/SLAM-Hive/slam_hive_results/mapping_results/2803/2011_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-1.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720462164.436859339]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720462164.437878913]: init begins[0m
[31m[ERROR] [1720462164.438920880]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/3521261e-3d55-11ef-9701-0242ac110005/roslaunch-84be6caceb9d-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://84be6caceb9d:45723/[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] [1720462165.545179021]: 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] [1720462165.550021775]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720462165.550210186]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720462165.550237219]: ROW: 384 COL: 601 [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] [1720462165.550416244]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720462165.550651723]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://84be6caceb9d:11311/[0m
]2;roscore http://84be6caceb9d:11311/
[1msetting /run_id to 3521261e-3d55-11ef-9701-0242ac110005[0m
[0m[ INFO] [1720462165.592800148]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720462174.574331641]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316825595.87 
init first imu pose
averge acc 7.745210 -0.452196 -2.672312
init R0 
  0.330294    0.15748   0.930648
         0  -0.985983   0.166843
  0.943878 -0.0551073  -0.325664
[33m[ WARN] [1720462176.969836779]: gyroscope bias initial calibration -0.00431935    0.012891   0.0720651[0m
[0m[ INFO] [1720462177.018881742]: Initialization finish![0m
time: 1403636580.913555, t: -0.002833 0.012892 -0.088413 q: -0.026177 0.830556 0.036189 0.555142 
time: 1403636581.013556, t: 0.002077 0.015448 -0.013681 q: -0.023103 0.822366 0.037394 0.567259 
time: 1403636581.113555, t: 0.006546 0.017499 0.052102 q: -0.025014 0.815065 0.036525 0.577676 
time: 1403636581.213556, t: 0.009284 0.017030 0.107381 q: -0.027627 0.806119 0.031893 0.590248 
time: 1403636581.313555, t: 0.008880 0.015551 0.147579 q: -0.029384 0.796599 0.030438 0.603026 
time: 1403636581.413555, t: 0.007534 0.013779 0.157764 q: -0.025923 0.792977 0.030809 0.607919 
time: 1403636581.513556, t: 0.006791 0.011748 0.132974 q: -0.020316 0.797680 0.034046 0.601776 
time: 1403636581.613555, t: 0.005634 0.009823 0.083099 q: -0.021508 0.805458 0.032701 0.591360 
time: 1403636581.713556, t: 0.003338 0.006535 0.021947 q: -0.022571 0.810475 0.033238 0.584393 
time: 1403636581.813555, t: 0.000040 0.003967 -0.043133 q: -0.027077 0.812368 0.034492 0.581494 
time: 1403636581.913555, t: -0.005488 0.002916 -0.110015 q: -0.030821 0.816493 0.034017 0.575527 
time: 1403636582.013556, t: -0.009783 0.000301 -0.171908 q: -0.028930 0.825103 0.030083 0.563439 
time: 1403636582.113555, t: -0.013928 0.001150 -0.220756 q: -0.026366 0.834739 0.030855 0.549148 
wait for imu ... 
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time: 1403636582.413555, t: -0.011655 0.012756 -0.193256 q: -0.032077 0.839484 0.034737 0.541324 
time: 1403636582.513556, t: -0.008123 0.015134 -0.133867 q: -0.030673 0.831611 0.034825 0.553417 
time: 1403636582.613555, t: -0.004609 0.015690 -0.068008 q: -0.025736 0.827078 0.034021 0.560466 
time: 1403636582.713556, t: -0.002116 0.014540 -0.001449 q: -0.023080 0.824455 0.031303 0.564589 
time: 1403636582.813555, t: 0.002191 0.011008 0.064135 q: -0.021738 0.819957 0.024481 0.571488 
time: 1403636582.913555, t: 0.006196 0.006221 0.126887 q: -0.019116 0.811643 0.015673 0.583631 
time: 1403636583.013556, t: 0.007154 0.002918 0.174017 q: -0.017327 0.801793 0.012693 0.597215 
time: 1403636583.113555, t: 0.007011 0.000523 0.192457 q: -0.015753 0.797222 0.013959 0.603319 
time: 1403636583.213556, t: 0.006007 -0.002038 0.178520 q: -0.011448 0.797879 0.016061 0.602496 
time: 1403636583.313555, t: 0.006709 -0.002641 0.138337 q: -0.012488 0.800298 0.017948 0.599203 
time: 1403636583.413555, t: 0.007003 -0.005328 0.081901 q: -0.015189 0.803136 0.019839 0.595272 
time: 1403636583.513556, t: 0.005638 -0.008268 0.015046 q: -0.016797 0.806900 0.024498 0.589941 
time: 1403636583.613555, t: 0.004251 -0.010831 -0.055920 q: -0.012881 0.812649 0.026426 0.582011 
time: 1403636583.713556, t: 0.001583 -0.010653 -0.124971 q: -0.019441 0.823614 0.025458 0.566246 
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time: 1403636583.913555, t: -0.007571 -0.012647 -0.231538 q: -0.022696 0.842697 0.024999 0.537328 
time: 1403636584.013556, t: -0.012755 -0.011723 -0.259812 q: -0.023442 0.844908 0.031822 0.533449 
time: 1403636584.113555, t: -0.014670 -0.008540 -0.261313 q: -0.028699 0.844740 0.036373 0.533167 
time: 1403636584.213556, t: -0.012471 -0.006397 -0.232760 q: -0.030415 0.844591 0.038898 0.533130 
time: 1403636584.313555, t: -0.008296 -0.004928 -0.183343 q: -0.030677 0.842681 0.039082 0.536116 
time: 1403636584.413555, t: -0.000605 -0.004762 -0.119893 q: -0.024048 0.840621 0.040277 0.539588 
time: 1403636584.513556, t: 0.008149 -0.005203 -0.048110 q: -0.018199 0.836044 0.040057 0.546896 
wait for imu ... 
time: 1403636584.613555, t: 0.016269 -0.005063 0.026615 q: -0.016443 0.827573 0.035857 0.559970 
time: 1403636584.713556, t: 0.021084 -0.004750 0.097421 q: -0.012665 0.815623 0.030056 0.577664 
time: 1403636584.813555, t: 0.021897 -0.003697 0.157764 q: -0.009361 0.805005 0.025652 0.592639 
time: 1403636584.913555, t: 0.019390 -0.001589 0.200012 q: -0.012016 0.798275 0.021882 0.601775 
time: 1403636585.013556, t: 0.018845 0.000469 0.213928 q: -0.012778 0.797211 0.016742 0.603334 
time: 1403636585.213556, t: 0.021523 -0.000525 0.163633 q: -0.008367 0.803413 0.011638 0.595249 
time: 1403636585.313555, t: 0.022521 -0.004549 0.116297 q: -0.000318 0.806994 0.013623 0.590402 
time: 1403636585.413555, t: 0.023220 -0.008905 0.064174 q: 0.004901 0.810795 0.018562 0.585015 
time: 1403636585.513556, t: 0.020546 -0.012074 0.011376 q: 0.001910 0.816504 0.025172 0.576788 
time: 1403636585.613555, t: 0.012767 -0.015062 -0.034779 q: -0.008163 0.823226 0.033577 0.566662 
time: 1403636585.713556, t: 0.000160 -0.016297 -0.067451 q: -0.021130 0.831004 0.037773 0.554581 
time: 1403636585.813555, t: -0.010742 -0.017548 -0.085629 q: -0.031988 0.839635 0.037810 0.540888 
time: 1403636585.913555, t: -0.020769 -0.018056 -0.090987 q: -0.040411 0.849504 0.037067 0.524725 
time: 1403636586.013556, t: -0.027945 -0.018656 -0.090519 q: -0.039518 0.861520 0.032300 0.505152 
time: 1403636586.113555, t: -0.033746 -0.018650 -0.087022 q: -0.029404 0.873560 0.023910 0.485240 
time: 1403636586.213556, t: -0.040301 -0.015006 -0.081796 q: -0.025122 0.882528 0.016594 0.469296 
time: 1403636586.313555, t: -0.048340 -0.012409 -0.077594 q: -0.025612 0.891670 0.013102 0.451770 
time: 1403636586.413555, t: -0.058969 -0.012507 -0.075088 q: -0.026837 0.900961 0.008997 0.432976 
time: 1403636586.513556, t: -0.070166 -0.015756 -0.073018 q: -0.026088 0.908790 0.010426 0.416306 
time: 1403636586.613555, t: -0.076711 -0.022480 -0.068874 q: -0.027731 0.913076 0.013644 0.406616 
time: 1403636586.713556, t: -0.076621 -0.031992 -0.064214 q: -0.029523 0.912313 0.013817 0.408195 
time: 1403636586.813555, t: -0.072819 -0.040876 -0.061828 q: -0.034401 0.908893 0.015305 0.415327 
wait for imu ... 
time: 1403636586.913555, t: -0.067981 -0.045984 -0.062189 q: -0.035500 0.906002 0.019388 0.421336 
time: 1403636587.013556, t: -0.062308 -0.047306 -0.062639 q: -0.037440 0.904431 0.025582 0.424202 
time: 1403636587.113555, t: -0.056420 -0.049030 -0.062153 q: -0.037744 0.905684 0.029955 0.421206 
time: 1403636587.213556, t: -0.049796 -0.054973 -0.062262 q: -0.037715 0.907387 0.032618 0.417328 
time: 1403636587.313555, t: -0.041768 -0.067502 -0.063143 q: -0.038047 0.908269 0.030976 0.415501 
time: 1403636587.413555, t: -0.031992 -0.087177 -0.064088 q: -0.037625 0.909179 0.028154 0.413745 
time: 1403636587.513556, t: -0.022765 -0.113149 -0.064900 q: -0.038792 0.910305 0.024010 0.411416 
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time: 1403636587.913555, t: 0.012169 -0.255195 -0.062209 q: -0.031855 0.906099 -0.001257 0.421862 
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time: 1403636588.213556, t: 0.026235 -0.335326 -0.076559 q: -0.021397 0.914435 -0.012090 0.403987 
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time: 1403636589.113555, t: -0.022178 -0.168237 -0.065695 q: -0.041976 0.909662 0.007872 0.413147 
wait for imu ... 
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time: 1403636589.613555, t: -0.075019 0.063810 -0.053931 q: -0.051542 0.908119 0.030143 0.414433 
wait for imu ... 
time: 1403636589.713556, t: -0.085843 0.109706 -0.054440 q: -0.053166 0.907125 0.033462 0.416147 
wait for imu ... 
