/SLAM-Hive/slam_hive_results/mapping_results/2811/2019_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-9.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720464046.404826544]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720464046.406672346]: init begins[0m
[31m[ERROR] [1720464046.407685865]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/96e136ba-3d59-11ef-9113-0242ac110005/roslaunch-c7653a55eca8-119.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://c7653a55eca8:37667/[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 [156][0m
[0m[ INFO] [1720464047.511579089]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720464047.513075298]: 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] [1720464047.518828133]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720464047.519024770]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720464047.519054112]: ROW: 240 COL: 376 [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] [1720464047.519251196]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720464047.519488601]: 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://c7653a55eca8:11311/[0m
]2;roscore http://c7653a55eca8:11311/
[1msetting /run_id to 96e136ba-3d59-11ef-9113-0242ac110005[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 [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720464056.554142425]: 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: 316827477.84 
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
wait for imu ... 
wait for imu ... 
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720464060.089303843]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720464060.310315337]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720464060.888514639]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720464061.110544882]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720464061.276095772]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720464061.513901229]: gyroscope bias initial calibration -0.00436053   0.0165875   0.0807015[0m
[0m[ INFO] [1720464061.538287476]: Initialization finish![0m
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time: 1403636583.863555, t: -0.017817 -0.021330 -0.370686 q: 0.003543 0.839656 -0.018703 0.542785 
time: 1403636584.063555, t: -0.024552 -0.019727 -0.423117 q: 0.002213 0.845228 -0.006806 0.534358 
time: 1403636584.263556, t: -0.016055 -0.014532 -0.369962 q: -0.002116 0.844436 -0.002719 0.535645 
time: 1403636584.463556, t: -0.004226 -0.016146 -0.245361 q: 0.009209 0.839358 -0.001237 0.543500 
time: 1403636584.663555, t: 0.012652 -0.016225 -0.098577 q: 0.016450 0.821947 -0.008730 0.569260 
time: 1403636584.863555, t: 0.016117 -0.014578 0.020770 q: 0.022498 0.800557 -0.017200 0.598587 
time: 1403636585.063555, t: 0.015901 -0.010937 0.051493 q: 0.021133 0.797334 -0.025276 0.602639 
time: 1403636585.263556, t: 0.018807 -0.016481 -0.019813 q: 0.029178 0.804165 -0.028048 0.593027 
time: 1403636585.463556, t: 0.018055 -0.025529 -0.127403 q: 0.036216 0.812709 -0.019219 0.581226 
time: 1403636585.663555, t: 0.000078 -0.028656 -0.217326 q: 0.017952 0.826953 -0.006632 0.561946 
time: 1403636585.863555, t: -0.023437 -0.027293 -0.251971 q: -0.005138 0.844687 -0.006548 0.535195 
time: 1403636586.263556, t: -0.050692 -0.019708 -0.242695 q: 0.004065 0.885789 -0.032500 0.462931 
time: 1403636586.463556, t: -0.070898 -0.017623 -0.237867 q: 0.001198 0.903610 -0.040167 0.426466 
time: 1403636586.663555, t: -0.084598 -0.028636 -0.230573 q: -0.000987 0.912007 -0.037293 0.408475 
time: 1403636586.863555, t: -0.080927 -0.046746 -0.226195 q: -0.006697 0.906195 -0.033569 0.421472 
time: 1403636587.063555, t: -0.071467 -0.052380 -0.227393 q: -0.009221 0.904369 -0.022558 0.426055 
time: 1403636587.263556, t: -0.060871 -0.066780 -0.227358 q: -0.009159 0.907868 -0.018363 0.418754 
time: 1403636587.463556, t: -0.047009 -0.107858 -0.228509 q: -0.009190 0.909368 -0.024595 0.415164 
time: 1403636587.663555, t: -0.036185 -0.174580 -0.226880 q: -0.009294 0.908905 -0.033927 0.415518 
time: 1403636587.863555, t: -0.025756 -0.250482 -0.223685 q: -0.004019 0.903917 -0.048912 0.424883 
time: 1403636588.063555, t: -0.021771 -0.317602 -0.230961 q: 0.007304 0.909802 -0.062226 0.410285 
time: 1403636588.263556, t: -0.020247 -0.357456 -0.239175 q: 0.006846 0.911830 -0.063269 0.405605 
time: 1403636588.463556, t: -0.020797 -0.362036 -0.243447 q: 0.001855 0.909551 -0.063947 0.410638 
wait for imu ... 
