/SLAM-Hive/slam_hive_results/mapping_results/2814/2022_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-12.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720464743.799267033]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720464743.801490762]: init begins[0m
[31m[ERROR] [1720464743.802514988]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/36907f76-3d5b-11ef-9e2c-0242ac110005/roslaunch-32b9991285c9-119.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://32b9991285c9:45199/[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] [1720464744.955806541]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720464744.957870151]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://32b9991285c9:11311/[0m
]2;roscore http://32b9991285c9:11311/
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[1msetting /run_id to 36907f76-3d5b-11ef-9e2c-0242ac110005[0m
result path /home/output/vio.csv
[33m[ WARN] [1720464744.965086642]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720464744.965275849]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720464744.965299502]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1720464744.965477711]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720464744.965767574]: 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
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] [1720464753.957078437]: 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: 316828175.24 
init first imu pose
averge acc 8.132320 -0.420480 -2.900939
init R0 
   0.33909   0.134948   0.931025
         0  -0.989658   0.143447
  0.940754 -0.0486414  -0.335583
[0m[ INFO] [1720464759.386355413]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720464760.216163572]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720464760.582179578]: 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!
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!
[33m[ WARN] [1720464767.483378236]: gyroscope bias initial calibration -0.00269673   0.0188361   0.0814588[0m
[0m[ INFO] [1720464767.518055814]: Initialization finish![0m
time: 1403636591.963556, t: -0.017240 0.061924 -0.032588 q: -0.010872 0.882625 0.001549 0.469950 
time: 1403636592.363555, t: 0.065972 0.029900 -0.038073 q: -0.003574 0.897111 -0.028832 0.440848 
time: 1403636592.763556, t: 0.182195 0.107935 -0.036865 q: -0.040922 0.889329 0.027623 0.454596 
time: 1403636593.163555, t: 0.141891 0.322155 -0.042884 q: -0.113455 0.887029 0.116718 0.432069 
time: 1403636593.563555, t: -0.055274 0.435927 -0.042438 q: -0.137424 0.888697 0.134267 0.416299 
time: 1403636593.963556, t: -0.194054 0.298881 -0.057980 q: -0.077897 0.903726 0.029190 0.419951 
time: 1403636594.363555, t: -0.141009 0.085328 -0.054844 q: 0.001219 0.899658 -0.064848 0.431751 
time: 1403636594.763556, t: 0.060628 0.009599 -0.055407 q: 0.005559 0.885831 -0.057704 0.460372 
time: 1403636595.163555, t: 0.088237 0.220074 -0.071022 q: -0.072188 0.881616 0.061297 0.462368 
time: 1403636595.563555, t: -0.002746 0.414752 -0.076335 q: -0.122849 0.881268 0.125377 0.438812 
time: 1403636595.963556, t: -0.086867 0.244709 -0.097336 q: -0.060843 0.893327 0.068556 0.439961 
time: 1403636596.363555, t: -0.188787 0.168941 -0.110163 q: -0.027364 0.898168 0.006997 0.438744 
time: 1403636596.763556, t: -0.325256 0.251529 -0.059380 q: -0.024884 0.894114 0.023259 0.446542 
time: 1403636597.163555, t: -0.197244 0.220567 -0.062294 q: -0.020730 0.898111 0.038257 0.437610 
time: 1403636597.563555, t: 0.068388 0.235483 -0.051681 q: -0.057999 0.889028 0.100063 0.443005 
time: 1403636597.963556, t: 0.043819 0.310898 -0.060463 q: -0.102459 0.868538 0.152382 0.460352 
time: 1403636598.363555, t: -0.106367 0.285423 -0.095609 q: -0.083257 0.891615 0.156135 0.416789 
time: 1403636598.763556, t: -0.017354 0.260326 -0.153820 q: -0.099396 0.870755 0.164079 0.452752 
time: 1403636599.163555, t: 0.086112 0.255023 -0.235888 q: -0.132713 0.827954 0.162695 0.520009 
time: 1403636599.563555, t: 0.132531 0.262025 -0.274359 q: -0.130484 0.798387 0.143376 0.570083 
time: 1403636599.963556, t: 0.134784 0.256087 -0.287729 q: -0.133001 0.787922 0.134533 0.585995 
time: 1403636600.363555, t: 0.133777 0.254197 -0.289389 q: -0.138819 0.786739 0.129635 0.587338 
time: 1403636600.763556, t: 0.134529 0.254334 -0.289337 q: -0.139343 0.787142 0.129490 0.586705 
time: 1403636601.163555, t: 0.134402 0.254326 -0.289462 q: -0.139181 0.787433 0.129430 0.586367 
time: 1403636601.563555, t: 0.134418 0.254294 -0.289599 q: -0.139137 0.787538 0.129367 0.586250 
time: 1403636601.963556, t: 0.134485 0.254267 -0.289701 q: -0.139010 0.787605 0.129526 0.586156 
time: 1403636602.363555, t: 0.134489 0.254225 -0.289725 q: -0.138853 0.787725 0.129630 0.586007 
time: 1403636602.763556, t: 0.134477 0.254213 -0.289713 q: -0.138876 0.787758 0.129537 0.585978 
time: 1403636603.163555, t: 0.134465 0.254209 -0.289742 q: -0.138763 0.787775 0.129596 0.585970 
time: 1403636603.563555, t: 0.134491 0.254174 -0.289739 q: -0.138703 0.787813 0.129693 0.585911 
time: 1403636603.963556, t: 0.131666 0.251911 -0.288560 q: -0.138537 0.787811 0.129818 0.585925 
time: 1403636604.363555, t: 0.131630 0.251801 -0.288608 q: -0.138538 0.787850 0.129788 0.585880 
time: 1403636604.763556, t: 0.131652 0.251779 -0.288618 q: -0.138470 0.787882 0.129795 0.585851 
time: 1403636605.163555, t: 0.131655 0.251758 -0.288614 q: -0.138454 0.787935 0.129795 0.585783 
time: 1403636605.563555, t: 0.131617 0.251760 -0.288610 q: -0.138370 0.787981 0.129743 0.585753 
wait for imu ... 
