/SLAM-Hive/slam_hive_results/mapping_results/2810/2018_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-8.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720463814.752644186]: init begins[0m
[31m[ERROR] [1720463814.753724578]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720463814.753748536]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/0cce8662-3d59-11ef-a584-0242ac110005/roslaunch-1429f15ae61c-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://1429f15ae61c:38671/[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] [1720463815.860959264]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720463815.861288526]: 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] [1720463815.867298033]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720463815.867498715]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720463815.867535263]: ROW: 288 COL: 451 [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] [1720463815.867729798]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720463815.867976408]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://1429f15ae61c:11311/[0m
]2;roscore http://1429f15ae61c:11311/
[1msetting /run_id to 0cce8662-3d59-11ef-a584-0242ac110005[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720463824.905328306]: 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: 316827246.19 
init first imu pose
averge acc 7.915898 -0.433127 -2.692743
init R0 
  0.325749   0.150146   0.933458
         0  -0.987309   0.158808
  0.945456 -0.0517317  -0.321615
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720463828.302472689]: gyroscope bias initial calibration -0.00484029   0.0218256   0.0781297[0m
[0m[ INFO] [1720463828.324627013]: Initialization finish![0m
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time: 1403636582.063555, t: -0.010411 0.001837 -0.186497 q: -0.025884 0.829881 0.028358 0.556618 
time: 1403636582.263556, t: -0.017921 0.005481 -0.230905 q: -0.028565 0.843556 0.032905 0.535271 
time: 1403636582.463556, t: -0.007622 0.014778 -0.150629 q: -0.031911 0.835188 0.033057 0.548041 
time: 1403636582.663555, t: -0.000570 0.015545 -0.019762 q: -0.022735 0.825552 0.031414 0.562992 
time: 1403636582.863555, t: 0.007557 0.010377 0.110503 q: -0.018558 0.816006 0.018452 0.577451 
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time: 1403636583.863555, t: -0.004621 -0.011114 -0.196061 q: -0.023113 0.839367 0.020658 0.542681 
time: 1403636584.063555, t: -0.012414 -0.008622 -0.249206 q: -0.023873 0.844259 0.032700 0.534404 
wait for imu ... 
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time: 1403636587.663555, t: -0.008683 -0.161811 -0.053663 q: -0.030076 0.909342 0.008878 0.414866 
wait for imu ... 
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time: 1403636588.063555, t: 0.017637 -0.302356 -0.056539 q: -0.013519 0.911780 -0.019035 0.410014 
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time: 1403636588.863555, t: 0.000611 -0.264621 -0.062138 q: -0.023180 0.913369 -0.013271 0.406256 
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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: 1403636609.863555, t: 0.165016 -0.032657 -0.348792 q: -0.122950 0.791252 0.106100 0.589531 
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time: 1403636610.863555, t: 0.166314 -0.030520 -0.349061 q: -0.126758 0.789039 0.107039 0.591517 
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time: 1403636611.263556, t: 0.166430 -0.030407 -0.349109 q: -0.126938 0.788981 0.107052 0.591554 
wait for imu ... 
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time: 1403636611.663555, t: 0.166537 -0.030640 -0.349386 q: -0.127104 0.789048 0.106587 0.591512 
time: 1403636611.863555, t: 0.166615 -0.030854 -0.349334 q: -0.126486 0.788831 0.106734 0.591907 
time: 1403636612.063555, t: 0.166623 -0.030802 -0.349358 q: -0.126714 0.789035 0.106979 0.591542 
time: 1403636612.263556, t: 0.166780 -0.031144 -0.349343 q: -0.125346 0.788690 0.108002 0.592109 
time: 1403636612.463556, t: 0.166619 -0.031077 -0.349348 q: -0.126036 0.788802 0.107609 0.591883 
time: 1403636612.663555, t: 0.166587 -0.031513 -0.349321 q: -0.125819 0.789147 0.107070 0.591568 
time: 1403636612.863555, t: 0.166618 -0.031230 -0.349336 q: -0.126557 0.788955 0.106864 0.591705 
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time: 1403636613.463556, t: 0.166638 -0.031012 -0.349426 q: -0.126964 0.788856 0.106630 0.591791 
time: 1403636613.663555, t: 0.166651 -0.031023 -0.349419 q: -0.126872 0.788875 0.106687 0.591774 
time: 1403636613.863555, t: 0.166648 -0.031066 -0.349430 q: -0.126843 0.788818 0.106738 0.591849 
time: 1403636614.063555, t: 0.166654 -0.031075 -0.349442 q: -0.126843 0.788765 0.106784 0.591911 
time: 1403636614.263556, t: 0.166660 -0.031082 -0.349434 q: -0.126757 0.788796 0.106839 0.591877 
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time: 1403636614.663555, t: 0.166662 -0.031085 -0.349415 q: -0.126778 0.788811 0.106836 0.591854 
time: 1403636614.863555, t: 0.166658 -0.031070 -0.349426 q: -0.126811 0.788825 0.106828 0.591829 
time: 1403636615.063555, t: 0.166662 -0.031056 -0.349426 q: -0.126837 0.788794 0.106763 0.591877 
time: 1403636615.263556, t: 0.166667 -0.031050 -0.349412 q: -0.126848 0.788779 0.106823 0.591884 
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time: 1403636615.863555, t: 0.166652 -0.031047 -0.349422 q: -0.126877 0.788820 0.106738 0.591838 
time: 1403636616.063555, t: 0.166659 -0.031058 -0.349426 q: -0.126844 0.788829 0.106781 0.591825 
time: 1403636616.263556, t: 0.166643 -0.031051 -0.349424 q: -0.126808 0.788809 0.106762 0.591863 
time: 1403636616.463556, t: 0.166664 -0.031068 -0.349433 q: -0.126873 0.788808 0.106767 0.591849 
time: 1403636616.663555, t: 0.166654 -0.031056 -0.349421 q: -0.126840 0.788817 0.106768 0.591845 
time: 1403636616.863555, t: 0.166667 -0.031064 -0.349423 q: -0.126888 0.788815 0.106790 0.591833 
wait for imu ... 