time: 1403636588.663555, t: -0.027100 -0.334702 -0.237122 q: 0.004413 0.909507 -0.063197 0.410832 
time: 1403636588.863555, t: -0.036625 -0.278201 -0.235430 q: -0.002198 0.911695 -0.056685 0.406932 
time: 1403636589.063555, t: -0.046828 -0.199210 -0.230375 q: -0.009865 0.909913 -0.046996 0.412009 
time: 1403636589.263556, t: -0.056524 -0.108547 -0.220504 q: -0.015045 0.907586 -0.037112 0.417952 
time: 1403636589.463556, t: -0.065222 -0.012852 -0.218951 q: -0.018098 0.910308 -0.025700 0.412737 
time: 1403636589.663555, t: -0.073336 0.081584 -0.221596 q: -0.021178 0.908377 -0.019654 0.417153 
time: 1403636589.863555, t: -0.080936 0.167761 -0.229175 q: -0.029995 0.910431 -0.009627 0.412460 
time: 1403636590.063555, t: -0.083253 0.228329 -0.237913 q: -0.043245 0.910923 0.000833 0.410302 
time: 1403636590.263556, t: -0.086012 0.250936 -0.236144 q: -0.048471 0.906511 0.006506 0.419341 
time: 1403636590.463556, t: -0.094178 0.226585 -0.229687 q: -0.039402 0.907899 0.003360 0.417320 
time: 1403636590.663555, t: -0.098927 0.160590 -0.220913 q: -0.028192 0.906047 -0.002699 0.422229 
time: 1403636590.863555, t: -0.094802 0.074680 -0.221463 q: -0.025635 0.909303 -0.011908 0.415174 
time: 1403636591.063555, t: -0.085468 -0.019392 -0.226550 q: -0.025898 0.910554 -0.015021 0.412303 
time: 1403636591.263556, t: -0.075841 -0.104687 -0.230092 q: -0.028834 0.910977 -0.018606 0.411028 
time: 1403636591.463556, t: -0.064832 -0.163159 -0.242807 q: -0.026041 0.912390 -0.025905 0.407670 
time: 1403636591.663555, t: -0.050171 -0.196996 -0.256826 q: -0.008853 0.903694 -0.040965 0.426123 
time: 1403636591.863555, t: -0.036657 -0.210616 -0.259743 q: 0.009567 0.885029 -0.052390 0.462480 
time: 1403636592.063555, t: -0.019003 -0.226389 -0.259612 q: 0.016988 0.884408 -0.072772 0.460693 
time: 1403636592.263556, t: 0.022205 -0.250893 -0.263532 q: 0.022063 0.890842 -0.090466 0.444667 
time: 1403636592.463556, t: 0.079362 -0.257828 -0.263225 q: 0.010112 0.895983 -0.086076 0.435550 
time: 1403636592.663555, t: 0.148639 -0.224585 -0.261976 q: -0.007236 0.890634 -0.054648 0.451368 
time: 1403636592.863555, t: 0.197191 -0.151094 -0.265573 q: -0.038217 0.890589 -0.012699 0.453023 
time: 1403636593.063555, t: 0.194185 -0.036703 -0.268921 q: -0.076568 0.893297 0.033304 0.441642 
time: 1403636593.263556, t: 0.134372 0.083760 -0.265379 q: -0.113309 0.890642 0.067387 0.435175 
time: 1403636593.463556, t: 0.039927 0.160416 -0.263142 q: -0.123205 0.892436 0.078944 0.426787 
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time: 1403636594.063555, t: -0.178258 -0.005403 -0.286676 q: -0.032979 0.899618 -0.066594 0.430309 
time: 1403636594.263556, t: -0.159569 -0.118154 -0.290447 q: 0.006330 0.895869 -0.117046 0.428578 
time: 1403636594.463556, t: -0.081336 -0.224170 -0.295836 q: 0.033616 0.891557 -0.128877 0.432882 
time: 1403636594.663555, t: 0.022969 -0.283934 -0.300073 q: 0.034937 0.882697 -0.127458 0.450977 
time: 1403636594.863555, t: 0.095299 -0.254087 -0.298586 q: 0.016111 0.881596 -0.100181 0.460969 
time: 1403636595.063555, t: 0.140169 -0.126259 -0.299050 q: -0.023010 0.882782 -0.034333 0.467962 
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time: 1403636595.463556, t: 0.091205 0.107486 -0.310296 q: -0.097807 0.886360 0.058940 0.448694 
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time: 1403636596.463556, t: -0.244254 -0.086651 -0.311023 q: -0.001491 0.894935 -0.053741 0.442946 
time: 1403636596.663555, t: -0.307730 -0.020898 -0.293252 q: 0.000603 0.893537 -0.044338 0.446794 
time: 1403636596.863555, t: -0.308070 0.000433 -0.291248 q: 0.003555 0.891834 -0.035722 0.450936 
time: 1403636597.063555, t: -0.224582 -0.019177 -0.298648 q: 0.010208 0.894060 -0.031555 0.446718 
time: 1403636597.263556, t: -0.096111 -0.050729 -0.300094 q: -0.002808 0.900837 -0.014227 0.433914 
time: 1403636597.463556, t: 0.042146 -0.063811 -0.292514 q: -0.018987 0.897161 0.017284 0.440957 
time: 1403636597.663555, t: 0.124900 -0.042099 -0.294603 q: -0.050021 0.888868 0.052249 0.452418 
time: 1403636597.863555, t: 0.112428 0.001626 -0.299997 q: -0.072443 0.878732 0.078267 0.465249 
wait for imu ... 