time: 1403636605.963556, t: 0.131634 0.251785 -0.288592 q: -0.138319 0.788040 0.129760 0.585682 
time: 1403636606.363555, t: 0.131658 0.251811 -0.288597 q: -0.138229 0.788031 0.129749 0.585718 
time: 1403636606.763556, t: 0.131652 0.251767 -0.288641 q: -0.138205 0.788025 0.129772 0.585726 
time: 1403636607.163555, t: 0.131652 0.251734 -0.288658 q: -0.138186 0.788077 0.129815 0.585651 
time: 1403636607.563555, t: 0.131598 0.251731 -0.288660 q: -0.138080 0.788131 0.129808 0.585605 
time: 1403636607.963556, t: 0.131545 0.251730 -0.288622 q: -0.137978 0.788196 0.129754 0.585554 
wait for imu ... 
time: 1403636608.363555, t: 0.131558 0.251669 -0.288639 q: -0.138031 0.788207 0.129731 0.585531 
time: 1403636608.763556, t: 0.131535 0.251642 -0.288672 q: -0.137950 0.788186 0.129750 0.585575 
wait for imu ... 
time: 1403636609.163555, t: 0.131549 0.251618 -0.288681 q: -0.137985 0.788189 0.129761 0.585560 
time: 1403636609.563555, t: 0.131527 0.251611 -0.288687 q: -0.137940 0.788203 0.129726 0.585559 
time: 1403636609.963556, t: 0.131507 0.251563 -0.288668 q: -0.137979 0.788282 0.129662 0.585458 
time: 1403636610.363555, t: 0.131465 0.251537 -0.288677 q: -0.137963 0.788285 0.129550 0.585483 
time: 1403636610.763556, t: 0.131551 0.251929 -0.288866 q: -0.139040 0.787124 0.129489 0.586801 
time: 1403636611.163555, t: 0.131706 0.251933 -0.288648 q: -0.139222 0.786945 0.129655 0.586962 
time: 1403636611.563555, t: 0.131816 0.251441 -0.288883 q: -0.139395 0.787013 0.129278 0.586913 
time: 1403636611.963556, t: 0.131746 0.251585 -0.288801 q: -0.139658 0.786834 0.129304 0.587084 
time: 1403636612.363555, t: 0.131970 0.251103 -0.288742 q: -0.138167 0.786647 0.130455 0.587434 
time: 1403636612.763556, t: 0.131908 0.251270 -0.288786 q: -0.138878 0.786701 0.129764 0.587347 
time: 1403636613.163555, t: 0.131826 0.251465 -0.288794 q: -0.139728 0.786630 0.129173 0.587370 
time: 1403636613.563555, t: 0.131829 0.251408 -0.288814 q: -0.139558 0.786618 0.129332 0.587391 
time: 1403636613.963556, t: 0.131840 0.251372 -0.288799 q: -0.139339 0.786613 0.129444 0.587425 
time: 1403636614.363555, t: 0.131859 0.251361 -0.288792 q: -0.139244 0.786555 0.129474 0.587520 
time: 1403636614.763556, t: 0.131821 0.251367 -0.288801 q: -0.139295 0.786615 0.129475 0.587427 
time: 1403636615.163555, t: 0.131833 0.251391 -0.288811 q: -0.139325 0.786629 0.129447 0.587407 
time: 1403636615.563555, t: 0.131843 0.251405 -0.288796 q: -0.139331 0.786621 0.129426 0.587421 
time: 1403636615.963556, t: 0.131835 0.251396 -0.288798 q: -0.139346 0.786618 0.129429 0.587421 
time: 1403636616.363555, t: 0.131847 0.251388 -0.288813 q: -0.139348 0.786612 0.129410 0.587432 
time: 1403636616.763556, t: 0.131853 0.251381 -0.288805 q: -0.139338 0.786619 0.129433 0.587420 
time: 1403636617.163555, t: 0.131835 0.251387 -0.288806 q: -0.139304 0.786615 0.129457 0.587428 
time: 1403636617.563555, t: 0.131831 0.251389 -0.288792 q: -0.139338 0.786619 0.129435 0.587420 
wait for imu ... 
