283 0.811470 q: -0.401362 0.583616 0.578919 0.403923 
wait for imu ... 
time: 1403638158.195097, t: 1.146194 6.941996 0.822267 q: -0.410156 0.580135 0.582862 0.394319 
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wait for imu ... 
wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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optimize pose graph 
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optimize pose graph 
time: 1403638207.195097, t: 6.982174 10.419528 3.028947 q: -0.268777 0.709566 0.354350 0.546545 
time: 1403638207.295097, t: 6.868990 10.501923 3.010987 q: -0.273069 0.705500 0.359735 0.546162 
time: 1403638207.395097, t: 6.747435 10.579340 2.988196 q: -0.282092 0.698496 0.367627 0.545323 
time: 1403638207.495097, t: 6.622732 10.643840 2.966292 q: -0.293074 0.689395 0.381229 0.541763 
time: 1403638207.595097, t: 6.492859 10.700058 2.950359 q: -0.301228 0.684648 0.397106 0.531813 
time: 1403638207.695097, t: 6.362221 10.743993 2.938733 q: -0.308038 0.686369 0.409554 0.516019 
time: 1403638207.895097, t: 6.102931 10.810729 2.939834 q: -0.315057 0.691618 0.423508 0.492995 
time: 1403638207.995097, t: 5.978350 10.834160 2.950617 q: -0.314494 0.693195 0.427240 0.487894 
time: 1403638208.095097, t: 5.853915 10.856312 2.959871 q: -0.315326 0.692022 0.427448 0.488839 
time: 1403638208.195097, t: 5.733036 10.876380 2.964824 q: -0.319965 0.689146 0.423446 0.493350 
time: 1403638208.295097, t: 5.615652 10.892574 2.961578 q: -0.319201 0.688088 0.421813 0.496709 
time: 1403638208.395097, t: 5.500499 10.902920 2.950787 q: -0.315504 0.691297 0.422760 0.493801 
time: 1403638208.495097, t: 5.387459 10.910238 2.937358 q: -0.314054 0.692634 0.425757 0.490265 
time: 1403638208.595097, t: 5.276298 10.914290 2.929240 q: -0.316838 0.690240 0.433561 0.484981 
time: 1403638208.695097, t: 5.166344 10.915740 2.928627 q: -0.323722 0.684868 0.441326 0.481032 
time: 1403638208.795097, t: 5.058577 10.914667 2.934906 q: -0.330642 0.680425 0.447417 0.476987 
time: 1403638208.895097, t: 4.956345 10.909851 2.942130 q: -0.334544 0.675147 0.453231 0.476275 
time: 1403638209.095097, t: 4.759694 10.893074 2.939351 q: -0.340129 0.669521 0.459847 0.473913 
time: 1403638209.195097, t: 4.666253 10.879923 2.927351 q: -0.340653 0.668629 0.461811 0.472886 
optimize pose graph 
time: 1403638209.295097, t: 4.574727 10.864625 2.908753 q: -0.342630 0.668707 0.461643 0.471509 
time: 1403638209.395097, t: 4.483864 10.847323 2.884838 q: -0.343825 0.669209 0.461285 0.470275 
time: 1403638209.495097, t: 4.396644 10.828971 2.854750 q: -0.345588 0.668595 0.460103 0.471014 
time: 1403638209.595097, t: 4.313461 10.808723 2.811719 q: -0.347147 0.667162 0.458506 0.473451 
time: 1403638209.695097, t: 4.229667 10.785544 2.750561 q: -0.346650 0.668841 0.457553 0.472367 
time: 1403638209.795097, t: 4.148623 10.759370 2.671293 q: -0.343587 0.667732 0.458950 0.474813 
time: 1403638209.895097, t: 4.064759 10.728180 2.577907 q: -0.341853 0.665644 0.459410 0.478537 
time: 1403638209.995097, t: 3.989419 10.697918 2.477883 q: -0.343294 0.661757 0.457895 0.484312 
time: 1403638210.095097, t: 3.907897 10.659580 2.377931 q: -0.346691 0.657492 0.454937 0.490451 