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time: 1403636617.263556, t: 0.166663 -0.031062 -0.349426 q: -0.126835 0.788808 0.106807 0.591851 
time: 1403636617.463556, t: 0.166660 -0.031060 -0.349421 q: -0.126854 0.788820 0.106788 0.591834 
time: 1403636617.663555, t: 0.166655 -0.031068 -0.349432 q: -0.126893 0.788810 0.106765 0.591843 
time: 1403636617.863555, t: 0.166649 -0.031055 -0.349429 q: -0.126862 0.788799 0.106758 0.591866 
time: 1403636618.063555, t: 0.166654 -0.031054 -0.349423 q: -0.126865 0.788814 0.106743 0.591847 
time: 1403636618.263556, t: 0.166662 -0.031065 -0.349433 q: -0.126851 0.788798 0.106803 0.591862 
time: 1403636618.463556, t: 0.166662 -0.031066 -0.349434 q: -0.126862 0.788789 0.106769 0.591877 
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time: 1403636618.863555, t: 0.166602 -0.031027 -0.349431 q: -0.126917 0.788796 0.106758 0.591857 
time: 1403636619.063555, t: 0.166611 -0.030984 -0.349406 q: -0.127054 0.788842 0.106908 0.591740 
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time: 1403636619.863555, t: 0.166642 -0.031046 -0.349452 q: -0.126902 0.788810 0.106709 0.591852 
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time: 1403636620.263556, t: 0.166663 -0.031057 -0.349440 q: -0.126801 0.788823 0.106922 0.591817 
time: 1403636620.463556, t: 0.166688 -0.031077 -0.349444 q: -0.126726 0.788783 0.106905 0.591890 
time: 1403636620.663555, t: 0.166652 -0.031088 -0.349426 q: -0.126759 0.788838 0.106858 0.591818 
time: 1403636621.063555, t: 0.166718 -0.031178 -0.349377 q: -0.126312 0.788778 0.107085 0.591953 
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time: 1403636621.463556, t: 0.166718 -0.031130 -0.349416 q: -0.126597 0.788782 0.106980 0.591905 
time: 1403636621.663555, t: 0.166689 -0.031125 -0.349392 q: -0.126552 0.788815 0.106970 0.591872 
time: 1403636621.863555, t: 0.166685 -0.031122 -0.349404 q: -0.126658 0.788832 0.106950 0.591830 
time: 1403636622.063555, t: 0.166712 -0.031089 -0.349402 q: -0.126686 0.788787 0.106906 0.591892 
time: 1403636622.263556, t: 0.166731 -0.031110 -0.349396 q: -0.126674 0.788814 0.107004 0.591841 
time: 1403636622.463556, t: 0.166700 -0.031121 -0.349404 q: -0.126633 0.788826 0.106945 0.591845 
time: 1403636622.663555, t: 0.166703 -0.031133 -0.349414 q: -0.126672 0.788781 0.106933 0.591899 
time: 1403636622.863555, t: 0.166726 -0.031172 -0.349380 q: -0.126599 0.788758 0.106764 0.591976 
time: 1403636623.063555, t: 0.166749 -0.031262 -0.349281 q: -0.126575 0.788653 0.106618 0.592148 
time: 1403636623.263556, t: 0.166777 -0.031295 -0.349251 q: -0.126631 0.788695 0.106562 0.592089 
time: 1403636623.463556, t: 0.166800 -0.031366 -0.349265 q: -0.126581 0.788585 0.106464 0.592263 
time: 1403636623.663555, t: 0.166868 -0.031370 -0.349232 q: -0.126431 0.788821 0.106370 0.591999 
time: 1403636623.863555, t: 0.166907 -0.031530 -0.349258 q: -0.126048 0.788918 0.105577 0.592092 
time: 1403636624.063555, t: 0.166871 -0.031607 -0.349211 q: -0.125707 0.789112 0.105234 0.591968 
wait for imu ... 