time: 1403636617.963556, t: 0.131837 0.251382 -0.288811 q: -0.139334 0.786613 0.129423 0.587432 
time: 1403636618.363555, t: 0.131834 0.251397 -0.288803 q: -0.139318 0.786606 0.129445 0.587439 
time: 1403636618.763556, t: 0.131692 0.251399 -0.288854 q: -0.139356 0.786567 0.129336 0.587506 
time: 1403636619.163555, t: 0.131771 0.251362 -0.288888 q: -0.139446 0.786602 0.129227 0.587463 
time: 1403636619.563555, t: 0.131777 0.251407 -0.288898 q: -0.139476 0.786580 0.129296 0.587470 
time: 1403636619.963556, t: 0.131795 0.251340 -0.288906 q: -0.139465 0.786510 0.129398 0.587544 
time: 1403636620.363555, t: 0.131789 0.251342 -0.288883 q: -0.139295 0.786542 0.129467 0.587526 
time: 1403636620.763556, t: 0.131800 0.251327 -0.288879 q: -0.139333 0.786557 0.129424 0.587507 
time: 1403636621.163555, t: 0.131847 0.251260 -0.288854 q: -0.139018 0.786503 0.129636 0.587606 
time: 1403636621.563555, t: 0.131834 0.251293 -0.288864 q: -0.139099 0.786529 0.129533 0.587575 
time: 1403636621.963556, t: 0.131825 0.251320 -0.288859 q: -0.139268 0.786517 0.129485 0.587562 
time: 1403636622.363555, t: 0.131849 0.251295 -0.288847 q: -0.139157 0.786534 0.129538 0.587554 
time: 1403636622.763556, t: 0.131881 0.251269 -0.288867 q: -0.139195 0.786491 0.129469 0.587617 
time: 1403636623.163555, t: 0.131936 0.251121 -0.288707 q: -0.139110 0.786350 0.129098 0.587908 
time: 1403636623.563555, t: 0.132019 0.251045 -0.288697 q: -0.139082 0.786413 0.128922 0.587869 
time: 1403636624.363555, t: 0.131007 0.248838 -0.288513 q: -0.134047 0.792329 0.127271 0.581419 
time: 1403636624.763556, t: 0.116555 0.212474 -0.288238 q: -0.116441 0.800110 0.130013 0.573901 
time: 1403636625.163555, t: 0.077036 0.152248 -0.231201 q: -0.083967 0.820223 0.155486 0.544067 
time: 1403636625.563555, t: 0.070988 0.146200 -0.193096 q: -0.097052 0.818203 0.151384 0.546084 
time: 1403636625.963556, t: 0.112731 0.179708 -0.091393 q: -0.105879 0.802071 0.149978 0.568312 
time: 1403636626.363555, t: 0.157059 0.216162 0.063875 q: -0.127427 0.800084 0.137079 0.569945 
time: 1403636626.763556, t: 0.181972 0.192870 0.078613 q: -0.116175 0.790879 0.151605 0.581403 
time: 1403636627.163555, t: 0.174711 0.141484 0.029950 q: -0.113083 0.806452 0.157586 0.558581 
time: 1403636627.563555, t: 0.158543 0.098755 0.102383 q: -0.116131 0.801497 0.148535 0.567498 
time: 1403636627.963556, t: 0.147928 0.043754 0.080148 q: -0.082865 0.825999 0.120590 0.544350 
time: 1403636628.363555, t: 0.203483 0.014494 0.135962 q: -0.087237 0.807806 0.096155 0.574972 
time: 1403636628.763556, t: 0.254827 -0.045131 0.186777 q: -0.088197 0.810259 0.094290 0.571674 
time: 1403636629.163555, t: 0.300820 -0.147347 0.214413 q: -0.060170 0.824205 0.080920 0.557241 
time: 1403636629.563555, t: 0.371465 -0.251616 0.230052 q: -0.051135 0.818844 0.035996 0.570599 
time: 1403636629.963556, t: 0.466528 -0.390066 0.153362 q: 0.003925 0.834324 -0.023948 0.550740 
time: 1403636630.363555, t: 0.615700 -0.538128 0.144892 q: 0.022717 0.816816 -0.047653 0.574478 
time: 1403636630.763556, t: 0.804730 -0.655075 0.201600 q: 0.023161 0.823662 -0.031740 0.565717 
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time: 1403636631.563555, t: 1.264047 -0.856222 0.133921 q: 0.003811 0.820104 -0.020835 0.571822 
time: 1403636631.963556, t: 1.458035 -0.955157 0.093772 q: 0.006514 0.821728 -0.013975 0.569671 
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time: 1403636632.763556, t: 1.782602 -1.053297 0.022682 q: -0.022825 0.832175 -0.008830 0.553973 