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time: 1403636593.113555, t: 0.192685 0.022880 -0.105338 q: -0.110662 0.889250 0.092210 0.434149 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636593.213556, t: 0.155389 0.080063 -0.102575 q: -0.129077 0.886846 0.108339 0.430240 
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time: 1403636594.513556, t: -0.046086 -0.259544 -0.125701 q: 0.012429 0.894721 -0.081223 0.439002 
time: 1403636594.613555, t: 0.008934 -0.285919 -0.127234 q: 0.011718 0.889923 -0.081507 0.448617 
time: 1403636594.713556, t: 0.058862 -0.289000 -0.128578 q: 0.007520 0.887247 -0.079152 0.454391 
time: 1403636594.813555, t: 0.100445 -0.266269 -0.131437 q: -0.002351 0.886170 -0.065254 0.458736 
time: 1403636594.913555, t: 0.132537 -0.217884 -0.134308 q: -0.015719 0.884980 -0.040978 0.463556 
time: 1403636595.013556, t: 0.148710 -0.148346 -0.136888 q: -0.036163 0.883611 -0.007566 0.466762 
time: 1403636595.113555, t: 0.148131 -0.069038 -0.139632 q: -0.060126 0.883459 0.028102 0.463784 
time: 1403636595.213556, t: 0.135652 0.006694 -0.142891 q: -0.084558 0.883536 0.058204 0.456975 
time: 1403636595.313555, t: 0.111833 0.068184 -0.145409 q: -0.105867 0.882850 0.083368 0.449908 
time: 1403636595.413555, t: 0.080096 0.106497 -0.146583 q: -0.117849 0.882065 0.099189 0.445235 
time: 1403636595.513556, t: 0.048870 0.117272 -0.147574 q: -0.122861 0.882691 0.105218 0.441239 
time: 1403636595.613555, t: 0.017348 0.101223 -0.149086 q: -0.122245 0.884690 0.107592 0.436811 
time: 1403636595.713556, t: -0.011149 0.061956 -0.152253 q: -0.113472 0.887651 0.101082 0.434721 
time: 1403636595.813555, t: -0.035795 0.006508 -0.157173 q: -0.093887 0.890556 0.086247 0.436642 
time: 1403636595.913555, t: -0.057086 -0.053773 -0.163767 q: -0.071797 0.893439 0.063421 0.438851 
optimize pose graph 
wait for imu ... 
time: 1403636596.013556, t: -0.081622 -0.110260 -0.168553 q: -0.050905 0.897147 0.039024 0.437051 
time: 1403636596.113555, t: -0.112582 -0.151143 -0.171333 q: -0.034075 0.900425 0.014897 0.433419 
time: 1403636596.213556, t: -0.146009 -0.165640 -0.170380 q: -0.026865 0.901342 -0.000533 0.432274 
time: 1403636596.313555, t: -0.182323 -0.152923 -0.163490 q: -0.027644 0.900143 -0.008689 0.434630 
time: 1403636596.413555, t: -0.224712 -0.123475 -0.150584 q: -0.026189 0.897989 -0.010128 0.439121 
time: 1403636596.513556, t: -0.267151 -0.089966 -0.137724 q: -0.025209 0.895343 -0.004918 0.444635 
time: 1403636596.713556, t: -0.322075 -0.036687 -0.123271 q: -0.024027 0.895433 0.002368 0.444542 
time: 1403636596.813555, t: -0.323773 -0.025619 -0.122555 q: -0.023030 0.894159 0.006765 0.447105 
time: 1403636596.913555, t: -0.301763 -0.024904 -0.124402 q: -0.019250 0.891395 0.010712 0.452693 
time: 1403636597.013556, t: -0.256977 -0.030980 -0.127966 q: -0.015012 0.892395 0.012530 0.450831 
time: 1403636597.113555, t: -0.197638 -0.039616 -0.133051 q: -0.016046 0.897419 0.015033 0.440632 
time: 1403636597.213556, t: -0.129938 -0.048068 -0.134879 q: -0.022566 0.900702 0.025004 0.433129 
time: 1403636597.313555, t: -0.058373 -0.053847 -0.131552 q: -0.030000 0.899789 0.038931 0.433548 
time: 1403636597.413555, t: 0.012363 -0.054673 -0.127673 q: -0.038490 0.896845 0.054345 0.437303 
time: 1403636597.513556, t: 0.073506 -0.047637 -0.125982 q: -0.047664 0.893518 0.072647 0.440540 
time: 1403636597.613555, t: 0.114028 -0.032563 -0.126539 q: -0.064680 0.888404 0.089345 0.445614 
time: 1403636597.713556, t: 0.128943 -0.010359 -0.128942 q: -0.083438 0.881946 0.104453 0.451993 
time: 1403636597.813555, t: 0.118568 0.012585 -0.130277 q: -0.095318 0.875966 0.116877 0.458190 
time: 1403636597.913555, t: 0.090247 0.029214 -0.131388 q: -0.098888 0.872057 0.128470 0.461773 
optimize pose graph 
time: 1403636598.013556, t: 0.049565 0.037363 -0.133599 q: -0.098272 0.872070 0.137089 0.459394 
time: 1403636598.113555, t: 0.004002 0.038787 -0.138727 q: -0.097946 0.876409 0.138576 0.450678 
time: 1403636598.213556, t: -0.038658 0.032974 -0.147537 q: -0.092781 0.884695 0.137493 0.435663 
time: 1403636598.313555, t: -0.069570 0.022840 -0.160467 q: -0.084822 0.892583 0.136863 0.421151 
time: 1403636598.413555, t: -0.081199 0.010475 -0.174428 q: -0.075276 0.896254 0.134559 0.415881 
time: 1403636598.513556, t: -0.071305 0.000674 -0.189864 q: -0.071657 0.895235 0.134038 0.418871 
time: 1403636598.613555, t: -0.041547 -0.004691 -0.202999 q: -0.076946 0.889339 0.136598 0.429529 
time: 1403636598.713556, t: -0.009660 -0.010463 -0.216956 q: -0.087642 0.880111 0.141564 0.444617 
time: 1403636598.813555, t: 0.025844 -0.013078 -0.235731 q: -0.100947 0.868237 0.146212 0.463246 
time: 1403636598.913555, t: 0.058030 -0.016106 -0.258921 q: -0.109176 0.856848 0.145371 0.482452 
time: 1403636599.013556, t: 0.084730 -0.018663 -0.282846 q: -0.110556 0.848228 0.145473 0.497116 
time: 1403636599.113555, t: 0.104395 -0.019417 -0.301614 q: -0.119487 0.838267 0.144540 0.511995 
time: 1403636599.213556, t: 0.119720 -0.019508 -0.313054 q: -0.127752 0.822568 0.142817 0.535411 
time: 1403636599.313555, t: 0.132717 -0.018863 -0.321875 q: -0.133270 0.806614 0.136690 0.559400 
time: 1403636599.413555, t: 0.143634 -0.018429 -0.331236 q: -0.131320 0.798334 0.132809 0.572520 
time: 1403636599.513556, t: 0.151970 -0.017963 -0.340924 q: -0.124490 0.798958 0.128130 0.574240 
time: 1403636599.613555, t: 0.157041 -0.017939 -0.349895 q: -0.120263 0.803735 0.122520 0.569681 
time: 1403636599.713556, t: 0.159123 -0.019181 -0.357469 q: -0.118351 0.804765 0.120566 0.569043 
time: 1403636599.813555, t: 0.159228 -0.021684 -0.357786 q: -0.120772 0.794502 0.119956 0.582916 
time: 1403636599.913555, t: 0.158206 -0.023346 -0.359082 q: -0.123779 0.789617 0.117910 0.589305 
wait for imu ... 
optimize pose graph 
time: 1403636600.013556, t: 0.158573 -0.024491 -0.360031 q: -0.123678 0.791002 0.114744 0.588093 
time: 1403636600.113555, t: 0.158627 -0.026351 -0.361252 q: -0.128160 0.789112 0.111623 0.590269 
time: 1403636600.213556, t: 0.158624 -0.026537 -0.361426 q: -0.128125 0.788952 0.111750 0.590467 
wait for imu ... 
time: 1403636600.313555, t: 0.158525 -0.026540 -0.361516 q: -0.128750 0.789068 0.111497 0.590223 
wait for imu ... 
time: 1403636600.413555, t: 0.158310 -0.026508 -0.361397 q: -0.129082 0.789056 0.111084 0.590245 
time: 1403636600.513556, t: 0.158248 -0.026571 -0.361345 q: -0.129111 0.789028 0.110661 0.590355 
time: 1403636600.613555, t: 0.158300 -0.026478 -0.361352 q: -0.129293 0.789155 0.110555 0.590165 
wait for imu ... 
wait for imu ... 
time: 1403636600.713556, t: 0.158303 -0.026565 -0.361336 q: -0.128979 0.789308 0.110599 0.590022 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636600.813555, t: 0.158290 -0.026604 -0.361329 q: -0.128743 0.789328 0.110615 0.590043 
wait for imu ... 
time: 1403636600.913555, t: 0.158307 -0.026610 -0.361318 q: -0.128724 0.789403 0.110539 0.589961 
time: 1403636601.013556, t: 0.158263 -0.026647 -0.361302 q: -0.128521 0.789496 0.110520 0.589884 
wait for imu ... 
time: 1403636601.113555, t: 0.158272 -0.026634 -0.361297 q: -0.128513 0.789554 0.110418 0.589827 
time: 1403636601.213556, t: 0.158253 -0.026654 -0.361304 q: -0.128457 0.789593 0.110388 0.589794 
wait for imu ... 
time: 1403636601.313555, t: 0.158264 -0.026675 -0.361308 q: -0.128394 0.789639 0.110342 0.589755 
time: 1403636601.413555, t: 0.158274 -0.026662 -0.361316 q: -0.128412 0.789687 0.110204 0.589711 
wait for imu ... 
time: 1403636601.513556, t: 0.158248 -0.026691 -0.361335 q: -0.128393 0.789686 0.110111 0.589735 
wait for imu ... 
time: 1403636601.613555, t: 0.158233 -0.026677 -0.361355 q: -0.128407 0.789725 0.110018 0.589697 
wait for imu ... 