time: 1403636624.263556, t: 0.166674 -0.031785 -0.349035 q: -0.125064 0.789931 0.104491 0.591142 
time: 1403636624.463556, t: 0.163692 -0.038342 -0.349509 q: -0.118712 0.799805 0.103272 0.579270 
time: 1403636624.663555, t: 0.156831 -0.055603 -0.349013 q: -0.110774 0.804317 0.103070 0.574613 
time: 1403636624.863555, t: 0.143956 -0.085130 -0.348109 q: -0.092433 0.805771 0.116670 0.573217 
time: 1403636625.263556, t: 0.103416 -0.131166 -0.266469 q: -0.081096 0.820673 0.128292 0.550873 
time: 1403636625.463556, t: 0.102191 -0.133343 -0.249607 q: -0.086558 0.819766 0.127597 0.551553 
time: 1403636625.663555, t: 0.112380 -0.128255 -0.256828 q: -0.086431 0.819966 0.130240 0.550657 
time: 1403636625.863555, t: 0.134718 -0.111529 -0.202785 q: -0.091929 0.808769 0.128651 0.566472 
time: 1403636626.063555, t: 0.159399 -0.091099 -0.107782 q: -0.099964 0.803215 0.124126 0.573974 
time: 1403636626.263556, t: 0.179300 -0.074403 -0.026393 q: -0.114734 0.802952 0.113786 0.573721 
time: 1403636626.463556, t: 0.197049 -0.077488 0.007640 q: -0.112904 0.801568 0.116382 0.575496 
time: 1403636626.663555, t: 0.213276 -0.090546 0.011004 q: -0.104217 0.792908 0.125079 0.587190 
time: 1403636626.863555, t: 0.214469 -0.111912 -0.003141 q: -0.103680 0.798030 0.129799 0.579267 
time: 1403636627.063555, t: 0.204893 -0.133820 -0.028096 q: -0.100214 0.807889 0.132895 0.565342 
time: 1403636627.263556, t: 0.194287 -0.153882 -0.025386 q: -0.100416 0.806032 0.133236 0.567871 
time: 1403636627.463556, t: 0.185810 -0.173231 0.015410 q: -0.104496 0.802744 0.129902 0.572545 
time: 1403636627.663555, t: 0.173787 -0.197591 0.043935 q: -0.097300 0.808474 0.117656 0.568383 
time: 1403636627.863555, t: 0.164095 -0.226864 0.022322 q: -0.079112 0.823317 0.101755 0.552753 
optimize pose graph 
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time: 1403636628.263556, t: 0.202702 -0.265817 0.047560 q: -0.068019 0.812566 0.076426 0.573819 
time: 1403636628.463556, t: 0.230554 -0.285132 0.092505 q: -0.076417 0.809248 0.068210 0.578469 
time: 1403636628.663555, t: 0.252469 -0.317286 0.118202 q: -0.080836 0.810164 0.067786 0.576633 
time: 1403636628.863555, t: 0.271594 -0.365536 0.119142 q: -0.063889 0.816575 0.066739 0.569798 
time: 1403636629.063555, t: 0.291850 -0.418206 0.130942 q: -0.051782 0.824404 0.059610 0.560467 
time: 1403636629.263556, t: 0.313016 -0.473165 0.160289 q: -0.040731 0.824393 0.045250 0.562733 
time: 1403636629.463556, t: 0.349229 -0.527134 0.170534 q: -0.040321 0.819021 0.023958 0.571843 
time: 1403636629.663555, t: 0.384731 -0.592793 0.153876 q: -0.025305 0.823622 -0.003720 0.566563 
time: 1403636629.863555, t: 0.431920 -0.667284 0.111713 q: 0.004696 0.831971 -0.035665 0.553652 
optimize pose graph 
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time: 1403636630.263556, t: 0.567788 -0.817598 0.068483 q: 0.035954 0.816376 -0.073695 0.571670 
time: 1403636630.463556, t: 0.645584 -0.890050 0.080216 q: 0.039335 0.817140 -0.074312 0.570274 
time: 1403636630.663555, t: 0.737776 -0.953572 0.110397 q: 0.042596 0.820817 -0.064254 0.565965 
time: 1403636630.863555, t: 0.834275 -1.010558 0.129676 q: 0.035443 0.822241 -0.061068 0.564743 
time: 1403636631.063555, t: 0.938722 -1.072447 0.123271 q: 0.027407 0.821454 -0.060109 0.566435 
time: 1403636631.263556, t: 1.034388 -1.134290 0.111019 q: 0.026093 0.817643 -0.058633 0.572138 
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time: 1403636631.663555, t: 1.235051 -1.267285 0.053971 q: 0.026930 0.818385 -0.051814 0.571696 
time: 1403636631.863555, t: 1.330323 -1.328698 0.035971 q: 0.027971 0.819021 -0.048697 0.571009 
time: 1403636632.063555, t: 1.431066 -1.385032 0.037740 q: 0.029941 0.818645 -0.047987 0.571508 
time: 1403636632.263556, t: 1.522083 -1.426460 0.037673 q: 0.035749 0.816401 -0.046821 0.574473 
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time: 1403636633.463556, t: 2.038157 -1.552833 -0.067526 q: -0.040921 0.825437 0.042026 0.561438 
time: 1403636633.663555, t: 2.160008 -1.576054 -0.102451 q: -0.040407 0.829622 0.037785 0.555579 
time: 1403636633.863555, t: 2.288783 -1.598264 -0.113529 q: -0.039104 0.828663 0.030708 0.557536 
time: 1403636634.063555, t: 2.436414 -1.626489 -0.112647 q: -0.046752 0.826173 0.017605 0.561198 
wait for imu ... 