time: 1403636633.163555, t: 1.974280 -1.086033 0.014662 q: -0.046422 0.819752 0.068153 0.566751 
time: 1403636633.563555, t: 2.181555 -1.111580 -0.030955 q: -0.062512 0.826012 0.071614 0.555580 
time: 1403636633.963556, t: 2.425441 -1.136476 -0.052052 q: -0.064457 0.826455 0.055081 0.556582 
time: 1403636634.363555, t: 2.728765 -1.188862 -0.033033 q: -0.057118 0.822057 0.060462 0.563298 
time: 1403636634.763556, t: 3.040064 -1.250044 -0.035110 q: -0.058140 0.812332 0.081514 0.574536 
time: 1403636635.163555, t: 3.319111 -1.289586 -0.022098 q: -0.069102 0.817321 0.102416 0.562781 
time: 1403636635.563555, t: 3.601442 -1.308781 -0.032509 q: -0.084779 0.821703 0.097631 0.555054 
time: 1403636635.963556, t: 3.906152 -1.347212 0.039792 q: -0.096603 0.818360 0.083676 0.560315 
time: 1403636636.363555, t: 4.239873 -1.424585 0.157929 q: -0.073619 0.809540 0.098069 0.574115 
time: 1403636636.763556, t: 4.540202 -1.492853 0.237438 q: -0.053563 0.796472 0.112052 0.591784 
time: 1403636637.163555, t: 4.761075 -1.504615 0.210205 q: -0.071769 0.807885 0.104456 0.575552 
time: 1403636637.563555, t: 4.951183 -1.483235 0.194442 q: -0.075272 0.817115 0.107494 0.561339 
time: 1403636637.963556, t: 5.144696 -1.446500 0.283609 q: -0.079868 0.811220 0.109347 0.568846 
time: 1403636638.363555, t: 5.316198 -1.402593 0.270742 q: -0.087756 0.810871 0.107236 0.568584 
time: 1403636638.763556, t: 5.496281 -1.383965 0.214599 q: -0.087337 0.825518 0.109290 0.546761 
time: 1403636639.163555, t: 5.744438 -1.384127 0.258226 q: -0.109543 0.817232 0.095195 0.557737 
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time: 1403636639.963556, t: 6.324635 -1.486559 0.104189 q: -0.088018 0.805031 0.112687 0.575743 
time: 1403636640.363555, t: 6.582852 -1.529407 0.139738 q: -0.099666 0.801344 0.137274 0.573646 
time: 1403636640.763556, t: 6.801428 -1.577178 0.130229 q: -0.105949 0.801078 0.147846 0.570255 
time: 1403636641.163555, t: 6.993100 -1.613741 0.117329 q: -0.104187 0.802076 0.149002 0.568874 
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time: 1403636704.363555, t: 5.622569 -3.946490 -1.474294 q: 0.158803 0.788586 -0.243509 0.541864 
time: 1403636704.763556, t: 5.700017 -4.112776 -1.485538 q: 0.160252 0.801071 -0.239333 0.524714 
time: 1403636705.163555, t: 5.862726 -4.298806 -1.551787 q: 0.160057 0.803573 -0.233814 0.523434 
time: 1403636705.563555, t: 6.121226 -4.492645 -1.593321 q: 0.163847 0.797253 -0.230228 0.533420 
time: 1403636705.963556, t: 6.432738 -4.674009 -1.655646 q: 0.154474 0.785041 -0.237198 0.550986 
time: 1403636706.363555, t: 6.732912 -4.872730 -1.677894 q: 0.158871 0.784339 -0.227332 0.554880 
time: 1403636706.763556, t: 7.010586 -5.060449 -1.724866 q: 0.164942 0.794931 -0.222707 0.539705 
time: 1403636707.163555, t: 7.331743 -5.222276 -1.696635 q: 0.170639 0.791094 -0.229672 0.540651 
time: 1403636707.563555, t: 7.694869 -5.362654 -1.617028 q: 0.174429 0.791475 -0.237736 0.535372 
time: 1403636707.963556, t: 8.089448 -5.496262 -1.564679 q: 0.156747 0.788155 -0.246465 0.541754 
time: 1403636708.363555, t: 8.480157 -5.644744 -1.644815 q: 0.146148 0.779964 -0.243156 0.557829 
time: 1403636708.763556, t: 8.804416 -5.821041 -1.705814 q: 0.163033 0.776860 -0.233086 0.561765 
time: 1403636709.163555, t: 9.071425 -5.976314 -1.757899 q: 0.188533 0.770671 -0.230487 0.563381 
time: 1403636709.563555, t: 9.309368 -6.035095 -1.759593 q: 0.188375 0.780484 -0.235755 0.547520 