time: 1403636601.713556, t: 0.158219 -0.026690 -0.361384 q: -0.128371 0.789729 0.109968 0.589708 
time: 1403636601.813555, t: 0.158273 -0.026697 -0.361395 q: -0.128397 0.789777 0.109953 0.589641 
time: 1403636601.913555, t: 0.158267 -0.026695 -0.361388 q: -0.128293 0.789790 0.109888 0.589658 
time: 1403636602.013556, t: 0.158251 -0.026703 -0.361371 q: -0.128227 0.789816 0.109867 0.589642 
time: 1403636602.113555, t: 0.158250 -0.026705 -0.361363 q: -0.128213 0.789866 0.109817 0.589587 
time: 1403636602.213556, t: 0.158259 -0.026704 -0.361368 q: -0.128155 0.789880 0.109784 0.589588 
wait for imu ... 
time: 1403636602.313555, t: 0.158244 -0.026730 -0.361361 q: -0.128074 0.789929 0.109804 0.589536 
wait for imu ... 
time: 1403636602.413555, t: 0.158248 -0.026755 -0.361381 q: -0.128048 0.789936 0.109814 0.589531 
wait for imu ... 
wait for imu ... 
time: 1403636602.513556, t: 0.158227 -0.026762 -0.361373 q: -0.127918 0.789968 0.109792 0.589519 
time: 1403636602.613555, t: 0.158233 -0.026782 -0.361364 q: -0.127860 0.790001 0.109820 0.589482 
wait for imu ... 
time: 1403636602.713556, t: 0.158228 -0.026779 -0.361372 q: -0.127818 0.790010 0.109768 0.589490 
time: 1403636602.813555, t: 0.158203 -0.026793 -0.361377 q: -0.127729 0.790022 0.109759 0.589494 
time: 1403636602.913555, t: 0.158209 -0.026807 -0.361368 q: -0.127674 0.790043 0.109777 0.589475 
time: 1403636603.013556, t: 0.158210 -0.026806 -0.361379 q: -0.127587 0.790042 0.109755 0.589498 
time: 1403636603.113555, t: 0.158198 -0.026799 -0.361383 q: -0.127525 0.790046 0.109745 0.589509 
wait for imu ... 
time: 1403636603.213556, t: 0.158183 -0.026812 -0.361366 q: -0.127521 0.790102 0.109708 0.589442 
wait for imu ... 
time: 1403636603.313555, t: 0.158190 -0.026816 -0.361377 q: -0.127472 0.790094 0.109714 0.589462 
time: 1403636603.413555, t: 0.158186 -0.026817 -0.361384 q: -0.127431 0.790082 0.109695 0.589490 
wait for imu ... 
time: 1403636603.513556, t: 0.158181 -0.026805 -0.361363 q: -0.127359 0.790146 0.109681 0.589422 
time: 1403636603.613555, t: 0.158179 -0.026819 -0.361363 q: -0.127339 0.790166 0.109684 0.589400 
time: 1403636603.713556, t: 0.158163 -0.026818 -0.361357 q: -0.127300 0.790184 0.109647 0.589391 
wait for imu ... 
time: 1403636603.813555, t: 0.158154 -0.026835 -0.361359 q: -0.127259 0.790232 0.109649 0.589335 
time: 1403636603.913555, t: 0.158131 -0.026830 -0.361395 q: -0.127307 0.790220 0.109587 0.589352 
wait for imu ... 
time: 1403636604.013556, t: 0.158149 -0.026838 -0.361389 q: -0.127322 0.790202 0.109556 0.589379 
time: 1403636604.113555, t: 0.158164 -0.026847 -0.361389 q: -0.127284 0.790203 0.109556 0.589386 
time: 1403636604.213556, t: 0.158152 -0.026857 -0.361391 q: -0.127208 0.790221 0.109575 0.589374 
time: 1403636604.313555, t: 0.158151 -0.026868 -0.361384 q: -0.127185 0.790236 0.109550 0.589364 
wait for imu ... 
time: 1403636604.413555, t: 0.158146 -0.026870 -0.361377 q: -0.127144 0.790278 0.109577 0.589312 
time: 1403636604.513556, t: 0.158155 -0.026879 -0.361382 q: -0.127076 0.790264 0.109567 0.589347 
time: 1403636604.613555, t: 0.158146 -0.026880 -0.361399 q: -0.127044 0.790268 0.109547 0.589352 
time: 1403636604.813555, t: 0.158151 -0.026892 -0.361383 q: -0.126954 0.790303 0.109611 0.589312 
time: 1403636604.913555, t: 0.158142 -0.026895 -0.361370 q: -0.126937 0.790338 0.109577 0.589276 
time: 1403636605.013556, t: 0.158134 -0.026910 -0.361367 q: -0.126910 0.790357 0.109568 0.589257 
wait for imu ... 
time: 1403636605.113555, t: 0.158143 -0.026917 -0.361375 q: -0.126834 0.790353 0.109598 0.589274 
time: 1403636605.213556, t: 0.158141 -0.026920 -0.361378 q: -0.126844 0.790381 0.109547 0.589243 
wait for imu ... 
time: 1403636605.313555, t: 0.158135 -0.026929 -0.361384 q: -0.126795 0.790371 0.109563 0.589264 
time: 1403636605.413555, t: 0.158127 -0.026924 -0.361380 q: -0.126801 0.790396 0.109523 0.589238 
time: 1403636605.513556, t: 0.158123 -0.026931 -0.361375 q: -0.126809 0.790424 0.109509 0.589201 
wait for imu ... 
time: 1403636605.613555, t: 0.158116 -0.026931 -0.361367 q: -0.126760 0.790436 0.109505 0.589195 
time: 1403636605.713556, t: 0.158048 -0.026890 -0.361342 q: -0.126739 0.790468 0.109481 0.589162 
wait for imu ... 
time: 1403636605.813555, t: 0.158024 -0.026880 -0.361338 q: -0.126645 0.790473 0.109466 0.589177 
wait for imu ... 
time: 1403636605.913555, t: 0.158035 -0.026889 -0.361333 q: -0.126645 0.790504 0.109467 0.589136 
wait for imu ... 
time: 1403636606.013556, t: 0.158036 -0.026894 -0.361333 q: -0.126611 0.790511 0.109465 0.589134 
time: 1403636606.113555, t: 0.158026 -0.026888 -0.361336 q: -0.126599 0.790512 0.109430 0.589142 
wait for imu ... 
time: 1403636606.213556, t: 0.158026 -0.026884 -0.361333 q: -0.126559 0.790518 0.109429 0.589142 
time: 1403636606.313555, t: 0.158019 -0.026894 -0.361338 q: -0.126522 0.790538 0.109410 0.589127 
time: 1403636606.413555, t: 0.158016 -0.026894 -0.361339 q: -0.126507 0.790538 0.109403 0.589132 
wait for imu ... 
time: 1403636606.513556, t: 0.158017 -0.026908 -0.361351 q: -0.126534 0.790550 0.109370 0.589116 
wait for imu ... 
time: 1403636606.613555, t: 0.158017 -0.026903 -0.361363 q: -0.126462 0.790533 0.109398 0.589149 
wait for imu ... 
time: 1403636606.713556, t: 0.158026 -0.026910 -0.361366 q: -0.126448 0.790538 0.109409 0.589144 
time: 1403636606.813555, t: 0.158021 -0.026912 -0.361352 q: -0.126425 0.790566 0.109405 0.589111 
wait for imu ... 
time: 1403636606.913555, t: 0.158015 -0.026914 -0.361341 q: -0.126380 0.790598 0.109399 0.589080 
time: 1403636607.013556, t: 0.158007 -0.026918 -0.361346 q: -0.126361 0.790598 0.109362 0.589090 
time: 1403636607.113555, t: 0.158009 -0.026929 -0.361344 q: -0.126348 0.790617 0.109380 0.589065 
wait for imu ... 
time: 1403636607.213556, t: 0.157999 -0.026928 -0.361334 q: -0.126287 0.790651 0.109365 0.589034 
time: 1403636607.313555, t: 0.157998 -0.026929 -0.361321 q: -0.126251 0.790671 0.109361 0.589016 
time: 1403636607.413555, t: 0.157985 -0.026931 -0.361318 q: -0.126220 0.790688 0.109333 0.589006 
wait for imu ... 
time: 1403636607.513556, t: 0.157993 -0.026948 -0.361332 q: -0.126213 0.790678 0.109340 0.589020 
wait for imu ... 
time: 1403636607.613555, t: 0.157980 -0.026933 -0.361321 q: -0.126119 0.790689 0.109340 0.589024 
wait for imu ... 
time: 1403636607.713556, t: 0.157981 -0.026944 -0.361311 q: -0.126101 0.790735 0.109318 0.588970 
wait for imu ... 
time: 1403636607.813555, t: 0.157985 -0.026948 -0.361316 q: -0.126072 0.790732 0.109328 0.588978 
time: 1403636607.913555, t: 0.157980 -0.026952 -0.361321 q: -0.126090 0.790737 0.109272 0.588979 
time: 1403636608.013556, t: 0.157976 -0.026945 -0.361306 q: -0.126017 0.790756 0.109302 0.588963 
wait for imu ... 
time: 1403636608.113555, t: 0.157973 -0.026957 -0.361314 q: -0.126007 0.790766 0.109280 0.588957 
time: 1403636608.213556, t: 0.157978 -0.026964 -0.361321 q: -0.126018 0.790763 0.109275 0.588959 
time: 1403636608.313555, t: 0.157989 -0.026975 -0.361335 q: -0.126023 0.790758 0.109281 0.588963 
time: 1403636608.413555, t: 0.157982 -0.026973 -0.361326 q: -0.126012 0.790774 0.109268 0.588947 
wait for imu ... 
time: 1403636608.513556, t: 0.157980 -0.026983 -0.361334 q: -0.126015 0.790777 0.109248 0.588946 
time: 1403636608.613555, t: 0.157976 -0.026980 -0.361344 q: -0.125974 0.790762 0.109259 0.588972 
wait for imu ... 
wait for imu ... 