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time: 1403636635.463556, t: 3.509790 -1.877776 -0.093667 q: -0.061906 0.823704 0.069018 0.559389 
time: 1403636635.663555, t: 3.657373 -1.903651 -0.083918 q: -0.066389 0.823267 0.064949 0.560005 
wait for imu ... 
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time: 1403636636.063555, t: 3.984573 -1.983663 0.005142 q: -0.070306 0.825430 0.057018 0.557199 
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time: 1403636637.463556, t: 4.909513 -2.201390 0.132959 q: -0.055150 0.818431 0.077313 0.566702 
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time: 1403636637.863555, t: 5.088251 -2.176909 0.204575 q: -0.059440 0.816472 0.079138 0.568838 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
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wait for imu ... 
time: 1403636659.263556, t: 6.068908 -4.171288 -0.326317 q: -0.472269 -0.483885 0.648684 -0.349323 
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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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wait for imu ... 
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wait for imu ... 
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optimize pose graph 
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: 1403636719.063555, t: 7.379033 -4.412527 -1.376550 q: -0.149285 0.787991 0.212869 0.558096 
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: 1403636731.663555, t: 2.985698 -3.349611 -0.582138 q: -0.050330 0.814338 0.033072 0.577258 
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time: 1403636732.063555, t: 2.935052 -3.365236 -0.661749 q: -0.041688 0.812343 0.041378 0.580214 
time: 1403636732.263556, t: 2.909332 -3.379980 -0.719371 q: -0.040308 0.810616 0.043852 0.582541 
time: 1403636732.463556, t: 2.873714 -3.397454 -0.751775 q: -0.029789 0.807450 0.052240 0.586863 
time: 1403636732.663555, t: 2.824429 -3.403538 -0.752430 q: -0.014670 0.799565 0.064415 0.596935 
time: 1403636732.863555, t: 2.747211 -3.388024 -0.732550 q: -0.029255 0.798632 0.055888 0.598505 
time: 1403636733.063555, t: 2.657895 -3.364273 -0.724172 q: -0.031878 0.804031 0.055415 0.591140 
time: 1403636733.263556, t: 2.553027 -3.330600 -0.703645 q: -0.029337 0.807506 0.058635 0.586204 
time: 1403636733.463556, t: 2.438553 -3.289437 -0.661760 q: -0.036648 0.812059 0.055146 0.579807 
time: 1403636733.663555, t: 2.325104 -3.244987 -0.611724 q: -0.038548 0.815737 0.054773 0.574532 
time: 1403636733.863555, t: 2.216544 -3.197267 -0.584363 q: -0.038387 0.818249 0.055762 0.570863 
time: 1403636734.063555, t: 2.114052 -3.142918 -0.572484 q: -0.033282 0.812816 0.058612 0.578607 
time: 1403636734.263556, t: 2.004768 -3.085137 -0.563773 q: -0.037433 0.810869 0.055695 0.581368 
time: 1403636734.463556, t: 1.895469 -3.025415 -0.527506 q: -0.042140 0.814545 0.054534 0.575991 
time: 1403636734.663555, t: 1.786627 -2.968471 -0.493364 q: -0.043344 0.818888 0.056276 0.569541 
wait for imu ... 
time: 1403636734.863555, t: 1.686106 -2.913861 -0.480461 q: -0.043696 0.819534 0.059364 0.568270 
time: 1403636735.063555, t: 1.596218 -2.859546 -0.486514 q: -0.045365 0.819293 0.059685 0.568453 
time: 1403636735.263556, t: 1.510571 -2.807182 -0.490322 q: -0.048458 0.820833 0.056361 0.566311 
time: 1403636735.463556, t: 1.436839 -2.755489 -0.455834 q: -0.048509 0.821056 0.050680 0.566520 
time: 1403636735.663555, t: 1.377425 -2.707718 -0.395841 q: -0.042200 0.818835 0.046719 0.570567 
wait for imu ... 