time: 1403638210.195097, t: 3.833090 10.618627 2.285263 q: -0.350405 0.653955 0.452145 0.495100 
time: 1403638210.295097, t: 3.751289 10.563788 2.196991 q: -0.351226 0.654292 0.451394 0.494759 
time: 1403638210.395097, t: 3.674787 10.504734 2.112723 q: -0.350385 0.655010 0.451751 0.494078 
time: 1403638210.495097, t: 3.594293 10.436296 2.024665 q: -0.351333 0.655257 0.450745 0.493996 
time: 1403638210.595097, t: 3.512962 10.360925 1.931075 q: -0.351179 0.654857 0.450149 0.495178 
time: 1403638210.695097, t: 3.434437 10.281306 1.833368 q: -0.353609 0.655175 0.447857 0.495106 
time: 1403638210.795097, t: 3.356637 10.192062 1.738680 q: -0.353624 0.655225 0.447503 0.495350 
time: 1403638210.895097, t: 3.276473 10.095719 1.651140 q: -0.353307 0.658379 0.447909 0.491007 
time: 1403638210.995097, t: 3.198748 9.993068 1.570295 q: -0.350974 0.661978 0.449850 0.486042 
time: 1403638211.095097, t: 3.121625 9.883577 1.498691 q: -0.349493 0.664952 0.451283 0.481702 
time: 1403638211.195097, t: 3.047588 9.774208 1.437251 q: -0.349131 0.667958 0.451944 0.477165 
time: 1403638211.295097, t: 2.977165 9.666202 1.383637 q: -0.347436 0.669247 0.452382 0.476179 
optimize pose graph 
time: 1403638211.395097, t: 2.910231 9.555127 1.333145 q: -0.344053 0.672400 0.448202 0.478143 
time: 1403638211.495097, t: 2.844650 9.440420 1.277823 q: -0.338088 0.678978 0.439593 0.481086 
time: 1403638211.595097, t: 2.783458 9.322641 1.217496 q: -0.331869 0.687593 0.426193 0.485221 
time: 1403638211.695097, t: 2.727035 9.199425 1.151763 q: -0.324618 0.697295 0.408014 0.491862 
time: 1403638211.795097, t: 2.674986 9.070725 1.082864 q: -0.314045 0.710472 0.386844 0.496948 
time: 1403638211.895097, t: 2.627609 8.939352 1.015684 q: -0.303872 0.724044 0.363192 0.501511 
time: 1403638211.995097, t: 2.585852 8.803723 0.955266 q: -0.290154 0.735562 0.341312 0.508199 
time: 1403638212.095097, t: 2.549164 8.664445 0.902209 q: -0.275155 0.744971 0.321184 0.515895 
time: 1403638212.195097, t: 2.516039 8.522020 0.858143 q: -0.257539 0.752343 0.303079 0.525164 
time: 1403638212.295097, t: 2.484546 8.375291 0.824046 q: -0.241586 0.760102 0.283321 0.532551 
time: 1403638212.395097, t: 2.454949 8.225282 0.796092 q: -0.224301 0.766837 0.264786 0.539944 
time: 1403638212.495097, t: 2.425442 8.070029 0.774789 q: -0.209813 0.773212 0.244053 0.546406 
time: 1403638212.595097, t: 2.396105 7.910245 0.759624 q: -0.195406 0.780319 0.223120 0.550578 
time: 1403638212.695097, t: 2.366877 7.745218 0.749776 q: -0.181408 0.787093 0.201234 0.554148 
time: 1403638212.795097, t: 2.339225 7.578773 0.749734 q: -0.164295 0.792687 0.180132 0.558755 
time: 1403638212.895097, t: 2.311178 7.406695 0.751779 q: -0.149186 0.798819 0.155950 0.561526 
time: 1403638212.995097, t: 2.285802 7.234530 0.761189 q: -0.131129 0.804449 0.131817 0.564173 
time: 1403638213.095097, t: 2.262951 7.061361 0.776626 q: -0.114242 0.809070 0.105410 0.566783 
time: 1403638213.195097, t: 2.242166 6.886920 0.789883 q: -0.099881 0.815830 0.076840 0.564394 
time: 1403638213.295097, t: 2.224240 6.710870 0.796949 q: -0.088470 0.824619 0.046178 0.556816 