time: 1403636608.713556, t: 0.157968 -0.026969 -0.361340 q: -0.125899 0.790775 0.109261 0.588970 
time: 1403636608.813555, t: 0.157972 -0.026978 -0.361324 q: -0.125895 0.790804 0.109269 0.588931 
time: 1403636608.913555, t: 0.157968 -0.026982 -0.361326 q: -0.125891 0.790813 0.109250 0.588923 
time: 1403636609.013556, t: 0.157963 -0.026984 -0.361322 q: -0.125879 0.790822 0.109235 0.588917 
time: 1403636609.113555, t: 0.157974 -0.026992 -0.361331 q: -0.125888 0.790815 0.109246 0.588922 
time: 1403636609.213556, t: 0.157972 -0.027000 -0.361348 q: -0.125918 0.790794 0.109206 0.588950 
time: 1403636609.313555, t: 0.157975 -0.026999 -0.361344 q: -0.125879 0.790811 0.109227 0.588933 
time: 1403636609.413555, t: 0.157965 -0.026989 -0.361332 q: -0.125855 0.790834 0.109206 0.588911 
wait for imu ... 
time: 1403636609.513556, t: 0.157959 -0.026988 -0.361327 q: -0.125824 0.790845 0.109212 0.588902 
wait for imu ... 
time: 1403636609.613555, t: 0.157962 -0.026999 -0.361343 q: -0.125839 0.790837 0.109189 0.588913 
time: 1403636609.713556, t: 0.157957 -0.027019 -0.361344 q: -0.125812 0.790833 0.109201 0.588922 
time: 1403636609.813555, t: 0.157929 -0.027021 -0.361351 q: -0.125873 0.790917 0.109177 0.588801 
wait for imu ... 
time: 1403636609.913555, t: 0.157948 -0.027014 -0.361335 q: -0.125860 0.790878 0.109127 0.588865 
wait for imu ... 
time: 1403636610.013556, t: 0.157954 -0.027012 -0.361327 q: -0.125835 0.790881 0.109104 0.588871 
wait for imu ... 
time: 1403636610.113555, t: 0.157936 -0.027020 -0.361344 q: -0.125873 0.790878 0.109077 0.588873 
time: 1403636610.213556, t: 0.157945 -0.027012 -0.361340 q: -0.125853 0.790890 0.109063 0.588863 
wait for imu ... 
time: 1403636610.313555, t: 0.158196 -0.026772 -0.361545 q: -0.127300 0.789565 0.109856 0.590180 
wait for imu ... 
time: 1403636610.413555, t: 0.158269 -0.026632 -0.361498 q: -0.128045 0.789226 0.110272 0.590395 
time: 1403636610.513556, t: 0.158267 -0.026545 -0.361510 q: -0.128579 0.789116 0.110537 0.590377 
wait for imu ... 
time: 1403636610.613555, t: 0.158274 -0.026485 -0.361508 q: -0.128874 0.789055 0.110678 0.590368 
time: 1403636610.713556, t: 0.158283 -0.026454 -0.361500 q: -0.129052 0.789038 0.110762 0.590336 
wait for imu ... 
time: 1403636610.813555, t: 0.158366 -0.026429 -0.361432 q: -0.129038 0.789118 0.110938 0.590198 
time: 1403636610.913555, t: 0.158364 -0.026436 -0.361424 q: -0.129042 0.789090 0.111069 0.590210 
time: 1403636611.013556, t: 0.158348 -0.026390 -0.361434 q: -0.129187 0.789032 0.110996 0.590270 
time: 1403636611.113555, t: 0.158420 -0.026435 -0.361469 q: -0.129324 0.789046 0.111037 0.590213 
time: 1403636611.213556, t: 0.158417 -0.026460 -0.361481 q: -0.129271 0.789083 0.111111 0.590163 
time: 1403636611.313555, t: 0.158414 -0.026429 -0.361467 q: -0.129266 0.789108 0.111029 0.590145 
time: 1403636611.413555, t: 0.158409 -0.026311 -0.361458 q: -0.129642 0.789068 0.110952 0.590131 
time: 1403636611.513556, t: 0.158613 -0.027066 -0.361778 q: -0.128709 0.789051 0.111076 0.590334 
wait for imu ... 
time: 1403636611.613555, t: 0.158651 -0.026909 -0.361793 q: -0.129162 0.789074 0.110989 0.590220 
time: 1403636611.713556, t: 0.158610 -0.027000 -0.361799 q: -0.129102 0.788940 0.110872 0.590435 
time: 1403636611.813555, t: 0.158509 -0.026835 -0.361816 q: -0.129850 0.789087 0.110352 0.590172 
time: 1403636611.913555, t: 0.158547 -0.026968 -0.361830 q: -0.129362 0.789050 0.110811 0.590243 
time: 1403636612.013556, t: 0.158620 -0.026736 -0.361753 q: -0.130233 0.788970 0.110409 0.590233 
wait for imu ... 
time: 1403636612.113555, t: 0.158590 -0.026620 -0.361788 q: -0.130546 0.789108 0.110203 0.590018 
time: 1403636612.213556, t: 0.158559 -0.026686 -0.361808 q: -0.130397 0.789145 0.110331 0.589978 
time: 1403636612.313555, t: 0.158511 -0.026655 -0.361823 q: -0.130688 0.789022 0.110151 0.590112 
time: 1403636612.413555, t: 0.158471 -0.026759 -0.361782 q: -0.130271 0.788968 0.110372 0.590234 
time: 1403636612.513556, t: 0.158558 -0.026798 -0.361779 q: -0.130032 0.788981 0.110455 0.590255 
wait for imu ... 
time: 1403636612.613555, t: 0.158567 -0.026890 -0.361811 q: -0.129726 0.788952 0.110587 0.590336 
time: 1403636612.713556, t: 0.158601 -0.026892 -0.361765 q: -0.129798 0.788952 0.110645 0.590309 
wait for imu ... 
time: 1403636612.813555, t: 0.158561 -0.026956 -0.361750 q: -0.129486 0.788947 0.110721 0.590370 
time: 1403636612.913555, t: 0.158547 -0.027016 -0.361747 q: -0.129272 0.788944 0.110859 0.590395 
wait for imu ... 
time: 1403636613.013556, t: 0.158544 -0.027043 -0.361766 q: -0.129212 0.788860 0.110860 0.590520 
time: 1403636613.113555, t: 0.158544 -0.027059 -0.361789 q: -0.129068 0.788895 0.111044 0.590471 
time: 1403636613.213556, t: 0.158540 -0.027034 -0.361810 q: -0.129051 0.788856 0.110930 0.590547 
time: 1403636613.313555, t: 0.158573 -0.027035 -0.361799 q: -0.129164 0.788801 0.110894 0.590603 
time: 1403636613.413555, t: 0.158558 -0.027017 -0.361793 q: -0.129050 0.788888 0.110954 0.590501 
time: 1403636613.513556, t: 0.158562 -0.027010 -0.361783 q: -0.129125 0.788860 0.110895 0.590533 
time: 1403636613.613555, t: 0.158559 -0.027017 -0.361804 q: -0.129149 0.788856 0.110866 0.590538 
wait for imu ... 
time: 1403636613.713556, t: 0.158537 -0.026988 -0.361818 q: -0.129296 0.788843 0.110743 0.590546 
time: 1403636613.813555, t: 0.158508 -0.026987 -0.361795 q: -0.129398 0.788837 0.110721 0.590537 
time: 1403636613.913555, t: 0.158524 -0.026991 -0.361809 q: -0.129379 0.788858 0.110762 0.590505 
time: 1403636614.013556, t: 0.158517 -0.026983 -0.361808 q: -0.129452 0.788857 0.110699 0.590502 
time: 1403636614.113555, t: 0.158504 -0.026971 -0.361814 q: -0.129421 0.788827 0.110711 0.590546 
time: 1403636614.213556, t: 0.158512 -0.026959 -0.361795 q: -0.129429 0.788863 0.110719 0.590496 
wait for imu ... 
time: 1403636614.313555, t: 0.158506 -0.026964 -0.361816 q: -0.129479 0.788843 0.110658 0.590523 
time: 1403636614.413555, t: 0.158488 -0.026949 -0.361816 q: -0.129526 0.788892 0.110634 0.590452 
time: 1403636614.513556, t: 0.158519 -0.026950 -0.361791 q: -0.129501 0.788840 0.110675 0.590519 
time: 1403636614.613555, t: 0.158515 -0.026960 -0.361793 q: -0.129458 0.788893 0.110674 0.590457 
time: 1403636614.713556, t: 0.158507 -0.026950 -0.361791 q: -0.129447 0.788867 0.110684 0.590493 
wait for imu ... 
time: 1403636614.813555, t: 0.158517 -0.026964 -0.361775 q: -0.129385 0.788868 0.110728 0.590496 
wait for imu ... 
time: 1403636614.913555, t: 0.158512 -0.026968 -0.361807 q: -0.129389 0.788876 0.110725 0.590486 
time: 1403636615.013556, t: 0.158527 -0.026959 -0.361790 q: -0.129404 0.788847 0.110708 0.590525 
time: 1403636615.113555, t: 0.158518 -0.026982 -0.361800 q: -0.129348 0.788881 0.110788 0.590476 
wait for imu ... 
time: 1403636615.213556, t: 0.158525 -0.026984 -0.361796 q: -0.129335 0.788863 0.110788 0.590503 
time: 1403636615.313555, t: 0.158517 -0.026977 -0.361794 q: -0.129326 0.788885 0.110778 0.590478 
wait for imu ... 
time: 1403636615.413555, t: 0.158514 -0.026976 -0.361806 q: -0.129335 0.788859 0.110750 0.590515 
time: 1403636615.513556, t: 0.158521 -0.026979 -0.361797 q: -0.129348 0.788866 0.110756 0.590502 
wait for imu ... 
time: 1403636615.613555, t: 0.158521 -0.026976 -0.361786 q: -0.129308 0.788886 0.110774 0.590481 
time: 1403636615.813555, t: 0.158520 -0.026976 -0.361809 q: -0.129334 0.788841 0.110731 0.590543 
wait for imu ... 
time: 1403636615.913555, t: 0.158526 -0.026978 -0.361784 q: -0.129316 0.788883 0.110762 0.590486 
time: 1403636616.013556, t: 0.158520 -0.026976 -0.361794 q: -0.129354 0.788877 0.110745 0.590488 
wait for imu ... 
time: 1403636616.113555, t: 0.158524 -0.026978 -0.361804 q: -0.129365 0.788859 0.110723 0.590514 
time: 1403636616.213556, t: 0.158517 -0.026972 -0.361787 q: -0.129340 0.788877 0.110756 0.590488 
time: 1403636616.313555, t: 0.158524 -0.026975 -0.361795 q: -0.129334 0.788866 0.110760 0.590505 
wait for imu ... 