optimize pose graph 
time: 1403636709.963556, t: 9.578712 -6.031397 -1.802581 q: 0.185400 0.782980 -0.231041 0.546981 
time: 1403636710.363555, t: 9.873654 -5.970530 -1.824584 q: 0.166347 0.780483 -0.230651 0.556754 
time: 1403636710.763556, t: 10.156288 -5.886823 -1.929189 q: 0.117990 0.786777 -0.201929 0.571214 
time: 1403636711.163555, t: 10.380200 -5.824627 -1.986726 q: 0.111819 0.801798 -0.127828 0.572955 
time: 1403636711.563555, t: 10.566527 -5.714532 -1.982206 q: 0.104043 0.785669 -0.122877 0.597328 
optimize pose graph 
time: 1403636711.963556, t: 10.661209 -5.535120 -1.948671 q: 0.097616 0.790939 -0.137630 0.588171 
time: 1403636712.363555, t: 10.671143 -5.336031 -1.853089 q: 0.089691 0.795322 -0.118996 0.587587 
time: 1403636712.763556, t: 10.615751 -5.118024 -1.710955 q: 0.067133 0.791082 -0.081138 0.602576 
time: 1403636713.163555, t: 10.480644 -4.879221 -1.631157 q: 0.057127 0.798585 -0.075758 0.594357 
time: 1403636713.563555, t: 10.281523 -4.638143 -1.478547 q: 0.048319 0.804203 -0.083394 0.586489 
optimize pose graph 
time: 1403636713.963556, t: 10.050633 -4.438608 -1.356633 q: 0.043387 0.808113 -0.095960 0.579536 
time: 1403636714.363555, t: 9.808287 -4.294556 -1.314451 q: 0.052115 0.806793 -0.101054 0.579791 
time: 1403636714.763556, t: 9.573368 -4.188438 -1.327741 q: 0.030266 0.824941 -0.068837 0.560194 
time: 1403636715.163555, t: 9.398692 -4.112977 -1.255449 q: -0.008033 0.829326 0.015304 0.558497 
time: 1403636715.563555, t: 9.289457 -4.043830 -1.187067 q: -0.041280 0.819192 0.018446 0.571734 
optimize pose graph 
time: 1403636715.963556, t: 9.198468 -4.016302 -1.184062 q: -0.021876 0.799858 0.023408 0.599334 
time: 1403636716.363555, t: 9.038892 -4.009622 -1.130456 q: -0.019140 0.813557 0.010248 0.581080 
time: 1403636716.763556, t: 8.864521 -4.018932 -1.144805 q: -0.021673 0.812971 0.022190 0.581478 
time: 1403636717.163555, t: 8.671912 -4.020884 -1.165574 q: -0.067129 0.809673 0.090439 0.575972 
time: 1403636717.563555, t: 8.471666 -4.020950 -1.136695 q: -0.067963 0.803652 0.132853 0.576085 
time: 1403636717.963556, t: 8.251715 -3.958812 -1.168365 q: -0.076911 0.801523 0.149505 0.573842 
time: 1403636718.363555, t: 7.999709 -3.823492 -1.159289 q: -0.132279 0.793999 0.192567 0.561236 
time: 1403636718.763556, t: 7.755777 -3.673703 -1.231386 q: -0.183490 0.787783 0.220919 0.544907 
time: 1403636719.163555, t: 7.563339 -3.558068 -1.294757 q: -0.173193 0.774893 0.245488 0.556130 
time: 1403636719.563555, t: 7.369186 -3.458068 -1.332450 q: -0.179361 0.771164 0.235127 0.563783 
optimize pose graph 
time: 1403636719.963556, t: 7.154729 -3.407521 -1.365897 q: -0.172789 0.784206 0.226637 0.551182 
time: 1403636720.363555, t: 6.962547 -3.369729 -1.401438 q: -0.171556 0.786172 0.224754 0.549535 
time: 1403636720.763556, t: 6.806203 -3.357200 -1.437295 q: -0.175304 0.786307 0.225518 0.547842 
time: 1403636721.163555, t: 6.684389 -3.368935 -1.445340 q: -0.148983 0.793253 0.183917 0.561006 
time: 1403636721.563555, t: 6.566492 -3.410688 -1.444130 q: -0.118609 0.799812 0.144939 0.570285 
time: 1403636721.963556, t: 6.446425 -3.471109 -1.469380 q: -0.098548 0.802605 0.133301 0.573014 
optimize pose graph 
time: 1403636722.363555, t: 6.314000 -3.514212 -1.471326 q: -0.101379 0.803069 0.137908 0.570775 
time: 1403636722.763556, t: 6.171114 -3.547514 -1.494462 q: -0.089192 0.804911 0.128553 0.572396 
time: 1403636723.163555, t: 6.024380 -3.562455 -1.477945 q: -0.093036 0.805695 0.123649 0.571761 