time: 1403636735.863555, t: 1.316246 -2.663373 -0.347027 q: -0.039871 0.819151 0.043280 0.570551 
time: 1403636736.063555, t: 1.267754 -2.618474 -0.316445 q: -0.040686 0.817362 0.048287 0.572653 
time: 1403636736.263556, t: 1.217080 -2.571477 -0.267745 q: -0.055447 0.811966 0.066804 0.577212 
time: 1403636736.463556, t: 1.176442 -2.534003 -0.214955 q: -0.061060 0.809537 0.085720 0.577558 
time: 1403636736.663555, t: 1.138712 -2.498087 -0.196782 q: -0.055900 0.806330 0.100687 0.580146 
time: 1403636736.863555, t: 1.090424 -2.447089 -0.192812 q: -0.057500 0.805248 0.104641 0.580792 
time: 1403636737.063555, t: 1.037297 -2.379368 -0.202996 q: -0.067166 0.806126 0.103393 0.578757 
time: 1403636737.263556, t: 0.969176 -2.310143 -0.223951 q: -0.078588 0.806443 0.102407 0.577050 
time: 1403636737.463556, t: 0.909448 -2.240392 -0.247122 q: -0.081147 0.811153 0.106581 0.569286 
time: 1403636737.663555, t: 0.854656 -2.172656 -0.244390 q: -0.087705 0.814440 0.105173 0.563856 
wait for imu ... 
time: 1403636737.863555, t: 0.807187 -2.109369 -0.213711 q: -0.095343 0.816861 0.099377 0.560154 
time: 1403636738.063555, t: 0.769744 -2.066105 -0.144802 q: -0.093940 0.816919 0.097736 0.560594 
time: 1403636738.263556, t: 0.763213 -2.046710 -0.070731 q: -0.087077 0.814694 0.098663 0.564763 
time: 1403636738.463556, t: 0.753422 -2.031576 -0.024584 q: -0.083339 0.815819 0.095787 0.564198 
time: 1403636738.663555, t: 0.770221 -2.022444 -0.003628 q: -0.071533 0.820947 0.075389 0.561467 
time: 1403636738.863555, t: 0.775223 -2.026329 -0.010567 q: -0.053615 0.818646 0.034689 0.570738 
time: 1403636739.063555, t: 0.795032 -2.044151 -0.045632 q: -0.032355 0.817058 -0.017242 0.575388 
time: 1403636739.263556, t: 0.813639 -2.084730 -0.100132 q: 0.012620 0.815485 -0.058837 0.575641 
time: 1403636739.463556, t: 0.869689 -2.135114 -0.130031 q: 0.061130 0.812855 -0.094144 0.571548 
wait for imu ... 
time: 1403636739.663555, t: 0.837384 -2.181993 -0.179881 q: 0.082698 0.807200 -0.131211 0.569538 
wait for imu ... 
time: 1403636739.863555, t: 0.852656 -2.221227 -0.193612 q: 0.087585 0.804397 -0.148383 0.568557 
optimize pose graph 
time: 1403636740.063555, t: 0.870234 -2.261388 -0.226459 q: 0.091593 0.804984 -0.148160 0.567152 
time: 1403636740.263556, t: 0.882275 -2.302310 -0.277668 q: 0.101678 0.805725 -0.136107 0.567400 
time: 1403636740.463556, t: 0.887496 -2.339147 -0.342634 q: 0.091237 0.804176 -0.137145 0.571111 
time: 1403636740.663555, t: 0.882934 -2.374644 -0.403733 q: 0.084435 0.803241 -0.136070 0.573725 
time: 1403636740.863555, t: 0.877048 -2.406341 -0.448265 q: 0.081188 0.806081 -0.134239 0.570633 
time: 1403636741.063555, t: 0.863358 -2.439019 -0.507373 q: 0.099789 0.803841 -0.120390 0.573923 
time: 1403636741.263556, t: 0.850395 -2.456847 -0.595448 q: 0.102265 0.798266 -0.136337 0.577689 
time: 1403636741.463556, t: 0.825477 -2.466265 -0.694783 q: 0.096028 0.803529 -0.154621 0.566756 
time: 1403636741.663555, t: 0.803796 -2.478233 -0.766604 q: 0.095570 0.812350 -0.161142 0.552257 
wait for imu ... 