time: 1403636616.413555, t: 0.158526 -0.026987 -0.361799 q: -0.129366 0.788881 0.110748 0.590480 
time: 1403636616.513556, t: 0.158517 -0.026969 -0.361795 q: -0.129341 0.788861 0.110724 0.590516 
wait for imu ... 
time: 1403636616.613555, t: 0.158516 -0.026973 -0.361788 q: -0.129337 0.788891 0.110754 0.590471 
wait for imu ... 
time: 1403636616.713556, t: 0.158522 -0.026980 -0.361796 q: -0.129376 0.788877 0.110743 0.590483 
time: 1403636616.813555, t: 0.158517 -0.026981 -0.361800 q: -0.129383 0.788882 0.110744 0.590475 
wait for imu ... 
time: 1403636616.913555, t: 0.158520 -0.026972 -0.361796 q: -0.129363 0.788875 0.110729 0.590492 
time: 1403636617.013556, t: 0.158524 -0.026981 -0.361800 q: -0.129362 0.788869 0.110757 0.590495 
time: 1403636617.113555, t: 0.158508 -0.026968 -0.361796 q: -0.129335 0.788876 0.110745 0.590493 
time: 1403636617.213556, t: 0.158524 -0.026972 -0.361795 q: -0.129387 0.788862 0.110740 0.590502 
time: 1403636617.313555, t: 0.158518 -0.026973 -0.361801 q: -0.129363 0.788868 0.110728 0.590501 
time: 1403636617.413555, t: 0.158525 -0.026977 -0.361798 q: -0.129372 0.788878 0.110733 0.590485 
time: 1403636617.513556, t: 0.158531 -0.026984 -0.361800 q: -0.129370 0.788865 0.110748 0.590500 
time: 1403636617.613555, t: 0.158531 -0.026987 -0.361799 q: -0.129348 0.788872 0.110763 0.590493 
time: 1403636617.713556, t: 0.158521 -0.026980 -0.361811 q: -0.129371 0.788849 0.110747 0.590521 
wait for imu ... 
time: 1403636617.813555, t: 0.158523 -0.026978 -0.361798 q: -0.129361 0.788868 0.110732 0.590501 
time: 1403636617.913555, t: 0.158515 -0.026975 -0.361806 q: -0.129339 0.788873 0.110737 0.590499 
time: 1403636618.013556, t: 0.158516 -0.026974 -0.361802 q: -0.129349 0.788866 0.110741 0.590504 
wait for imu ... 
time: 1403636618.113555, t: 0.158524 -0.026979 -0.361807 q: -0.129356 0.788861 0.110742 0.590510 
time: 1403636618.213556, t: 0.158533 -0.026981 -0.361805 q: -0.129341 0.788872 0.110775 0.590492 
wait for imu ... 
time: 1403636618.313555, t: 0.158521 -0.026983 -0.361801 q: -0.129370 0.788873 0.110735 0.590492 
time: 1403636618.413555, t: 0.158521 -0.026983 -0.361814 q: -0.129371 0.788845 0.110724 0.590531 
time: 1403636618.513556, t: 0.158554 -0.026938 -0.361852 q: -0.129518 0.788807 0.111080 0.590483 
wait for imu ... 
time: 1403636618.613555, t: 0.158471 -0.026916 -0.361834 q: -0.129366 0.788826 0.110971 0.590512 
time: 1403636618.713556, t: 0.158444 -0.026933 -0.361822 q: -0.129173 0.788903 0.110600 0.590520 
time: 1403636618.913555, t: 0.158429 -0.026848 -0.361819 q: -0.129643 0.788820 0.110892 0.590473 
wait for imu ... 
time: 1403636619.013556, t: 0.158440 -0.026839 -0.361805 q: -0.129634 0.788818 0.110871 0.590482 
time: 1403636619.113555, t: 0.158468 -0.026903 -0.361824 q: -0.129504 0.788864 0.110683 0.590485 
wait for imu ... 
time: 1403636619.213556, t: 0.158468 -0.026910 -0.361802 q: -0.129291 0.788894 0.110514 0.590523 
time: 1403636619.313555, t: 0.158497 -0.026919 -0.361829 q: -0.129267 0.788870 0.110732 0.590520 
wait for imu ... 
wait for imu ... 
time: 1403636619.413555, t: 0.158477 -0.026878 -0.361807 q: -0.129515 0.788783 0.111017 0.590527 
time: 1403636619.513556, t: 0.158467 -0.026898 -0.361810 q: -0.129416 0.788866 0.110858 0.590469 
wait for imu ... 
time: 1403636619.613555, t: 0.158507 -0.026993 -0.361822 q: -0.129357 0.788840 0.110871 0.590513 
time: 1403636619.713556, t: 0.158532 -0.027011 -0.361827 q: -0.129315 0.788847 0.110797 0.590527 
time: 1403636619.813555, t: 0.158533 -0.027007 -0.361857 q: -0.129318 0.788841 0.110787 0.590536 
time: 1403636619.913555, t: 0.158545 -0.027005 -0.361854 q: -0.129353 0.788823 0.110754 0.590559 
wait for imu ... 
wait for imu ... 
time: 1403636620.113555, t: 0.158542 -0.026987 -0.361844 q: -0.129295 0.788810 0.110891 0.590563 
wait for imu ... 
time: 1403636620.213556, t: 0.158549 -0.027007 -0.361842 q: -0.129319 0.788832 0.110936 0.590520 
time: 1403636620.313555, t: 0.158525 -0.027009 -0.361840 q: -0.129298 0.788838 0.110855 0.590532 
time: 1403636620.413555, t: 0.158519 -0.027006 -0.361836 q: -0.129344 0.788837 0.110925 0.590510 
time: 1403636620.513556, t: 0.158565 -0.026999 -0.361860 q: -0.129363 0.788840 0.110834 0.590519 
wait for imu ... 
time: 1403636620.613555, t: 0.158589 -0.026990 -0.361856 q: -0.129350 0.788862 0.110840 0.590491 
wait for imu ... 
time: 1403636620.713556, t: 0.158554 -0.027008 -0.361861 q: -0.129312 0.788823 0.110881 0.590544 
time: 1403636620.813555, t: 0.158522 -0.027021 -0.361828 q: -0.129382 0.788853 0.110863 0.590492 
wait for imu ... 
time: 1403636620.913555, t: 0.158519 -0.027015 -0.361845 q: -0.129381 0.788845 0.110818 0.590511 
time: 1403636621.013556, t: 0.158530 -0.027015 -0.361817 q: -0.129316 0.788885 0.110842 0.590468 
wait for imu ... 
wait for imu ... 
time: 1403636621.113555, t: 0.158558 -0.027022 -0.361823 q: -0.129404 0.788820 0.110807 0.590541 
wait for imu ... 
time: 1403636621.213556, t: 0.158568 -0.026989 -0.361806 q: -0.129349 0.788798 0.110841 0.590577 
wait for imu ... 
time: 1403636621.313555, t: 0.158548 -0.027017 -0.361814 q: -0.129349 0.788849 0.110842 0.590508 
wait for imu ... 
time: 1403636621.513556, t: 0.158526 -0.027027 -0.361805 q: -0.129285 0.788852 0.110864 0.590514 
wait for imu ... 
time: 1403636621.613555, t: 0.158534 -0.027037 -0.361807 q: -0.129286 0.788869 0.110830 0.590497 
time: 1403636621.713556, t: 0.158535 -0.027039 -0.361807 q: -0.129284 0.788843 0.110876 0.590524 
wait for imu ... 
time: 1403636621.813555, t: 0.158573 -0.027048 -0.361821 q: -0.129235 0.788830 0.110931 0.590542 
wait for imu ... 
time: 1403636621.913555, t: 0.158545 -0.027047 -0.361800 q: -0.129195 0.788850 0.110929 0.590524 
wait for imu ... 
time: 1403636622.013556, t: 0.158550 -0.027062 -0.361782 q: -0.129148 0.788827 0.110978 0.590556 
wait for imu ... 
time: 1403636622.113555, t: 0.158557 -0.027072 -0.361804 q: -0.129177 0.788823 0.110967 0.590558 
time: 1403636622.213556, t: 0.158571 -0.027052 -0.361787 q: -0.129251 0.788823 0.110959 0.590543 
wait for imu ... 
time: 1403636622.313555, t: 0.158554 -0.027046 -0.361795 q: -0.129192 0.788833 0.110940 0.590546 
time: 1403636622.413555, t: 0.158570 -0.027047 -0.361788 q: -0.129223 0.788851 0.110919 0.590519 
wait for imu ... 
time: 1403636622.513556, t: 0.158572 -0.027055 -0.361809 q: -0.129207 0.788830 0.110914 0.590551 
wait for imu ... 
time: 1403636622.613555, t: 0.158553 -0.027075 -0.361812 q: -0.129157 0.788835 0.110935 0.590552 
time: 1403636622.713556, t: 0.158567 -0.027071 -0.361807 q: -0.129236 0.788821 0.110876 0.590564 
time: 1403636622.813555, t: 0.158593 -0.027072 -0.361793 q: -0.129169 0.788841 0.110860 0.590556 
time: 1403636622.913555, t: 0.158611 -0.027160 -0.361750 q: -0.129109 0.788723 0.110700 0.590756 
wait for imu ... 
time: 1403636623.013556, t: 0.158640 -0.027190 -0.361688 q: -0.129056 0.788663 0.110654 0.590856 
wait for imu ... 
time: 1403636623.213556, t: 0.158644 -0.027252 -0.361649 q: -0.129052 0.788663 0.110586 0.590870 
time: 1403636623.313555, t: 0.158689 -0.027288 -0.361672 q: -0.128984 0.788601 0.110582 0.590969 
wait for imu ... 
time: 1403636623.413555, t: 0.158686 -0.027319 -0.361648 q: -0.129028 0.788619 0.110550 0.590940 
time: 1403636623.513556, t: 0.158762 -0.027288 -0.361654 q: -0.129024 0.788638 0.110442 0.590936 
time: 1403636623.613555, t: 0.158785 -0.027316 -0.361590 q: -0.128964 0.788748 0.110285 0.590832 
time: 1403636623.713556, t: 0.158804 -0.027343 -0.361619 q: -0.128837 0.788754 0.110195 0.590869 
wait for imu ... 