time: 1403636723.563555, t: 5.880060 -3.569206 -1.473037 q: -0.075675 0.800589 0.108618 0.584407 
time: 1403636723.963556, t: 5.717084 -3.562142 -1.442173 q: -0.064472 0.813993 0.080579 0.571634 
time: 1403636724.363555, t: 5.556700 -3.560956 -1.471524 q: -0.028478 0.822552 0.035910 0.566840 
time: 1403636724.763556, t: 5.425863 -3.551675 -1.456964 q: -0.001065 0.816790 0.000160 0.576934 
time: 1403636725.163555, t: 5.312841 -3.522830 -1.326728 q: -0.014418 0.819827 -0.006890 0.572389 
time: 1403636725.563555, t: 5.224890 -3.512079 -1.197000 q: -0.007974 0.820524 -0.000025 0.571557 
time: 1403636725.963556, t: 5.152193 -3.505085 -1.162785 q: -0.010166 0.820525 -0.000475 0.571521 
time: 1403636726.363555, t: 5.085353 -3.496231 -1.187108 q: -0.009642 0.816677 0.005488 0.576989 
time: 1403636726.763556, t: 5.026577 -3.492417 -1.145632 q: -0.032747 0.812219 -0.004541 0.582415 
time: 1403636727.163555, t: 4.950215 -3.530448 -1.010049 q: -0.016066 0.811589 0.021450 0.583614 
time: 1403636727.563555, t: 4.845281 -3.549386 -0.921516 q: -0.012169 0.811578 0.026418 0.583519 
time: 1403636727.963556, t: 4.728698 -3.528257 -0.789455 q: -0.002623 0.812202 0.032164 0.582482 
optimize pose graph 
time: 1403636728.363555, t: 4.600143 -3.466400 -0.701334 q: -0.012819 0.810698 0.023438 0.584854 
time: 1403636728.763556, t: 4.439348 -3.394740 -0.677246 q: -0.031270 0.811170 0.030801 0.583161 
time: 1403636729.163555, t: 4.264659 -3.330454 -0.628511 q: -0.047213 0.804692 0.075894 0.586926 
time: 1403636729.563555, t: 4.057962 -3.256790 -0.624954 q: -0.055849 0.806013 0.081418 0.583605 
time: 1403636729.963556, t: 3.834091 -3.178778 -0.575241 q: -0.055791 0.813066 0.079657 0.573992 
optimize pose graph 
time: 1403636730.363555, t: 3.620041 -3.093064 -0.583336 q: -0.059259 0.815598 0.079122 0.570112 
time: 1403636730.763556, t: 3.446889 -3.006356 -0.577000 q: -0.058544 0.826516 0.081190 0.553943 
time: 1403636731.163555, t: 3.347958 -2.914562 -0.502529 q: -0.083056 0.817646 0.061307 0.566390 
time: 1403636731.563555, t: 3.288638 -2.878386 -0.502356 q: -0.068460 0.812401 0.069147 0.574923 
time: 1403636731.963556, t: 3.235380 -2.883321 -0.566653 q: -0.065268 0.811484 0.072487 0.576176 
time: 1403636732.363555, t: 3.181230 -2.912368 -0.667263 q: -0.062354 0.808096 0.077591 0.580579 
time: 1403636732.763556, t: 3.083765 -2.929233 -0.667351 q: -0.046359 0.796068 0.091619 0.596433 
time: 1403636733.163555, t: 2.895891 -2.893503 -0.639132 q: -0.053055 0.803628 0.089610 0.585950 
time: 1403636733.563555, t: 2.677263 -2.832657 -0.554842 q: -0.060654 0.811630 0.087457 0.574394 
time: 1403636733.963556, t: 2.458140 -2.756421 -0.502279 q: -0.057271 0.813411 0.091181 0.571636 
time: 1403636734.363555, t: 2.246568 -2.668935 -0.474913 q: -0.063373 0.809927 0.087347 0.576518 
time: 1403636734.763556, t: 2.037309 -2.577474 -0.411125 q: -0.065454 0.816233 0.091486 0.566665 
time: 1403636735.163555, t: 1.854902 -2.486386 -0.423713 q: -0.069875 0.816675 0.091407 0.565512 
time: 1403636735.563555, t: 1.713737 -2.393647 -0.365332 q: -0.068055 0.817314 0.081610 0.566309 
time: 1403636735.963556, t: 1.607495 -2.313390 -0.277421 q: -0.061912 0.816542 0.076251 0.568869 
time: 1403636736.363555, t: 1.518673 -2.244046 -0.190498 q: -0.083290 0.807070 0.109362 0.574231 
time: 1403636736.763556, t: 1.428116 -2.166661 -0.149326 q: -0.078712 0.801457 0.135850 0.577075 
time: 1403636737.163555, t: 1.313189 -2.057277 -0.169455 q: -0.096827 0.801319 0.134781 0.574758 