time: 1403636741.863555, t: 0.793644 -2.499428 -0.809398 q: 0.102026 0.808500 -0.154652 0.558570 
time: 1403636742.063555, t: 0.790673 -2.521368 -0.866426 q: 0.110447 0.810812 -0.141421 0.557122 
optimize pose graph 
time: 1403636742.263556, t: 0.796090 -2.535117 -0.922125 q: 0.096422 0.816867 -0.143612 0.550279 
time: 1403636742.463556, t: 0.814130 -2.550576 -0.944273 q: 0.090549 0.809799 -0.141278 0.562199 
time: 1403636742.663555, t: 0.840425 -2.566981 -0.949795 q: 0.089725 0.805702 -0.137791 0.569040 
time: 1403636742.863555, t: 0.868368 -2.583751 -0.980496 q: 0.087414 0.801806 -0.135481 0.575423 
time: 1403636743.063555, t: 0.885124 -2.600327 -1.040983 q: 0.088106 0.805127 -0.141894 0.569099 
time: 1403636743.263556, t: 0.904038 -2.621668 -1.111825 q: 0.089762 0.824008 -0.155900 0.537260 
time: 1403636743.463556, t: 0.945535 -2.655553 -1.148404 q: 0.089311 0.823794 -0.163175 0.535500 
time: 1403636743.663555, t: 1.009318 -2.701742 -1.182951 q: 0.097365 0.814251 -0.159349 0.549657 
time: 1403636743.863555, t: 1.088493 -2.750893 -1.241959 q: 0.105559 0.803355 -0.164282 0.562573 
time: 1403636744.063555, t: 1.169799 -2.799706 -1.322879 q: 0.116852 0.796600 -0.170151 0.568175 
wait for imu ... 
time: 1403636744.263556, t: 1.246718 -2.843210 -1.428227 q: 0.122836 0.790351 -0.184964 0.571003 
time: 1403636744.463556, t: 1.315007 -2.881506 -1.556851 q: 0.116956 0.787057 -0.197369 0.572633 
time: 1403636744.663555, t: 1.374204 -2.924475 -1.700710 q: 0.107506 0.782720 -0.202385 0.578647 
time: 1403636744.863555, t: 1.414772 -2.975963 -1.850393 q: 0.120633 0.784511 -0.192608 0.576969 
time: 1403636745.063555, t: 1.438054 -3.019380 -1.969733 q: 0.121296 0.794549 -0.187928 0.564502 
time: 1403636745.263556, t: 1.464551 -3.066962 -2.060687 q: 0.114392 0.800858 -0.182290 0.558848 
time: 1403636745.463556, t: 1.493969 -3.116114 -2.119468 q: 0.116295 0.794620 -0.171117 0.570766 
time: 1403636745.663555, t: 1.516988 -3.157914 -2.143016 q: 0.119271 0.789993 -0.174601 0.575500 
time: 1403636745.863555, t: 1.535196 -3.190580 -2.137111 q: 0.131709 0.789223 -0.180742 0.571937 
time: 1403636746.063555, t: 1.555489 -3.210896 -2.108971 q: 0.148219 0.788676 -0.185568 0.567086 
time: 1403636746.263556, t: 1.576281 -3.211745 -2.059820 q: 0.157422 0.784277 -0.188852 0.569617 
time: 1403636746.463556, t: 1.596398 -3.185798 -2.016205 q: 0.156948 0.774629 -0.191288 0.582002 
time: 1403636746.663555, t: 1.603245 -3.137206 -2.009997 q: 0.135849 0.795953 -0.200482 0.554807 
time: 1403636746.863555, t: 1.617535 -3.088703 -2.019847 q: 0.110378 0.805840 -0.210283 0.542420 
time: 1403636747.063555, t: 1.644386 -3.062404 -2.017821 q: 0.112338 0.802138 -0.203201 0.550149 
time: 1403636747.263556, t: 1.687139 -3.051803 -1.977928 q: 0.131189 0.795647 -0.190358 0.559910 
time: 1403636747.463556, t: 1.739858 -3.034901 -1.916400 q: 0.138569 0.793629 -0.189543 0.561271 
time: 1403636747.663555, t: 1.794695 -3.006077 -1.871016 q: 0.138654 0.794688 -0.195688 0.557631 
time: 1403636747.863555, t: 1.853660 -2.969654 -1.805295 q: 0.140003 0.793506 -0.201356 0.556959 
time: 1403636748.063555, t: 1.911293 -2.929661 -1.723108 q: 0.119650 0.785562 -0.221841 0.565122 
time: 1403636748.263556, t: 1.970427 -2.906919 -1.658811 q: 0.122788 0.787020 -0.223252 0.561855 
time: 1403636748.463556, t: 2.009142 -2.897610 -1.624758 q: 0.144113 0.790475 -0.207896 0.557818 
time: 1403636748.663555, t: 2.058319 -2.888940 -1.568806 q: 0.140815 0.787930 -0.210222 0.561377 
time: 1403636748.863555, t: 2.094709 -2.881749 -1.518891 q: 0.128940 0.783887 -0.221655 0.565478 
wait for imu ... 