time: 1403638213.395097, t: 2.211643 6.530309 0.797229 q: -0.078594 0.832277 0.014488 0.548569 
optimize pose graph 
time: 1403638213.495097, t: 2.207066 6.346757 0.795054 q: -0.069609 0.835983 -0.016905 0.544060 
time: 1403638213.595097, t: 2.208687 6.155551 0.790938 q: -0.052060 0.833394 -0.037394 0.548949 
time: 1403638213.695097, t: 2.217978 5.958391 0.790226 q: -0.028403 0.824633 -0.043698 0.563263 
time: 1403638213.795097, t: 2.227736 5.758381 0.793099 q: -0.008583 0.817718 -0.044385 0.573840 
time: 1403638213.895097, t: 2.240466 5.558606 0.800898 q: 0.002256 0.814765 -0.044816 0.578053 
time: 1403638213.995097, t: 2.252360 5.360123 0.813743 q: 0.006844 0.815409 -0.044610 0.577123 
time: 1403638214.095097, t: 2.262094 5.161852 0.830120 q: 0.009337 0.821313 -0.042554 0.568812 
time: 1403638214.195097, t: 2.271344 4.963166 0.851331 q: 0.008313 0.828243 -0.040117 0.558870 
time: 1403638214.295097, t: 2.284086 4.766661 0.870539 q: 0.006251 0.833530 -0.037159 0.551187 
time: 1403638214.495097, t: 2.323266 4.374276 0.890544 q: 0.003271 0.834979 -0.028602 0.549528 
time: 1403638214.595097, t: 2.349501 4.177308 0.892510 q: 0.002326 0.828771 -0.024495 0.559046 
time: 1403638214.695097, t: 2.378074 3.985272 0.889370 q: 0.000854 0.822218 -0.020903 0.568789 
time: 1403638214.795097, t: 2.406490 3.793990 0.881569 q: -0.000920 0.817000 -0.017610 0.576369 
time: 1403638214.895097, t: 2.432565 3.606254 0.867926 q: -0.001979 0.813938 -0.014668 0.580764 
time: 1403638214.995097, t: 2.457382 3.423790 0.848583 q: -0.002814 0.812138 -0.012902 0.583317 
time: 1403638215.095097, t: 2.479925 3.246053 0.823810 q: -0.002476 0.811991 -0.011050 0.583560 
time: 1403638215.395097, t: 2.539214 2.733356 0.733506 q: 0.005696 0.815911 -0.005388 0.578124 
time: 1403638215.495097, t: 2.558844 2.569764 0.709691 q: 0.009593 0.815591 -0.002580 0.578543 
time: 1403638215.595097, t: 2.577653 2.411347 0.694171 q: 0.011076 0.814389 -0.001726 0.580211 
time: 1403638215.695097, t: 2.595305 2.258434 0.685413 q: 0.007890 0.813681 -0.003767 0.581246 
time: 1403638215.795097, t: 2.610694 2.108828 0.678522 q: 0.005031 0.813181 -0.007586 0.581939 
time: 1403638215.895097, t: 2.621407 1.966233 0.665552 q: 0.006149 0.813215 -0.013396 0.581776 
time: 1403638215.995097, t: 2.628759 1.823156 0.647870 q: 0.007540 0.812942 -0.018111 0.582014 
time: 1403638216.095097, t: 2.632319 1.684532 0.626089 q: 0.011051 0.812700 -0.020324 0.582223 
time: 1403638216.195097, t: 2.634221 1.552186 0.608777 q: 0.013543 0.812673 -0.021893 0.582151 
time: 1403638216.295097, t: 2.633153 1.423628 0.598261 q: 0.016068 0.811511 -0.022984 0.583664 
time: 1403638216.395097, t: 2.630307 1.299651 0.594136 q: 0.018040 0.810058 -0.023499 0.585601 
time: 1403638216.495097, t: 2.624423 1.180745 0.595281 q: 0.018707 0.809544 -0.024106 0.586266 
time: 1403638216.595097, t: 2.616524 1.065937 0.592588 q: 0.020873 0.810290 -0.023617 0.585181 
time: 1403638216.695097, t: 2.607058 0.956270 0.582324 q: 0.023821 0.812141 -0.022120 0.582556 
time: 1403638216.795097, t: 2.597305 0.849409 0.566409 q: 0.027256 0.811300 -0.020664 0.583628 
time: 1403638216.895097, t: 2.587604 0.746945 0.545435 q: 0.031445 0.807491 -0.025197 0.588503 