time: 1403636737.563555, t: 1.176863 -1.937860 -0.195688 q: -0.105120 0.807772 0.140348 0.562811 
time: 1403636737.963556, t: 1.076276 -1.841556 -0.122679 q: -0.118527 0.812342 0.131160 0.555742 
optimize pose graph 
time: 1403636738.363555, t: 1.048121 -1.790763 0.013882 q: -0.108060 0.810693 0.130250 0.560478 
time: 1403636738.763556, t: 1.059896 -1.769094 0.047432 q: -0.085192 0.817753 0.090068 0.562058 
time: 1403636739.163555, t: 1.088876 -1.799222 -0.021287 q: -0.034563 0.817658 -0.006132 0.574633 
time: 1403636739.563555, t: 1.109028 -1.886983 -0.119141 q: 0.051422 0.812745 -0.083370 0.574327 
time: 1403636739.963556, t: 1.142356 -1.966071 -0.156035 q: 0.066594 0.809184 -0.117747 0.571771 
optimize pose graph 
time: 1403636740.363555, t: 1.171922 -2.048507 -0.253606 q: 0.074667 0.809042 -0.103150 0.573791 
time: 1403636740.763556, t: 1.177761 -2.113892 -0.374865 q: 0.059933 0.810816 -0.102819 0.573074 
time: 1403636741.163555, t: 1.162512 -2.177534 -0.498376 q: 0.082188 0.805368 -0.092011 0.579795 
time: 1403636741.563555, t: 1.123277 -2.202135 -0.680008 q: 0.070322 0.814959 -0.128858 0.560617 
time: 1403636741.963556, t: 1.104943 -2.241471 -0.786228 q: 0.085570 0.812997 -0.114787 0.564392 
optimize pose graph 
time: 1403636742.363555, t: 1.121965 -2.272780 -0.889689 q: 0.070229 0.818645 -0.110512 0.559174 
time: 1403636742.763556, t: 1.176909 -2.303001 -0.919897 q: 0.066104 0.808038 -0.104118 0.576077 
time: 1403636743.163555, t: 1.218569 -2.333922 -1.038582 q: 0.065870 0.820767 -0.118419 0.554959 
time: 1403636743.563555, t: 1.309163 -2.392986 -1.124100 q: 0.070662 0.824680 -0.130575 0.545765 
time: 1403636743.963556, t: 1.470496 -2.479301 -1.241612 q: 0.089382 0.805185 -0.135256 0.570434 
time: 1403636744.363555, t: 1.633390 -2.553639 -1.452742 q: 0.099494 0.795728 -0.160244 0.575534 
time: 1403636744.763556, t: 1.755589 -2.627594 -1.744160 q: 0.091971 0.789366 -0.166325 0.583762 
time: 1403636745.163555, t: 1.815923 -2.718739 -1.987374 q: 0.094083 0.805619 -0.155735 0.563802 
time: 1403636745.563555, t: 1.878467 -2.808835 -2.109715 q: 0.094325 0.798007 -0.140581 0.578382 
time: 1403636745.963556, t: 1.917064 -2.868737 -2.099607 q: 0.118245 0.795307 -0.152491 0.574675 
time: 1403636746.363555, t: 1.956606 -2.864236 -2.001424 q: 0.136983 0.782251 -0.158618 0.586650 
time: 1403636746.763556, t: 1.970438 -2.771752 -1.979180 q: 0.099520 0.812596 -0.174998 0.546954 
time: 1403636747.163555, t: 2.023593 -2.713151 -1.966041 q: 0.099952 0.805696 -0.164703 0.560122 
time: 1403636747.563555, t: 2.119818 -2.678557 -1.865970 q: 0.116208 0.801648 -0.160945 0.563874 
time: 1403636748.363555, t: 2.310805 -2.559052 -1.641438 q: 0.113534 0.797804 -0.182598 0.563273 
time: 1403636748.763556, t: 2.400357 -2.539658 -1.544718 q: 0.110314 0.793860 -0.185266 0.568589 
time: 1403636749.163555, t: 2.470575 -2.540625 -1.467486 q: 0.100464 0.787183 -0.204690 0.573020 
time: 1403636749.563555, t: 2.498142 -2.590067 -1.363678 q: 0.135140 0.791117 -0.185899 0.566845 
time: 1403636749.963556, t: 2.518094 -2.619436 -1.276464 q: 0.132346 0.781005 -0.178353 0.583700 
time: 1403636750.363555, t: 2.493335 -2.600350 -1.227892 q: 0.121145 0.790465 -0.171254 0.575466 
time: 1403636750.763556, t: 2.435286 -2.552282 -1.055273 q: 0.113756 0.796519 -0.160541 0.571703 
time: 1403636751.163555, t: 2.363943 -2.479060 -0.813160 q: 0.115773 0.802162 -0.157523 0.564198 