time: 1403636749.063555, t: 2.129735 -2.884438 -1.483308 q: 0.126366 0.780289 -0.231079 0.567260 
time: 1403636749.263556, t: 2.154192 -2.900458 -1.450832 q: 0.131579 0.778332 -0.233450 0.567792 
time: 1403636749.463556, t: 2.164361 -2.926775 -1.394140 q: 0.150304 0.780565 -0.223174 0.564199 
time: 1403636749.663555, t: 2.171560 -2.951211 -1.327839 q: 0.162166 0.783164 -0.213648 0.560991 
time: 1403636749.863555, t: 2.182973 -2.966085 -1.280139 q: 0.157901 0.775977 -0.212186 0.572629 
time: 1403636750.063555, t: 2.187906 -2.970800 -1.257303 q: 0.152975 0.772329 -0.207829 0.580442 
time: 1403636750.263556, t: 2.178367 -2.962013 -1.239216 q: 0.146910 0.778855 -0.205088 0.574230 
time: 1403636750.463556, t: 2.156449 -2.943753 -1.187512 q: 0.140850 0.784973 -0.201506 0.568660 
time: 1403636750.663555, t: 2.130343 -2.918632 -1.096317 q: 0.138224 0.787465 -0.194565 0.568275 
time: 1403636750.863555, t: 2.098714 -2.887272 -0.981232 q: 0.136350 0.790522 -0.190559 0.565837 
time: 1403636751.063555, t: 2.061161 -2.845497 -0.853674 q: 0.139882 0.793767 -0.187517 0.561430 
time: 1403636751.263556, t: 2.033693 -2.799611 -0.744975 q: 0.137085 0.800007 -0.192105 0.551627 
wait for imu ... 
time: 1403636751.463556, t: 2.008614 -2.744741 -0.648531 q: 0.125954 0.796041 -0.203540 0.555901 
time: 1403636751.663555, t: 1.993242 -2.706152 -0.552995 q: 0.112180 0.791257 -0.203858 0.565482 
time: 1403636751.863555, t: 1.969945 -2.677233 -0.475197 q: 0.103725 0.802855 -0.198168 0.552624 
wait for imu ... 
time: 1403636752.063555, t: 1.957353 -2.672868 -0.400668 q: 0.114100 0.808531 -0.184528 0.546999 
time: 1403636752.263556, t: 1.965563 -2.684626 -0.337527 q: 0.113667 0.801268 -0.173037 0.561345 
time: 1403636752.463556, t: 1.973704 -2.692761 -0.256433 q: 0.097350 0.798401 -0.147737 0.575546 
time: 1403636752.663555, t: 1.986360 -2.703645 -0.186291 q: 0.074445 0.807297 -0.111590 0.574698 
time: 1403636752.863555, t: 1.990003 -2.709603 -0.135507 q: 0.049496 0.813851 -0.071775 0.574496 
wait for imu ... 
time: 1403636753.063555, t: 1.995079 -2.712954 -0.111987 q: 0.030548 0.817003 -0.023426 0.575347 
time: 1403636753.263556, t: 2.001254 -2.705322 -0.114516 q: 0.005482 0.817960 0.024585 0.574723 
time: 1403636753.463556, t: 2.005992 -2.681553 -0.128804 q: -0.020990 0.814349 0.060187 0.576864 
time: 1403636753.663555, t: 2.002386 -2.645780 -0.124079 q: -0.041686 0.812037 0.067651 0.578170 
time: 1403636753.863555, t: 1.991174 -2.605296 -0.114804 q: -0.043044 0.810492 0.068536 0.580131 
time: 1403636754.063555, t: 1.972136 -2.559823 -0.119585 q: -0.040679 0.808468 0.064157 0.583617 
optimize pose graph 
time: 1403636754.263556, t: 1.947886 -2.510416 -0.105745 q: -0.035022 0.802951 0.060955 0.591885 
time: 1403636754.463556, t: 1.907994 -2.452317 -0.071324 q: -0.033557 0.803098 0.062638 0.591595 
time: 1403636754.863555, t: 1.779395 -2.304584 -0.040285 q: -0.063221 0.802262 0.105685 0.584131 
time: 1403636755.063555, t: 1.701853 -2.220509 -0.051861 q: -0.075128 0.799980 0.122552 0.582554 
time: 1403636755.263556, t: 1.608981 -2.132678 -0.053793 q: -0.081791 0.801382 0.128988 0.578324 
time: 1403636755.463556, t: 1.510068 -2.041591 -0.028868 q: -0.081339 0.812790 0.131222 0.561727 
time: 1403636755.663555, t: 1.421560 -1.946268 -0.004602 q: -0.078277 0.811781 0.130101 0.563878 
time: 1403636755.863555, t: 1.341147 -1.845031 -0.001459 q: -0.080919 0.808248 0.125409 0.569614 
time: 1403636756.063555, t: 1.264390 -1.737783 -0.001811 q: -0.083468 0.805120 0.123075 0.574167 
time: 1403636756.263556, t: 1.184682 -1.626019 0.020911 q: -0.083280 0.802889 0.123776 0.577160 
optimize pose graph 
time: 1403636756.463556, t: 1.092665 -1.514527 0.041238 q: -0.083968 0.801531 0.125458 0.578583 