time: 1403638217.095097, t: 2.554884 0.557788 0.494652 q: 0.039118 0.807989 -0.050748 0.585703 
time: 1403638217.195097, t: 2.532920 0.469618 0.465917 q: 0.045267 0.809613 -0.065504 0.581538 
time: 1403638217.295097, t: 2.510964 0.385541 0.438556 q: 0.052003 0.810829 -0.074952 0.578130 
time: 1403638217.395097, t: 2.487702 0.306317 0.419146 q: 0.057550 0.811855 -0.081454 0.575278 
time: 1403638217.495097, t: 2.462384 0.232116 0.408286 q: 0.062682 0.812269 -0.084699 0.573686 
optimize pose graph 
time: 1403638217.595097, t: 2.437285 0.161475 0.406039 q: 0.069614 0.813251 -0.084208 0.571565 
time: 1403638217.695097, t: 2.411774 0.094593 0.410720 q: 0.078162 0.813661 -0.080298 0.570437 
time: 1403638217.795097, t: 2.386129 0.033866 0.422215 q: 0.084410 0.815175 -0.075852 0.567989 
time: 1403638217.895097, t: 2.362341 -0.018158 0.438881 q: 0.086838 0.815706 -0.073443 0.567176 
time: 1403638217.995097, t: 2.340805 -0.062825 0.455049 q: 0.087930 0.813514 -0.070675 0.570499 
time: 1403638218.095097, t: 2.321963 -0.100268 0.462416 q: 0.088236 0.812117 -0.068675 0.572681 
time: 1403638218.195097, t: 2.303062 -0.129535 0.465148 q: 0.085913 0.810396 -0.068286 0.575512 
time: 1403638218.295097, t: 2.284128 -0.152672 0.463142 q: 0.083734 0.806766 -0.066937 0.581065 
time: 1403638218.395097, t: 2.267443 -0.168938 0.459114 q: 0.077121 0.804585 -0.068904 0.584763 
time: 1403638218.495097, t: 2.243253 -0.176006 0.465599 q: 0.071738 0.804794 -0.070625 0.584955 
time: 1403638218.595097, t: 2.220320 -0.178795 0.476509 q: 0.069485 0.805910 -0.070973 0.583648 
time: 1403638218.695097, t: 2.191431 -0.175682 0.492988 q: 0.066990 0.809717 -0.072921 0.578406 
time: 1403638218.795097, t: 2.162314 -0.168506 0.505940 q: 0.070043 0.814017 -0.078532 0.571229 
time: 1403638218.895097, t: 2.136813 -0.158266 0.511148 q: 0.073772 0.815811 -0.086443 0.567042 
time: 1403638218.995097, t: 2.113321 -0.144043 0.510734 q: 0.064412 0.814864 -0.101449 0.567059 
time: 1403638219.095097, t: 2.087477 -0.130097 0.508365 q: 0.057072 0.812061 -0.113417 0.569593 
time: 1403638219.195097, t: 2.066619 -0.116772 0.502122 q: 0.060918 0.809521 -0.115672 0.572350 
time: 1403638219.295097, t: 2.040367 -0.106877 0.495230 q: 0.070095 0.803935 -0.112621 0.579735 
time: 1403638219.395097, t: 2.013573 -0.097241 0.487015 q: 0.076625 0.796463 -0.109697 0.589696 
time: 1403638219.495097, t: 1.988140 -0.086218 0.480844 q: 0.080720 0.791345 -0.107270 0.596448 
time: 1403638219.595097, t: 1.956075 -0.073239 0.479791 q: 0.078404 0.792013 -0.108824 0.595589 
optimize pose graph 
time: 1403638219.695097, t: 1.914661 -0.056796 0.483867 q: 0.072634 0.794434 -0.112406 0.592422 
time: 1403638219.795097, t: 1.868145 -0.039348 0.484940 q: 0.065258 0.797711 -0.117180 0.587934 
time: 1403638219.895097, t: 1.817544 -0.023542 0.480306 q: 0.056565 0.800521 -0.122963 0.583821 
time: 1403638219.995097, t: 1.764760 -0.011944 0.470601 q: 0.049265 0.802800 -0.127987 0.580262 
time: 1403638220.095097, t: 1.709838 -0.005112 0.455646 q: 0.047072 0.805051 -0.129520 0.576977 
time: 1403638220.195097, t: 1.653852 -0.005203 0.445880 q: 0.055225 0.807411 -0.124230 0.574112 