time: 1403636751.563555, t: 2.319437 -2.390427 -0.621577 q: 0.096988 0.799379 -0.173221 0.567081 
time: 1403636751.963556, t: 2.285131 -2.349936 -0.464992 q: 0.087036 0.814473 -0.157647 0.551548 
optimize pose graph 
time: 1403636752.363555, t: 2.295354 -2.364156 -0.325755 q: 0.084524 0.803485 -0.129795 0.574823 
time: 1403636752.763556, t: 2.313468 -2.378244 -0.171099 q: 0.037766 0.813598 -0.060205 0.577069 
time: 1403636753.163555, t: 2.316869 -2.381472 -0.113258 q: -0.005419 0.817242 0.033444 0.575297 
time: 1403636753.563555, t: 2.312581 -2.333786 -0.129332 q: -0.057387 0.810209 0.098543 0.574941 
time: 1403636753.963556, t: 2.280331 -2.251014 -0.117620 q: -0.065801 0.807286 0.099669 0.577949 
time: 1403636754.363555, t: 2.222133 -2.149125 -0.099452 q: -0.055271 0.799766 0.093577 0.590392 
time: 1403636754.763556, t: 2.102516 -2.016117 -0.045732 q: -0.076464 0.799270 0.126151 0.582587 
time: 1403636755.163555, t: 1.927404 -1.864268 -0.058688 q: -0.102586 0.794389 0.159433 0.577064 
time: 1403636755.563555, t: 1.716488 -1.697775 -0.016601 q: -0.100857 0.807476 0.165291 0.557215 
time: 1403636755.963556, t: 1.520885 -1.498843 -0.001210 q: -0.105151 0.800731 0.157406 0.568328 
optimize pose graph 
time: 1403636756.363555, t: 1.337346 -1.288597 0.038187 q: -0.106932 0.796701 0.157900 0.573498 
time: 1403636756.763556, t: 1.130418 -1.083236 0.040871 q: -0.110787 0.793612 0.160376 0.576356 
time: 1403636757.163555, t: 0.883096 -0.899914 0.080073 q: -0.115581 0.793905 0.161051 0.574821 
time: 1403636757.563555, t: 0.603802 -0.725904 0.072295 q: -0.110127 0.798892 0.172288 0.565650 
time: 1403636757.963556, t: 0.339609 -0.518782 0.141623 q: -0.126228 0.809803 0.192712 0.539581 
optimize pose graph 
time: 1403636758.363555, t: 0.126870 -0.280369 0.233136 q: -0.143126 0.789843 0.189797 0.565367 
time: 1403636758.763556, t: -0.055878 -0.065706 0.222937 q: -0.154697 0.810673 0.179060 0.535552 
time: 1403636759.163555, t: -0.131474 0.093668 0.181623 q: -0.164500 0.792470 0.172014 0.561554 
time: 1403636759.563555, t: -0.146415 0.143916 0.073942 q: -0.153899 0.788920 0.182400 0.566261 
time: 1403636759.963556, t: -0.186127 0.140728 0.015109 q: -0.142421 0.793262 0.193029 0.559635 
time: 1403636760.363555, t: -0.232971 0.135918 -0.027801 q: -0.145100 0.790629 0.189600 0.563830 
optimize pose graph 
time: 1403636760.763556, t: -0.280682 0.126045 -0.091827 q: -0.132618 0.796932 0.200280 0.554255 
time: 1403636761.163555, t: -0.340473 0.141416 -0.146937 q: -0.134692 0.804443 0.201462 0.542349 
time: 1403636761.563555, t: -0.365492 0.202737 -0.174529 q: -0.138590 0.793987 0.198726 0.557571 
time: 1403636761.963556, t: -0.361519 0.261568 -0.155439 q: -0.155792 0.792553 0.183493 0.560285 
time: 1403636762.363555, t: -0.367210 0.295697 -0.128028 q: -0.119824 0.804055 0.205242 0.544989 
optimize pose graph 
time: 1403636762.763556, t: -0.342891 0.370084 -0.199561 q: -0.166317 0.795672 0.172454 0.556332 
time: 1403636763.163555, t: -0.361130 0.332256 -0.233411 q: -0.143297 0.785328 0.135182 0.586900 
time: 1403636763.563555, t: -0.367940 0.328405 -0.251469 q: -0.144226 0.795080 0.131035 0.574350 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720464942.593197813]: Shutdown request received.[0m
[33m[ WARN] [1720464942.593242316]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720464942.594143285]: Shutdown request received.[0m
[33m[ WARN] [1720464942.594168098]: Reason given for shutdown: [user request][0m
killed
