/SLAM-Hive/slam_hive_results/mapping_results/2815/2023_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-13.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720464977.239706099]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720464977.244470985]: init begins[0m
[31m[ERROR] [1720464977.245612608]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c1b44ac4-3d5b-11ef-802e-0242ac110005/roslaunch-87012c94bc93-119.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://87012c94bc93:36315/[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] [1720464978.345949014]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720464978.350782488]: 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] [1720464978.356265475]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720464978.356469513]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720464978.356517078]: 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] [1720464978.356696982]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720464978.356949954]: 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://87012c94bc93:11311/[0m
]2;roscore http://87012c94bc93:11311/
[1msetting /run_id to c1b44ac4-3d5b-11ef-802e-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] [1720464987.388964440]: 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: 316828408.67 
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] [1720464992.831308266]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720464993.233553337]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720464993.640807113]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720464993.993435410]: 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!
[33m[ WARN] [1720464995.733894538]: gyroscope bias initial calibration 0.000392527   0.0250305   0.0803595[0m
[0m[ INFO] [1720464995.765953537]: Initialization finish![0m
time: 1403636586.763556, t: -0.073383 -0.033750 -0.098335 q: -0.009058 0.910075 -0.023727 0.413666 
time: 1403636587.163555, t: -0.055525 -0.051756 -0.096241 q: -0.013138 0.907040 -0.006480 0.420789 
time: 1403636587.563555, t: -0.028203 -0.133480 -0.099459 q: -0.014487 0.910469 -0.016780 0.412983 
time: 1403636587.963556, t: -0.007821 -0.280013 -0.096101 q: -0.003031 0.906626 -0.043433 0.419682 
time: 1403636588.363555, t: -0.002249 -0.358638 -0.112028 q: -0.000498 0.911221 -0.050694 0.408786 
time: 1403636588.763556, t: -0.015422 -0.305217 -0.107204 q: -0.002973 0.911246 -0.047717 0.409078 
time: 1403636589.163555, t: -0.037831 -0.152646 -0.096123 q: -0.016958 0.908541 -0.028764 0.416459 
time: 1403636589.563555, t: -0.063721 0.035401 -0.088891 q: -0.024467 0.909797 -0.010749 0.414191 
time: 1403636589.963556, t: -0.084082 0.201951 -0.100575 q: -0.041053 0.912491 0.008049 0.406952 
time: 1403636590.363555, t: -0.096708 0.246143 -0.097566 q: -0.048822 0.907463 0.017915 0.416900 
time: 1403636590.763556, t: -0.097761 0.118443 -0.085871 q: -0.027621 0.906996 0.003774 0.420215 
time: 1403636591.163555, t: -0.072926 -0.065207 -0.094444 q: -0.029982 0.910472 -0.005900 0.412441 
time: 1403636591.563555, t: -0.044679 -0.182289 -0.118346 q: -0.019416 0.910896 -0.021481 0.411618 
time: 1403636591.963556, t: -0.016574 -0.215663 -0.127314 q: 0.014440 0.882411 -0.051832 0.467392 
time: 1403636592.363555, t: 0.062211 -0.257722 -0.132653 q: 0.020074 0.895004 -0.082832 0.437839 
wait for imu ... 
time: 1403636593.163555, t: 0.180317 0.028091 -0.140050 q: -0.090258 0.893269 0.062874 0.435857 
time: 1403636593.563555, t: 0.001706 0.164349 -0.141946 q: -0.115359 0.895848 0.080281 0.421550 
time: 1403636593.963556, t: -0.149176 0.045185 -0.163507 q: -0.055627 0.904852 -0.025271 0.421318 
time: 1403636594.363555, t: -0.118452 -0.173501 -0.166605 q: 0.024123 0.895549 -0.118626 0.428180 
time: 1403636594.763556, t: 0.080496 -0.273256 -0.173626 q: 0.029966 0.882283 -0.110683 0.456539 
time: 1403636595.163555, t: 0.116814 -0.058651 -0.221342 q: -0.046762 0.884702 0.008217 0.463732 
time: 1403636595.563555, t: 0.093253 0.157658 -0.202741 q: -0.099530 0.887979 0.072208 0.443140 
time: 1403636595.963556, t: -0.005581 -0.022814 -0.225709 q: -0.037558 0.896833 0.014913 0.440520 
time: 1403636596.363555, t: -0.119786 -0.033360 -0.223258 q: -0.003347 0.898015 -0.046583 0.437479 
time: 1403636596.763556, t: -0.168270 -0.006406 -0.124577 q: -0.001022 0.895202 -0.030013 0.444647 
time: 1403636597.163555, t: -0.185466 -0.035801 -0.169481 q: 0.002562 0.899471 -0.015388 0.436702 
time: 1403636597.563555, t: 0.077436 -0.049518 -0.156357 q: -0.034558 0.893781 0.046879 0.444707 
time: 1403636597.963556, t: 0.057235 0.026719 -0.160668 q: -0.077902 0.876063 0.100272 0.465177 
time: 1403636598.363555, t: -0.105622 0.017975 -0.200721 q: -0.061405 0.899282 0.103051 0.420598 
time: 1403636598.763556, t: -0.030536 -0.019170 -0.255992 q: -0.075642 0.878800 0.112228 0.457596 
time: 1403636599.563555, t: 0.109173 -0.040121 -0.372260 q: -0.099313 0.805100 0.095262 0.576955 
time: 1403636599.963556, t: 0.107759 -0.048477 -0.385263 q: -0.100412 0.793994 0.086813 0.593257 
time: 1403636600.363555, t: 0.104557 -0.052040 -0.386546 q: -0.105624 0.792489 0.081796 0.595075 
wait for imu ... 