time: 1403636623.813555, t: 0.158780 -0.027403 -0.361623 q: -0.128571 0.789038 0.109835 0.590614 
time: 1403636623.913555, t: 0.158772 -0.027471 -0.361621 q: -0.128314 0.789084 0.109582 0.590655 
wait for imu ... 
time: 1403636624.013556, t: 0.158740 -0.027533 -0.361551 q: -0.128225 0.789139 0.109463 0.590624 
time: 1403636624.113555, t: 0.158651 -0.027551 -0.361467 q: -0.127600 0.789554 0.108843 0.590319 
time: 1403636624.213556, t: 0.158582 -0.027610 -0.361425 q: -0.127534 0.789772 0.108450 0.590113 
time: 1403636624.313555, t: 0.158385 -0.028123 -0.361331 q: -0.126075 0.791613 0.108568 0.587935 
time: 1403636624.413555, t: 0.156735 -0.031542 -0.361533 q: -0.122224 0.796925 0.108214 0.581603 
time: 1403636624.513556, t: 0.153778 -0.037862 -0.361830 q: -0.119014 0.802881 0.106586 0.574332 
time: 1403636624.613555, t: 0.150302 -0.046343 -0.361540 q: -0.114709 0.805597 0.106399 0.571432 
time: 1403636624.813555, t: 0.138408 -0.073646 -0.362104 q: -0.099903 0.804078 0.115685 0.574539 
time: 1403636624.913555, t: 0.127897 -0.092216 -0.356170 q: -0.087050 0.809162 0.125980 0.567282 
time: 1403636625.013556, t: 0.115301 -0.110244 -0.341301 q: -0.075705 0.815295 0.134908 0.557999 
time: 1403636625.113555, t: 0.103369 -0.122697 -0.318815 q: -0.071424 0.821523 0.138218 0.548538 
time: 1403636625.213556, t: 0.095853 -0.128948 -0.290799 q: -0.078725 0.822831 0.133567 0.546728 
time: 1403636625.313555, t: 0.093988 -0.131087 -0.264679 q: -0.085085 0.818985 0.129716 0.552447 
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time: 1403636627.913555, t: 0.160146 -0.233537 0.003782 q: -0.077186 0.826366 0.102820 0.548261 
optimize pose graph 
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time: 1403636628.113555, t: 0.176611 -0.256011 0.007344 q: -0.066745 0.825019 0.091521 0.553636 
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time: 1403636628.513556, t: 0.232554 -0.295045 0.093033 q: -0.080927 0.809619 0.072406 0.576823 
time: 1403636628.613555, t: 0.244316 -0.310589 0.106055 q: -0.083670 0.810324 0.072014 0.575490 
time: 1403636628.713556, t: 0.254916 -0.329905 0.113019 q: -0.081889 0.810411 0.073019 0.575497 
wait for imu ... 
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time: 1403636628.913555, t: 0.277330 -0.379968 0.110867 q: -0.062871 0.819508 0.069788 0.565318 
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time: 1403636629.913555, t: 0.470482 -0.653932 0.068503 q: 0.008291 0.833530 -0.038803 0.551048 
optimize pose graph 
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time: 1403636630.113555, t: 0.542209 -0.733851 0.045994 q: 0.025609 0.829572 -0.059947 0.554581 
wait for imu ... 
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time: 1403636630.713556, t: 0.799053 -0.937289 0.108616 q: 0.038681 0.822474 -0.056662 0.564651 
time: 1403636630.813555, t: 0.843939 -0.967344 0.117822 q: 0.034415 0.822971 -0.055865 0.564282 
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time: 1403636631.413555, t: 1.116793 -1.144804 0.088674 q: 0.025236 0.817650 -0.054522 0.572572 
time: 1403636631.513556, t: 1.160769 -1.175149 0.070238 q: 0.026476 0.817822 -0.052725 0.572439 
time: 1403636631.613555, t: 1.203255 -1.204220 0.052006 q: 0.028181 0.817848 -0.050501 0.572521 
time: 1403636631.713556, t: 1.247330 -1.232461 0.037400 q: 0.028689 0.818502 -0.048680 0.571719 
time: 1403636631.813555, t: 1.282611 -1.259419 0.030734 q: 0.029170 0.818453 -0.047232 0.571886 
time: 1403636631.913555, t: 1.327879 -1.285225 0.027893 q: 0.030830 0.819284 -0.045689 0.570733 
time: 1403636632.013556, t: 1.368968 -1.307839 0.027746 q: 0.031622 0.819236 -0.045777 0.570751 
optimize pose graph 
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time: 1403636632.913555, t: 1.728417 -1.421952 -0.050034 q: -0.012810 0.826056 -0.002806 0.563435 
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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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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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time: 1403636673.013556, t: 7.097804 -4.868545 -1.006992 q: 0.307609 0.705137 -0.431789 0.470869 
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time: 1403636673.213556, t: 7.060106 -4.876968 -1.022305 q: 0.287931 0.728229 -0.413407 0.464622 
time: 1403636673.313555, t: 7.050893 -4.883191 -1.019567 q: 0.277444 0.739916 -0.409780 0.455663 
wait for imu ... 
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time: 1403636673.513556, t: 7.056008 -4.910180 -1.006686 q: 0.270803 0.746183 -0.402054 0.456320 
wait for imu ... 
time: 1403636673.613555, t: 7.073545 -4.933146 -1.005856 q: 0.274192 0.742706 -0.396395 0.464841 
wait for imu ... 
time: 1403636673.713556, t: 7.100910 -4.960290 -1.009792 q: 0.279385 0.736324 -0.390441 0.476787 
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time: 1403636674.113555, t: 7.258654 -5.053674 -1.015177 q: 0.284506 0.729368 -0.383641 0.489795 
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time: 1403636675.813555, t: 8.283425 -5.623893 -1.311373 q: 0.237631 0.752946 -0.303978 0.533105 
wait for imu ... 
time: 1403636675.913555, t: 8.372258 -5.660805 -1.333088 q: 0.209001 0.752124 -0.301989 0.547202 
time: 1403636676.013556, t: 8.457896 -5.695269 -1.359646 q: 0.182706 0.758086 -0.295628 0.551841 
wait for imu ... 
time: 1403636676.113555, t: 8.538371 -5.731078 -1.388657 q: 0.170279 0.768154 -0.278945 0.550576 
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time: 1403636676.513556, t: 8.860486 -5.860629 -1.501745 q: 0.155100 0.807574 -0.172352 0.542276 
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time: 1403636677.613555, t: 9.817358 -5.978699 -1.613330 q: 0.081015 0.792348 -0.098910 0.596522 
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time: 1403636678.113555, t: 10.103091 -5.944273 -1.575864 q: -0.015306 0.817635 -0.022347 0.575100 
wait for imu ... 
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time: 1403636678.813555, t: 10.396943 -5.981912 -1.507444 q: -0.059328 0.809249 0.121042 0.571792 
time: 1403636678.913555, t: 10.434415 -5.981321 -1.503911 q: -0.059341 0.805437 0.149302 0.570490 
time: 1403636679.013556, t: 10.471161 -5.972892 -1.504265 q: -0.068058 0.801881 0.169353 0.568924 
time: 1403636679.113555, t: 10.504644 -5.956963 -1.510195 q: -0.085605 0.796971 0.183766 0.568980 
time: 1403636679.213556, t: 10.533246 -5.934809 -1.520331 q: -0.113423 0.791016 0.192877 0.569409 
wait for imu ... 
time: 1403636679.313555, t: 10.557069 -5.908744 -1.529218 q: -0.141528 0.784792 0.203579 0.568003 
time: 1403636679.413555, t: 10.575957 -5.882538 -1.530989 q: -0.162477 0.778790 0.220307 0.564404 
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time: 1403636679.913555, t: 10.625513 -5.799588 -1.434637 q: -0.197915 0.756752 0.279662 0.556728 
time: 1403636680.013556, t: 10.630156 -5.789004 -1.395631 q: -0.189689 0.753080 0.286600 0.561025 
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time: 1403636680.213556, t: 10.614277 -5.768834 -1.314116 q: -0.172225 0.748268 0.295995 0.568172 
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time: 1403636680.413555, t: 10.563899 -5.737845 -1.257866 q: -0.157141 0.748079 0.300403 0.570476 
wait for imu ... 
time: 1403636680.513556, t: 10.524089 -5.715347 -1.239194 q: -0.149455 0.751125 0.301940 0.567721 
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time: 1403636681.113555, t: 10.164734 -5.480384 -1.228747 q: -0.185454 0.790432 0.266468 0.519441 
time: 1403636681.213556, t: 10.107316 -5.435640 -1.239448 q: -0.180572 0.786367 0.270193 0.525373 
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time: 1403636681.613555, t: 9.898957 -5.239533 -1.241478 q: -0.186232 0.766227 0.271887 0.551626 
time: 1403636681.713556, t: 9.845061 -5.191011 -1.240077 q: -0.185142 0.765044 0.274622 0.552279 
time: 1403636681.813555, t: 9.790961 -5.141727 -1.241473 q: -0.185237 0.763864 0.276434 0.552976 
time: 1403636681.913555, t: 9.732677 -5.091299 -1.240945 q: -0.187300 0.762605 0.276930 0.553771 
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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time: 1403636695.213556, t: 5.906899 -3.779875 -0.656433 q: -0.230590 0.757220 0.307380 0.528171 
time: 1403636695.313555, t: 5.935802 -3.784671 -0.653902 q: -0.225823 0.755929 0.308751 0.531270 
time: 1403636695.413555, t: 5.964874 -3.789727 -0.643347 q: -0.223222 0.755603 0.308716 0.532852 
time: 1403636695.513556, t: 5.990770 -3.794896 -0.630754 q: -0.219710 0.754568 0.309660 0.535225 
time: 1403636695.613555, t: 6.016195 -3.799114 -0.620802 q: -0.216576 0.753380 0.310460 0.537705 
time: 1403636695.713556, t: 6.039053 -3.802766 -0.616777 q: -0.213435 0.752521 0.311356 0.539644 
time: 1403636695.813555, t: 6.060225 -3.806138 -0.616888 q: -0.215409 0.754258 0.308951 0.537814 
time: 1403636695.913555, t: 6.079623 -3.809131 -0.622782 q: -0.215408 0.755347 0.307927 0.536871 
time: 1403636696.013556, t: 6.097142 -3.811427 -0.632005 q: -0.216336 0.758713 0.306382 0.532620 
optimize pose graph 
time: 1403636696.113555, t: 6.115466 -3.812241 -0.645131 q: -0.211825 0.762728 0.308208 0.527621 
time: 1403636696.213556, t: 6.134667 -3.810710 -0.659341 q: -0.205844 0.763785 0.311299 0.526643 
time: 1403636696.313555, t: 6.149301 -3.806813 -0.676580 q: -0.206346 0.760184 0.310521 0.532088 
wait for imu ... 
time: 1403636696.413555, t: 6.167052 -3.800116 -0.691230 q: -0.213456 0.752000 0.304801 0.544085 
time: 1403636696.513556, t: 6.178197 -3.794840 -0.702856 q: -0.218415 0.749257 0.300372 0.548348 
time: 1403636696.613555, t: 6.185412 -3.792348 -0.709358 q: -0.218973 0.750847 0.299329 0.546517 
wait for imu ... 