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time: 1403636598.463556, t: -0.071774 0.003980 -0.353025 q: -0.049279 0.901933 0.089223 0.419676 
time: 1403636598.663555, t: -0.022979 -0.018038 -0.378673 q: -0.057948 0.890912 0.094402 0.440461 
time: 1403636598.863555, t: 0.045158 -0.031128 -0.416140 q: -0.079966 0.868356 0.103019 0.478487 
time: 1403636599.063555, t: 0.095858 -0.041064 -0.462052 q: -0.086778 0.849805 0.102080 0.509785 
time: 1403636599.263556, t: 0.125588 -0.045972 -0.486192 q: -0.101614 0.819968 0.098605 0.554620 
time: 1403636599.463556, t: 0.148000 -0.047291 -0.504684 q: -0.096737 0.803063 0.091762 0.580785 
wait for imu ... 
time: 1403636599.663555, t: 0.156794 -0.049221 -0.522623 q: -0.088056 0.810493 0.081224 0.573367 
time: 1403636599.863555, t: 0.154700 -0.053277 -0.525932 q: -0.091104 0.795728 0.078952 0.593534 
time: 1403636600.263556, t: 0.153405 -0.058293 -0.530809 q: -0.097538 0.793584 0.072140 0.596244 
wait for imu ... 
time: 1403636600.463556, t: 0.153311 -0.058675 -0.531102 q: -0.098765 0.793660 0.071113 0.596064 
time: 1403636600.663555, t: 0.153131 -0.058964 -0.531001 q: -0.098354 0.793795 0.071184 0.595944 
wait for imu ... 
time: 1403636600.863555, t: 0.153106 -0.058984 -0.531016 q: -0.098463 0.793977 0.071032 0.595701 
wait for imu ... 
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time: 1403636602.063555, t: 0.152934 -0.059378 -0.530987 q: -0.097677 0.794422 0.070959 0.595246 
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time: 1403636602.463556, t: 0.152942 -0.059443 -0.531010 q: -0.097584 0.794515 0.070906 0.595144 
wait for imu ... 
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time: 1403636603.863555, t: 0.152762 -0.059635 -0.531026 q: -0.096961 0.794761 0.070859 0.594923 
time: 1403636604.063555, t: 0.152719 -0.059685 -0.531057 q: -0.096900 0.794796 0.070868 0.594885 
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time: 1403636605.063555, t: 0.152648 -0.059785 -0.531063 q: -0.096679 0.794977 0.070894 0.594676 
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time: 1403636606.063555, t: 0.152522 -0.059849 -0.531010 q: -0.096416 0.795110 0.070861 0.594544 
time: 1403636606.463556, t: 0.152481 -0.059879 -0.531028 q: -0.096290 0.795135 0.070826 0.594535 
time: 1403636606.663555, t: 0.152470 -0.059897 -0.531054 q: -0.096231 0.795123 0.070818 0.594561 
time: 1403636606.863555, t: 0.152468 -0.059935 -0.531056 q: -0.096224 0.795156 0.070853 0.594515 
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time: 1403636607.463556, t: 0.152411 -0.060001 -0.531030 q: -0.096035 0.795266 0.070866 0.594397 
wait for imu ... 