time: 1403638220.295097, t: 1.599745 -0.009868 0.441424 q: 0.070407 0.810053 -0.113882 0.570866 
time: 1403638220.395097, t: 1.540016 -0.014211 0.446914 q: 0.079191 0.810667 -0.108246 0.569940 
time: 1403638220.495097, t: 1.479313 -0.015743 0.458528 q: 0.082639 0.810946 -0.106105 0.569456 
time: 1403638220.595097, t: 1.422880 -0.015411 0.471935 q: 0.083539 0.810340 -0.106574 0.570099 
time: 1403638220.695097, t: 1.363638 -0.014639 0.482522 q: 0.084441 0.809859 -0.107409 0.570493 
time: 1403638220.795097, t: 1.308491 -0.010962 0.485302 q: 0.083777 0.809983 -0.109388 0.570038 
time: 1403638220.895097, t: 1.252844 -0.005127 0.480961 q: 0.084026 0.809825 -0.110675 0.569977 
time: 1403638220.995097, t: 1.197653 0.002558 0.469013 q: 0.083134 0.810576 -0.112555 0.568671 
time: 1403638221.095097, t: 1.143701 0.011469 0.453537 q: 0.083362 0.810960 -0.113515 0.567898 
time: 1403638221.195097, t: 1.086577 0.020991 0.439330 q: 0.083376 0.812231 -0.114202 0.565939 
time: 1403638221.295097, t: 1.035951 0.032690 0.434108 q: 0.081873 0.813617 -0.115818 0.563835 
time: 1403638221.395097, t: 0.985614 0.044510 0.434401 q: 0.079676 0.814679 -0.118178 0.562124 
time: 1403638221.495097, t: 0.936085 0.055515 0.436410 q: 0.077414 0.814897 -0.120250 0.561685 
time: 1403638221.595097, t: 0.890799 0.066879 0.431126 q: 0.075947 0.814084 -0.122248 0.562631 
time: 1403638221.695097, t: 0.848061 0.075985 0.422055 q: 0.075284 0.812380 -0.122774 0.565064 
optimize pose graph 
time: 1403638221.795097, t: 0.807476 0.083525 0.413865 q: 0.073132 0.810259 -0.124005 0.568116 
time: 1403638221.895097, t: 0.768315 0.090281 0.412235 q: 0.075188 0.809190 -0.122050 0.569791 
time: 1403638221.995097, t: 0.734310 0.094071 0.421609 q: 0.079066 0.808659 -0.118754 0.570716 
time: 1403638222.095097, t: 0.693259 0.100570 0.432793 q: 0.082418 0.810394 -0.116359 0.568269 
time: 1403638222.195097, t: 0.653557 0.107013 0.440757 q: 0.082694 0.814246 -0.116416 0.562684 
time: 1403638222.295097, t: 0.614982 0.114029 0.443740 q: 0.081704 0.817670 -0.117599 0.557594 
time: 1403638222.395097, t: 0.586617 0.120813 0.439758 q: 0.080876 0.820565 -0.118571 0.553239 
time: 1403638222.495097, t: 0.554508 0.128074 0.432675 q: 0.080549 0.822850 -0.118614 0.549873 
time: 1403638222.595097, t: 0.532822 0.133842 0.421357 q: 0.080814 0.819119 -0.118285 0.555448 
time: 1403638222.695097, t: 0.509416 0.140398 0.407991 q: 0.079960 0.813761 -0.118835 0.563274 
time: 1403638222.795097, t: 0.488628 0.146674 0.392014 q: 0.080900 0.811399 -0.118277 0.566655 
time: 1403638222.895097, t: 0.468457 0.153324 0.375368 q: 0.082471 0.805830 -0.116886 0.574608 
time: 1403638222.995097, t: 0.447919 0.159064 0.357435 q: 0.081601 0.801178 -0.116870 0.581202 
time: 1403638223.095097, t: 0.424127 0.167662 0.343642 q: 0.081735 0.803924 -0.116598 0.577434 
time: 1403638223.195097, t: 0.393916 0.177366 0.335377 q: 0.079134 0.812926 -0.118902 0.564581 
time: 1403638223.295097, t: 0.368158 0.187471 0.328897 q: 0.073294 0.820441 -0.123342 0.553436 
time: 1403638223.395097, t: 0.342629 0.195053 0.325372 q: 0.070392 0.818557 -0.125751 0.556053 