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time: 1403636696.813555, t: 6.192005 -3.793076 -0.712265 q: -0.218217 0.753888 0.299020 0.542790 
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time: 1403636697.013556, t: 6.190681 -3.797258 -0.727619 q: -0.204394 0.751574 0.308431 0.546104 
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time: 1403636697.613555, t: 6.054661 -3.734301 -0.659532 q: -0.199705 0.762094 0.302566 0.536456 
time: 1403636697.713556, t: 6.021149 -3.714755 -0.633608 q: -0.191165 0.766406 0.291161 0.539725 
wait for imu ... 
time: 1403636697.813555, t: 5.987242 -3.693941 -0.614806 q: -0.178109 0.773038 0.274860 0.543269 
time: 1403636697.913555, t: 5.951295 -3.673103 -0.601360 q: -0.168105 0.778512 0.258151 0.546826 
time: 1403636698.013556, t: 5.915272 -3.649027 -0.594489 q: -0.161286 0.783070 0.244029 0.548852 
time: 1403636698.113555, t: 5.877654 -3.623062 -0.592370 q: -0.156413 0.785678 0.234103 0.550855 
optimize pose graph 
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time: 1403636698.313555, t: 5.803303 -3.563529 -0.602851 q: -0.146172 0.790485 0.216543 0.553964 
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time: 1403636698.513556, t: 5.731000 -3.503699 -0.628391 q: -0.123365 0.798877 0.187752 0.557966 
time: 1403636698.613555, t: 5.696767 -3.471672 -0.645295 q: -0.110163 0.803490 0.168432 0.560267 
wait for imu ... 
time: 1403636698.713556, t: 5.659964 -3.438145 -0.666810 q: -0.096970 0.808480 0.145740 0.561886 
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time: 1403636699.913555, t: 5.361787 -3.119531 -0.769337 q: 0.067035 0.810643 -0.138000 0.565084 
time: 1403636700.013556, t: 5.345985 -3.119126 -0.781426 q: 0.071848 0.807841 -0.144985 0.566754 
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time: 1403636700.213556, t: 5.315120 -3.124570 -0.819010 q: 0.074236 0.805837 -0.149951 0.568006 
optimize pose graph 
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time: 1403636700.813555, t: 5.219109 -3.231181 -1.028056 q: 0.115564 0.792300 -0.187655 0.568939 
time: 1403636700.913555, t: 5.200398 -3.252505 -1.057086 q: 0.119780 0.794131 -0.192944 0.563721 
wait for imu ... 
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wait for imu ... 
time: 1403636702.413555, t: 5.052049 -3.686053 -1.158405 q: 0.175448 0.778353 -0.267632 0.540146 
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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wait for imu ... 
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optimize pose graph 
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wait for imu ... 
wait for imu ... 
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wait for imu ... 
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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optimize pose graph 
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wait for imu ... 
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time: 1403636751.313555, t: 1.919408 -2.555988 -0.750296 q: 0.129427 0.803113 -0.186285 0.550960 
time: 1403636751.413555, t: 1.909942 -2.531882 -0.700062 q: 0.123704 0.800804 -0.192183 0.553602 
time: 1403636751.513556, t: 1.898825 -2.506841 -0.652652 q: 0.116787 0.795977 -0.197624 0.560112 
time: 1403636751.613555, t: 1.892241 -2.487242 -0.604903 q: 0.109632 0.793207 -0.197115 0.565640 
time: 1403636751.713556, t: 1.882955 -2.470925 -0.562504 q: 0.102654 0.795730 -0.195115 0.564097 
time: 1403636751.813555, t: 1.872953 -2.460414 -0.523118 q: 0.096741 0.801629 -0.193158 0.557424 
time: 1403636751.913555, t: 1.864208 -2.454669 -0.483485 q: 0.100027 0.807571 -0.186391 0.550529 
time: 1403636752.113555, t: 1.858208 -2.458411 -0.410118 q: 0.109141 0.809839 -0.175002 0.549202 
time: 1403636752.213556, t: 1.864261 -2.466320 -0.382248 q: 0.109406 0.805285 -0.169238 0.557588 
time: 1403636752.313555, t: 1.870902 -2.472577 -0.347780 q: 0.104746 0.801070 -0.160205 0.567142 
time: 1403636752.413555, t: 1.879769 -2.478908 -0.314737 q: 0.096703 0.799220 -0.147524 0.574572 
time: 1403636752.513556, t: 1.887363 -2.483179 -0.274328 q: 0.085921 0.801730 -0.131378 0.576702 
time: 1403636752.613555, t: 1.893559 -2.487232 -0.233179 q: 0.074327 0.806004 -0.113134 0.576224 
time: 1403636752.713556, t: 1.898437 -2.491208 -0.198686 q: 0.061469 0.810097 -0.094680 0.575327 
time: 1403636752.813555, t: 1.901564 -2.493734 -0.169609 q: 0.049606 0.813144 -0.074390 0.575154 
wait for imu ... 
time: 1403636752.913555, t: 1.903097 -2.495172 -0.147356 q: 0.039227 0.815130 -0.051942 0.575610 
optimize pose graph 
time: 1403636753.013556, t: 1.905096 -2.495739 -0.132118 q: 0.029913 0.816789 -0.027682 0.575495 
time: 1403636753.113555, t: 1.905828 -2.493846 -0.123261 q: 0.018489 0.817851 -0.003675 0.575121 
time: 1403636753.213556, t: 1.906575 -2.487686 -0.121503 q: 0.005282 0.818103 0.019959 0.574701 
time: 1403636753.313555, t: 1.906526 -2.477819 -0.126737 q: -0.004744 0.817108 0.045848 0.574640 
time: 1403636753.413555, t: 1.907644 -2.463940 -0.133472 q: -0.018451 0.814629 0.063525 0.576198 
time: 1403636753.513556, t: 1.907423 -2.445705 -0.137138 q: -0.033392 0.813396 0.071202 0.576370 
wait for imu ... 
time: 1403636753.613555, t: 1.904512 -2.426059 -0.134720 q: -0.044059 0.811827 0.074787 0.577411 
time: 1403636753.713556, t: 1.898549 -2.405934 -0.127080 q: -0.049463 0.811424 0.075658 0.577426 
time: 1403636753.813555, t: 1.893251 -2.385478 -0.122112 q: -0.049217 0.810274 0.076821 0.578905 
time: 1403636753.913555, t: 1.886061 -2.364436 -0.122823 q: -0.049038 0.810271 0.075118 0.579149 
time: 1403636754.013556, t: 1.878041 -2.342050 -0.126985 q: -0.046637 0.809767 0.073715 0.580232 
time: 1403636754.113555, t: 1.868592 -2.319221 -0.125283 q: -0.046116 0.806061 0.070757 0.585775 
time: 1403636754.213556, t: 1.856276 -2.294649 -0.118061 q: -0.042691 0.803163 0.069371 0.590165 
time: 1403636754.313555, t: 1.839578 -2.268382 -0.105790 q: -0.039148 0.802532 0.068258 0.591397 
time: 1403636754.413555, t: 1.823993 -2.237275 -0.089318 q: -0.037770 0.802591 0.068989 0.591322 
time: 1403636754.513556, t: 1.798624 -2.207848 -0.070181 q: -0.040529 0.802985 0.073171 0.590101 
time: 1403636754.613555, t: 1.770989 -2.175541 -0.057815 q: -0.044150 0.804209 0.082962 0.586870 
time: 1403636754.713556, t: 1.742449 -2.137711 -0.051997 q: -0.053250 0.803880 0.094494 0.584818 
time: 1403636754.813555, t: 1.710625 -2.098349 -0.050206 q: -0.063414 0.802133 0.108194 0.583828 
time: 1403636754.913555, t: 1.675780 -2.059417 -0.052495 q: -0.072111 0.800411 0.119035 0.583072 
time: 1403636755.013556, t: 1.637858 -2.020082 -0.058500 q: -0.077728 0.799532 0.128272 0.581596 
time: 1403636755.113555, t: 1.596166 -1.978793 -0.064998 q: -0.082733 0.798786 0.133300 0.580799 
optimize pose graph 
time: 1403636755.213556, t: 1.548987 -1.937104 -0.067041 q: -0.087031 0.798872 0.135998 0.579425 
time: 1403636755.313555, t: 1.498103 -1.892919 -0.061145 q: -0.088002 0.803136 0.138002 0.572873 
time: 1403636755.413555, t: 1.447217 -1.849971 -0.047882 q: -0.087070 0.809601 0.139575 0.563457 
time: 1403636755.513556, t: 1.400676 -1.806050 -0.030219 q: -0.085824 0.812176 0.139584 0.559928 
time: 1403636755.613555, t: 1.357336 -1.760922 -0.016021 q: -0.082964 0.811206 0.140065 0.561644 
time: 1403636755.713556, t: 1.314902 -1.711786 -0.009774 q: -0.084035 0.810293 0.137460 0.563444 
time: 1403636755.813555, t: 1.272762 -1.660468 -0.007954 q: -0.085804 0.808057 0.134616 0.567062 
wait for imu ... 