time: 1403636607.663555, t: 0.152381 -0.059997 -0.531015 q: -0.095899 0.795300 0.070862 0.594374 
time: 1403636607.863555, t: 0.152378 -0.060025 -0.531008 q: -0.095911 0.795334 0.070827 0.594331 
time: 1403636608.063555, t: 0.152354 -0.060021 -0.531000 q: -0.095827 0.795358 0.070819 0.594312 
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time: 1403636608.463556, t: 0.152354 -0.060082 -0.531025 q: -0.095860 0.795371 0.070805 0.594291 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
optimize pose graph 
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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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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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time: 1403636716.663555, t: 8.042434 -5.793158 -1.505910 q: 0.023301 0.811901 -0.040968 0.581890 
time: 1403636716.863555, t: 7.950215 -5.781555 -1.533392 q: 0.007777 0.812518 -0.020126 0.582536 
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time: 1403636717.863555, t: 7.449037 -5.700754 -1.551144 q: -0.035142 0.810102 0.085390 0.578971 
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time: 1403636718.663555, t: 6.977736 -5.363290 -1.606493 q: -0.137374 0.800724 0.164601 0.559354 
time: 1403636718.863555, t: 6.871588 -5.279677 -1.660308 q: -0.144061 0.798014 0.180100 0.556762 
time: 1403636719.063555, t: 6.778419 -5.208364 -1.694910 q: -0.136329 0.792400 0.193925 0.562058 
wait for imu ... 
time: 1403636719.263556, t: 6.692056 -5.142385 -1.702044 q: -0.138372 0.784938 0.193291 0.572158 
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time: 1403636722.263556, t: 5.459610 -4.958845 -1.877679 q: -0.062121 0.809766 0.086141 0.577061 
wait for imu ... 
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time: 1403636724.263556, t: 4.663514 -4.922186 -1.859273 q: -0.005110 0.825118 -0.002088 0.564934 
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time: 1403636724.863555, t: 4.442431 -4.880029 -1.832807 q: 0.035385 0.815912 -0.054391 0.574523 
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wait for imu ... 
time: 1403636725.263556, t: 4.352751 -4.840216 -1.679183 q: 0.020843 0.817926 -0.057639 0.572050 
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time: 1403636725.663555, t: 4.280522 -4.825442 -1.576534 q: 0.029257 0.817874 -0.051232 0.572365 
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wait for imu ... 
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time: 1403636727.863555, t: 3.858560 -4.793407 -1.225103 q: 0.028340 0.812651 -0.021887 0.581650 
wait for imu ... 
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wait for imu ... 
time: 1403636729.663555, t: 3.091799 -4.385091 -0.999810 q: -0.019714 0.810137 0.030793 0.585099 
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wait for imu ... 
time: 1403636730.663555, t: 2.591626 -4.102166 -0.986930 q: -0.024155 0.828509 0.028988 0.558702 
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wait for imu ... 
time: 1403636732.463556, t: 2.282250 -3.954403 -1.077501 q: -0.016957 0.808345 0.034898 0.587429 
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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: 1403636753.663555, t: 1.480536 -3.178318 -0.429978 q: -0.029498 0.813121 0.050819 0.579121 
optimize pose graph 
time: 1403636753.863555, t: 1.468037 -3.138037 -0.420446 q: -0.030856 0.811606 0.051855 0.581080 
wait for imu ... 
time: 1403636754.063555, t: 1.446647 -3.091203 -0.422042 q: -0.028449 0.809490 0.047621 0.584507 
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wait for imu ... 
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wait for imu ... 
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time: 1403636755.863555, t: 0.868677 -2.315574 -0.314247 q: -0.068533 0.810768 0.108725 0.571085 
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: 1403636763.263556, t: -0.872906 -0.169479 -0.565290 q: -0.108048 0.802375 0.082323 0.581157 
time: 1403636763.463556, t: -0.882014 -0.173051 -0.572916 q: -0.108643 0.801285 0.081840 0.582616 
time: 1403636763.663555, t: -0.891045 -0.189569 -0.572612 q: -0.109665 0.801249 0.081965 0.582456 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720464245.200046504]: Shutdown request received.[0m
[33m[ WARN] [1720464245.200100979]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720464245.200989630]: Shutdown request received.[0m
[33m[ WARN] [1720464245.201027590]: Reason given for shutdown: [user request][0m
killed