time: 1403638223.495097, t: 0.319097 0.201234 0.319723 q: 0.060282 0.813446 -0.132748 0.563072 
time: 1403638223.595097, t: 0.299091 0.201540 0.309999 q: 0.059257 0.810956 -0.133561 0.566570 
time: 1403638223.695097, t: 0.276478 0.197402 0.301555 q: 0.070053 0.810911 -0.126362 0.567053 
time: 1403638223.795097, t: 0.254111 0.192147 0.288621 q: 0.080755 0.812080 -0.119232 0.565498 
optimize pose graph 
time: 1403638223.895097, t: 0.231984 0.187081 0.275514 q: 0.086091 0.812762 -0.115234 0.564559 
wait for imu ... 
time: 1403638223.995097, t: 0.219497 0.179529 0.263009 q: 0.089666 0.813251 -0.112473 0.563855 
time: 1403638224.095097, t: 0.199066 0.179184 0.244695 q: 0.088850 0.817230 -0.112856 0.558126 
time: 1403638224.195097, t: 0.185721 0.179945 0.226213 q: 0.086454 0.823538 -0.114549 0.548807 
time: 1403638224.295097, t: 0.180079 0.181814 0.212756 q: 0.085904 0.822961 -0.114798 0.549707 
time: 1403638224.395097, t: 0.174092 0.186305 0.202004 q: 0.083576 0.816755 -0.117084 0.558764 
time: 1403638224.495097, t: 0.173331 0.191383 0.189698 q: 0.078815 0.809119 -0.120286 0.569777 
time: 1403638224.595097, t: 0.169664 0.196146 0.177619 q: 0.080675 0.805858 -0.118671 0.574458 
time: 1403638224.695097, t: 0.165472 0.201708 0.163833 q: 0.081108 0.813393 -0.118464 0.563719 
time: 1403638224.795097, t: 0.161995 0.208354 0.151450 q: 0.080483 0.822071 -0.119229 0.550914 
time: 1403638224.895097, t: 0.163782 0.214595 0.148594 q: 0.076437 0.818304 -0.121630 0.556545 
time: 1403638224.995097, t: 0.169356 0.219842 0.151379 q: 0.068667 0.810246 -0.126126 0.568224 
time: 1403638225.095097, t: 0.174308 0.222813 0.153963 q: 0.067961 0.806444 -0.125696 0.573785 
time: 1403638225.195097, t: 0.177297 0.223412 0.158043 q: 0.073454 0.809929 -0.120982 0.569195 
time: 1403638225.295097, t: 0.179396 0.223384 0.162756 q: 0.076614 0.817346 -0.117990 0.558708 
time: 1403638225.395097, t: 0.183340 0.222693 0.168836 q: 0.079001 0.816595 -0.115796 0.559930 
time: 1403638225.495097, t: 0.189620 0.221826 0.169187 q: 0.081398 0.808540 -0.113977 0.571531 
time: 1403638225.595097, t: 0.194814 0.221419 0.162277 q: 0.084473 0.797774 -0.112099 0.586392 
time: 1403638225.695097, t: 0.195600 0.222665 0.148106 q: 0.085753 0.792637 -0.110943 0.593351 
time: 1403638225.795097, t: 0.190995 0.227139 0.121629 q: 0.084823 0.799803 -0.111621 0.583662 
time: 1403638225.895097, t: 0.183948 0.233631 0.087209 q: 0.083957 0.812303 -0.112332 0.566124 
time: 1403638225.995097, t: 0.177931 0.241624 0.049478 q: 0.079675 0.820542 -0.115260 0.554146 
optimize pose graph 
time: 1403638226.095097, t: 0.183157 0.252831 0.048928 q: 0.060107 0.823740 -0.125342 0.549663 
time: 1403638226.195097, t: 0.193286 0.259686 0.051523 q: 0.060378 0.829004 -0.122764 0.542250 
time: 1403638226.295097, t: 0.195635 0.266307 0.045515 q: 0.073309 0.820797 -0.121442 0.553327 
time: 1403638226.395097, t: 0.194160 0.271772 0.035341 q: 0.079408 0.825549 -0.110578 0.547664 
time: 1403638226.495097, t: 0.197274 0.274573 0.031056 q: 0.079242 0.825349 -0.112858 0.547525 
time: 1403638226.595097, t: 0.194704 0.273218 0.032078 q: 0.079873 0.824927 -0.112428 0.548156 
wait for imu ... 