time: 1403636755.913555, t: 1.229893 -1.608498 -0.008047 q: -0.086782 0.805633 0.133153 0.570696 
time: 1403636756.013556, t: 1.189015 -1.555440 -0.008864 q: -0.088569 0.804571 0.131713 0.572252 
time: 1403636756.113555, t: 1.147226 -1.502028 -0.001169 q: -0.088081 0.803467 0.131982 0.573814 
time: 1403636756.213556, t: 1.105118 -1.446848 0.010498 q: -0.088411 0.801977 0.132109 0.575816 
time: 1403636756.313555, t: 1.057898 -1.390826 0.024854 q: -0.089354 0.801681 0.132148 0.576074 
time: 1403636756.413555, t: 1.012711 -1.334468 0.033899 q: -0.088981 0.800693 0.133605 0.577169 
time: 1403636756.513556, t: 0.961561 -1.280397 0.038337 q: -0.090558 0.800327 0.133854 0.577372 
time: 1403636756.613555, t: 0.913119 -1.224352 0.035004 q: -0.091183 0.799683 0.134538 0.578008 
time: 1403636756.713556, t: 0.860319 -1.172657 0.032465 q: -0.092676 0.798653 0.135044 0.579076 
time: 1403636756.813555, t: 0.807909 -1.119693 0.035447 q: -0.094159 0.797785 0.135389 0.579951 
time: 1403636756.913555, t: 0.743374 -1.067659 0.044655 q: -0.094727 0.797895 0.136001 0.579563 
time: 1403636757.013556, t: 0.680104 -1.015869 0.059600 q: -0.095575 0.797886 0.136509 0.579318 
time: 1403636757.113555, t: 0.621928 -0.966190 0.072077 q: -0.097658 0.797983 0.135922 0.578975 
time: 1403636757.213556, t: 0.557609 -0.917205 0.079673 q: -0.098136 0.798173 0.135838 0.578652 
time: 1403636757.313555, t: 0.493516 -0.869135 0.082817 q: -0.095411 0.798490 0.138289 0.578089 
optimize pose graph 
time: 1403636757.413555, t: 0.425998 -0.818546 0.078509 q: -0.094294 0.799958 0.139769 0.575882 
time: 1403636757.513556, t: 0.354315 -0.769173 0.074261 q: -0.091756 0.801968 0.144024 0.572438 
time: 1403636757.613555, t: 0.282576 -0.716209 0.074347 q: -0.093363 0.806580 0.151051 0.563822 
time: 1403636757.713556, t: 0.218526 -0.664288 0.081571 q: -0.096224 0.812516 0.158198 0.552750 
time: 1403636757.813555, t: 0.158754 -0.608780 0.097686 q: -0.100279 0.816523 0.163893 0.544401 
time: 1403636757.913555, t: 0.100167 -0.546155 0.124444 q: -0.105423 0.817100 0.166962 0.541624 
time: 1403636758.013556, t: 0.034119 -0.473700 0.157407 q: -0.111282 0.810626 0.167752 0.549873 
time: 1403636758.113555, t: -0.018124 -0.404635 0.186261 q: -0.117057 0.802673 0.167326 0.560371 
time: 1403636758.213556, t: -0.066516 -0.335305 0.208504 q: -0.120557 0.796685 0.166936 0.568235 
time: 1403636758.313555, t: -0.111986 -0.269242 0.221954 q: -0.123858 0.794440 0.165405 0.571109 
time: 1403636758.413555, t: -0.163929 -0.204393 0.226326 q: -0.126113 0.799365 0.164041 0.564094 
time: 1403636758.513556, t: -0.215899 -0.142088 0.222678 q: -0.131314 0.811582 0.160196 0.546286 
time: 1403636758.713556, t: -0.296957 -0.025945 0.212683 q: -0.139670 0.820966 0.152798 0.532127 
wait for imu ... 
time: 1403636758.813555, t: -0.319178 0.024614 0.207634 q: -0.137467 0.811364 0.153255 0.547087 
time: 1403636758.913555, t: -0.337278 0.069529 0.199468 q: -0.131387 0.802742 0.157254 0.560013 
time: 1403636759.013556, t: -0.351420 0.110006 0.186600 q: -0.128358 0.798529 0.159318 0.566122 
time: 1403636759.113555, t: -0.362584 0.148202 0.169546 q: -0.137024 0.797192 0.153570 0.567561 
time: 1403636759.213556, t: -0.374872 0.183769 0.150572 q: -0.155511 0.798312 0.141175 0.564433 
time: 1403636759.313555, t: -0.385199 0.210904 0.127814 q: -0.165153 0.798892 0.134934 0.562396 
time: 1403636759.413555, t: -0.393066 0.226588 0.101107 q: -0.152957 0.797448 0.144179 0.565592 
time: 1403636759.513556, t: -0.399471 0.234720 0.070442 q: -0.139947 0.795477 0.153954 0.569148 
optimize pose graph 
time: 1403636759.613555, t: -0.408457 0.238710 0.040119 q: -0.131249 0.793685 0.161729 0.571561 
time: 1403636759.713556, t: -0.418599 0.239684 0.019284 q: -0.126868 0.793469 0.166021 0.571619 
time: 1403636759.813555, t: -0.430354 0.239284 0.011151 q: -0.126742 0.792291 0.167023 0.572988 
time: 1403636759.913555, t: -0.444022 0.239320 0.005545 q: -0.126354 0.795889 0.167365 0.567965 
time: 1403636760.013556, t: -0.460525 0.237417 -0.002252 q: -0.124828 0.801801 0.168161 0.559691 
time: 1403636760.113555, t: -0.476772 0.235903 -0.012766 q: -0.124206 0.806976 0.167985 0.552398 
time: 1403636760.213556, t: -0.490180 0.234830 -0.023426 q: -0.124935 0.806703 0.167343 0.552828 
time: 1403636760.313555, t: -0.500164 0.233831 -0.034003 q: -0.128603 0.798687 0.164610 0.564326 
time: 1403636760.413555, t: -0.509828 0.231735 -0.048358 q: -0.127240 0.793720 0.165761 0.571264 
wait for imu ... 
time: 1403636760.513556, t: -0.521143 0.228761 -0.064652 q: -0.124336 0.793631 0.167848 0.571417 
time: 1403636760.613555, t: -0.534033 0.226279 -0.082943 q: -0.121432 0.799494 0.170436 0.563041 
time: 1403636760.713556, t: -0.546959 0.224672 -0.099978 q: -0.117231 0.803248 0.174040 0.557458 
time: 1403636760.813555, t: -0.560010 0.224159 -0.114010 q: -0.115512 0.801275 0.176050 0.560019 
time: 1403636760.913555, t: -0.572227 0.227136 -0.126604 q: -0.114199 0.796936 0.177918 0.565859 
time: 1403636761.013556, t: -0.586715 0.231891 -0.139704 q: -0.115503 0.799251 0.177633 0.562408 
time: 1403636761.113555, t: -0.601611 0.239595 -0.154884 q: -0.117980 0.806034 0.176330 0.552538 
time: 1403636761.213556, t: -0.614458 0.249569 -0.170491 q: -0.116521 0.814002 0.178085 0.540471 
time: 1403636761.313555, t: -0.623216 0.262583 -0.182303 q: -0.116354 0.817214 0.178312 0.535564 
time: 1403636761.413555, t: -0.626465 0.279377 -0.188317 q: -0.118358 0.811795 0.177159 0.543687 
time: 1403636761.513556, t: -0.624301 0.298405 -0.189356 q: -0.120308 0.803384 0.175314 0.556206 
time: 1403636761.613555, t: -0.621913 0.318164 -0.187584 q: -0.122398 0.797427 0.172840 0.565026 
time: 1403636761.713556, t: -0.619873 0.337194 -0.184816 q: -0.131582 0.796443 0.165417 0.566570 
optimize pose graph 
time: 1403636761.813555, t: -0.617675 0.353848 -0.180756 q: -0.140649 0.797299 0.158397 0.565192 
time: 1403636761.913555, t: -0.616610 0.365776 -0.174804 q: -0.141816 0.798054 0.157087 0.564200 
time: 1403636762.013556, t: -0.615119 0.372544 -0.167118 q: -0.130747 0.796856 0.164146 0.566553 
time: 1403636762.113555, t: -0.614215 0.377386 -0.157706 q: -0.112166 0.794003 0.176180 0.570911 
time: 1403636762.213556, t: -0.616424 0.384205 -0.148594 q: -0.100819 0.796343 0.183163 0.567561 
time: 1403636762.313555, t: -0.620061 0.396453 -0.144021 q: -0.101535 0.805785 0.181964 0.554338 
time: 1403636762.413555, t: -0.623277 0.412660 -0.147602 q: -0.106360 0.812680 0.178025 0.544561 
time: 1403636762.513556, t: -0.623112 0.434085 -0.158531 q: -0.125821 0.813373 0.164267 0.543700 
time: 1403636762.613555, t: -0.619482 0.455234 -0.177219 q: -0.149832 0.808987 0.147210 0.549017 
time: 1403636762.713556, t: -0.611636 0.470499 -0.203898 q: -0.154683 0.802828 0.144219 0.557443 
wait for imu ... 
time: 1403636762.813555, t: -0.601239 0.479842 -0.238277 q: -0.141955 0.799232 0.153878 0.563382 
time: 1403636762.913555, t: -0.604952 0.471676 -0.238565 q: -0.148151 0.774175 0.147739 0.597393 
time: 1403636763.013556, t: -0.616847 0.453687 -0.248043 q: -0.125943 0.798831 0.144350 0.570238 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636763.213556, t: -0.630456 0.430925 -0.259428 q: -0.125524 0.794858 0.107847 0.583793 
wait for imu ... 
time: 1403636763.313555, t: -0.626386 0.427562 -0.259342 q: -0.127037 0.798136 0.106902 0.579148 
time: 1403636763.413555, t: -0.631218 0.427844 -0.264881 q: -0.127351 0.799073 0.106547 0.577851 
time: 1403636763.513556, t: -0.623135 0.425969 -0.250860 q: -0.127562 0.799228 0.106781 0.577547 
time: 1403636763.613555, t: -0.620126 0.431800 -0.251707 q: -0.127098 0.799439 0.106570 0.577397 
time: 1403636763.713556, t: -0.619884 0.431946 -0.251750 q: -0.127261 0.799482 0.106451 0.577323 
time: 1403636763.813555, t: -0.619781 0.431937 -0.251800 q: -0.127391 0.799482 0.106318 0.577318 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720462363.363652949]: Shutdown request received.[0m
[33m[ WARN] [1720462363.363700423]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720462363.364666126]: Shutdown request received.[0m
[33m[ WARN] [1720462363.364696451]: Reason given for shutdown: [user request][0m
killed