time: 1403636756.663555, t: 0.996411 -1.402786 0.038141 q: -0.086249 0.800569 0.126486 0.579355 
time: 1403636756.863555, t: 0.886358 -1.293994 0.043274 q: -0.088991 0.798941 0.127395 0.580986 
time: 1403636757.063555, t: 0.764497 -1.189180 0.070083 q: -0.091824 0.799418 0.127414 0.579883 
time: 1403636757.263556, t: 0.630378 -1.087744 0.086017 q: -0.091906 0.799381 0.128263 0.579735 
time: 1403636757.463556, t: 0.493034 -0.988766 0.081231 q: -0.086927 0.802130 0.132959 0.575633 
time: 1403636757.663555, t: 0.351277 -0.880230 0.087258 q: -0.089022 0.810960 0.146353 0.559463 
time: 1403636757.863555, t: 0.220592 -0.762577 0.121390 q: -0.097833 0.818828 0.157004 0.543414 
time: 1403636758.063555, t: 0.103604 -0.629410 0.187318 q: -0.108781 0.807880 0.159612 0.556795 
time: 1403636758.263556, t: 0.011382 -0.493304 0.234701 q: -0.116728 0.796915 0.158035 0.571250 
time: 1403636758.463556, t: -0.084903 -0.366560 0.247282 q: -0.122820 0.806277 0.154282 0.557701 
time: 1403636758.663555, t: -0.174216 -0.251490 0.239069 q: -0.135064 0.825683 0.144795 0.528242 
time: 1403636758.863555, t: -0.217718 -0.153719 0.229406 q: -0.130736 0.807627 0.146105 0.556148 
time: 1403636759.063555, t: -0.244559 -0.069026 0.203376 q: -0.125380 0.798678 0.149509 0.569245 
time: 1403636759.263556, t: -0.256543 -0.005359 0.158999 q: -0.157760 0.799868 0.127627 0.564831 
time: 1403636759.463556, t: -0.279301 0.030387 0.105689 q: -0.141037 0.797389 0.140624 0.569653 
time: 1403636759.663555, t: -0.292436 0.032403 0.046412 q: -0.122873 0.794842 0.155824 0.573452 
time: 1403636759.863555, t: -0.316280 0.032806 0.024394 q: -0.121267 0.794437 0.158302 0.573676 
time: 1403636760.063555, t: -0.342066 0.032999 0.006386 q: -0.119883 0.805981 0.158745 0.557514 
time: 1403636760.263556, t: -0.368583 0.031486 -0.014449 q: -0.120211 0.804195 0.157679 0.560318 
optimize pose graph 
time: 1403636760.663555, t: -0.409959 0.024882 -0.077271 q: -0.113189 0.803075 0.163950 0.561587 
time: 1403636760.863555, t: -0.434134 0.025797 -0.104578 q: -0.108741 0.800502 0.168619 0.564748 
time: 1403636761.063555, t: -0.462861 0.038548 -0.133360 q: -0.110991 0.803770 0.168321 0.559734 
time: 1403636761.263556, t: -0.488304 0.059388 -0.163209 q: -0.111541 0.818225 0.169076 0.538033 
time: 1403636761.463556, t: -0.493939 0.092844 -0.176686 q: -0.113191 0.808951 0.167968 0.551881 
time: 1403636761.663555, t: -0.487795 0.130526 -0.173880 q: -0.120180 0.798098 0.161372 0.567939 
time: 1403636761.863555, t: -0.482197 0.162638 -0.163224 q: -0.137132 0.798939 0.147957 0.566569 
time: 1403636762.063555, t: -0.478560 0.177573 -0.147318 q: -0.116631 0.797050 0.160704 0.570335 
time: 1403636762.263556, t: -0.481219 0.192097 -0.129382 q: -0.094401 0.802511 0.174551 0.562668 
time: 1403636762.463556, t: -0.485425 0.225846 -0.136368 q: -0.107171 0.815806 0.164503 0.543980 
time: 1403636762.663555, t: -0.474266 0.267245 -0.172502 q: -0.150893 0.807047 0.133453 0.555065 
time: 1403636762.863555, t: -0.457248 0.278993 -0.222830 q: -0.146626 0.782077 0.138097 0.589733 
time: 1403636763.063555, t: -0.478469 0.246207 -0.237307 q: -0.120806 0.802615 0.120709 0.571528 
time: 1403636763.263556, t: -0.486918 0.233655 -0.247631 q: -0.119777 0.800704 0.098723 0.578603 
time: 1403636763.463556, t: -0.493708 0.230352 -0.253971 q: -0.120413 0.799667 0.098120 0.580005 
time: 1403636763.663555, t: -0.477360 0.229340 -0.230959 q: -0.120882 0.800121 0.098046 0.579294 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720464013.561646367]: Shutdown request received.[0m
[33m[ WARN] [1720464013.561702144]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720464013.562732987]: Shutdown request received.[0m
[33m[ WARN] [1720464013.562759985]: Reason given for shutdown: [user request][0m
killed