time: 1403638226.695097, t: 0.198440 0.261112 0.066258 q: 0.079211 0.825485 -0.111859 0.547529 
time: 1403638226.795097, t: 0.192206 0.252792 0.065456 q: 0.078983 0.825343 -0.111536 0.547841 
time: 1403638226.895097, t: 0.190969 0.250694 0.072358 q: 0.078714 0.825487 -0.111728 0.547624 
time: 1403638226.995097, t: 0.191103 0.252614 0.065640 q: 0.077981 0.825649 -0.112634 0.547299 
wait for imu ... 
time: 1403638227.095097, t: 0.192321 0.253414 0.072666 q: 0.077978 0.825567 -0.112874 0.547374 
time: 1403638227.195097, t: 0.192290 0.252212 0.075808 q: 0.078180 0.825601 -0.112696 0.547331 
time: 1403638227.295097, t: 0.190827 0.248981 0.077048 q: 0.078369 0.825673 -0.112373 0.547262 
time: 1403638227.395097, t: 0.187822 0.246570 0.077302 q: 0.078495 0.825703 -0.112166 0.547240 
time: 1403638227.495097, t: 0.186722 0.245869 0.078074 q: 0.078360 0.825755 -0.112280 0.547157 
time: 1403638227.595097, t: 0.186768 0.246698 0.079397 q: 0.078200 0.825740 -0.112404 0.547177 
time: 1403638227.695097, t: 0.188266 0.247240 0.081035 q: 0.078100 0.825816 -0.112556 0.547046 
time: 1403638227.795097, t: 0.189950 0.247451 0.080950 q: 0.078085 0.825841 -0.112605 0.547001 
time: 1403638227.895097, t: 0.189844 0.247838 0.078588 q: 0.078167 0.825887 -0.112532 0.546934 
time: 1403638227.995097, t: 0.189870 0.248908 0.074201 q: 0.078205 0.825879 -0.112562 0.546935 
time: 1403638228.095097, t: 0.189724 0.251910 0.066331 q: 0.078332 0.825880 -0.112536 0.546921 
time: 1403638228.195097, t: 0.191432 0.254638 0.059607 q: 0.078360 0.825857 -0.112617 0.546934 
time: 1403638228.295097, t: 0.194372 0.256100 0.055274 q: 0.078305 0.825847 -0.112715 0.546937 
wait for imu ... 
time: 1403638228.395097, t: 0.196641 0.257215 0.051724 q: 0.078223 0.825880 -0.112816 0.546879 
time: 1403638228.495097, t: 0.198497 0.257697 0.049619 q: 0.078213 0.825876 -0.112807 0.546887 
time: 1403638228.595097, t: 0.199072 0.257509 0.049021 q: 0.078139 0.825940 -0.112765 0.546810 
time: 1403638228.695097, t: 0.200363 0.257912 0.048006 q: 0.078176 0.825951 -0.112803 0.546781 
wait for imu ... 
time: 1403638228.795097, t: 0.200610 0.257787 0.048068 q: 0.078143 0.825999 -0.112802 0.546713 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731040230.654949746]: Shutdown request received.[0m
[33m[ WARN] [1731040230.654992716]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731040230.655847912]: Shutdown request received.[0m
[33m[ WARN] [1731040230.655871264]: Reason given for shutdown: [user request][0m
killed