wait for imu ... 
time: 1403636600.763556, t: 0.108393 -0.050681 -0.388255 q: -0.105649 0.792899 0.081348 0.594586 
time: 1403636601.163555, t: 0.108073 -0.051311 -0.388336 q: -0.104999 0.793238 0.081098 0.594283 
time: 1403636601.563555, t: 0.107981 -0.051845 -0.388530 q: -0.104490 0.793388 0.080859 0.594205 
time: 1403636601.963556, t: 0.107980 -0.052292 -0.388710 q: -0.103959 0.793516 0.080868 0.594125 
time: 1403636602.363555, t: 0.107985 -0.052673 -0.388833 q: -0.103469 0.793686 0.080854 0.593986 
time: 1403636602.763556, t: 0.107942 -0.052987 -0.388905 q: -0.103216 0.793761 0.080667 0.593955 
time: 1403636603.163555, t: 0.107879 -0.053240 -0.388996 q: -0.102847 0.793819 0.080625 0.593947 
time: 1403636603.563555, t: 0.107888 -0.053486 -0.389061 q: -0.102575 0.793899 0.080660 0.593882 
time: 1403636603.963556, t: 0.107878 -0.053688 -0.389120 q: -0.102265 0.793937 0.080644 0.593888 
time: 1403636604.363555, t: 0.107870 -0.053882 -0.389219 q: -0.102186 0.793992 0.080599 0.593833 
time: 1403636604.763556, t: 0.107853 -0.054021 -0.389269 q: -0.102020 0.794045 0.080579 0.593794 
time: 1403636605.163555, t: 0.107826 -0.054162 -0.389290 q: -0.101913 0.794119 0.080562 0.593715 
time: 1403636605.563555, t: 0.107788 -0.054270 -0.389315 q: -0.101733 0.794181 0.080482 0.593674 
time: 1403636605.963556, t: 0.107715 -0.054440 -0.389372 q: -0.101593 0.794258 0.080477 0.593596 
time: 1403636606.363555, t: 0.107749 -0.054526 -0.389461 q: -0.101408 0.794269 0.080449 0.593617 
wait for imu ... 
time: 1403636606.763556, t: 0.107781 -0.054642 -0.389546 q: -0.101286 0.794279 0.080443 0.593626 
time: 1403636607.163555, t: 0.107786 -0.054774 -0.389583 q: -0.101175 0.794345 0.080466 0.593553 
time: 1403636607.563555, t: 0.107764 -0.054878 -0.389609 q: -0.100974 0.794411 0.080444 0.593502 
time: 1403636607.963556, t: 0.107740 -0.054969 -0.389608 q: -0.100784 0.794488 0.080366 0.593442 
time: 1403636608.363555, t: 0.107739 -0.055116 -0.389640 q: -0.100760 0.794510 0.080322 0.593422 
time: 1403636608.763556, t: 0.107720 -0.055220 -0.389694 q: -0.100601 0.794500 0.080321 0.593462 
time: 1403636609.163555, t: 0.107726 -0.055313 -0.389720 q: -0.100582 0.794514 0.080322 0.593447 
wait for imu ... 
time: 1403636609.563555, t: 0.107722 -0.055379 -0.389752 q: -0.100488 0.794535 0.080279 0.593440 
time: 1403636609.963556, t: 0.107702 -0.055497 -0.389748 q: -0.100481 0.794622 0.080200 0.593336 
time: 1403636610.363555, t: 0.107641 -0.055591 -0.389767 q: -0.100423 0.794628 0.080077 0.593355 
time: 1403636610.763556, t: 0.110049 -0.053367 -0.389496 q: -0.102999 0.792756 0.080585 0.595345 
time: 1403636611.163555, t: 0.110151 -0.052165 -0.389267 q: -0.104303 0.792551 0.081019 0.595332 
time: 1403636611.563555, t: 0.110159 -0.051955 -0.389484 q: -0.105241 0.792561 0.080812 0.595181 
time: 1403636611.963556, t: 0.110145 -0.051341 -0.389390 q: -0.105869 0.792372 0.080963 0.595301 
time: 1403636612.363555, t: 0.110314 -0.051603 -0.389362 q: -0.104640 0.792232 0.082192 0.595536 
time: 1403636612.763556, t: 0.110320 -0.051255 -0.389411 q: -0.105493 0.792219 0.081541 0.595493 
time: 1403636613.163555, t: 0.110249 -0.050935 -0.389414 q: -0.106381 0.792102 0.080986 0.595565 
time: 1403636613.563555, t: 0.110221 -0.050989 -0.389462 q: -0.106341 0.792056 0.081144 0.595613 
time: 1403636613.963556, t: 0.110227 -0.051027 -0.389488 q: -0.106207 0.792035 0.081251 0.595650 
time: 1403636614.363555, t: 0.110251 -0.051023 -0.389469 q: -0.106098 0.791977 0.081301 0.595739 
time: 1403636614.763556, t: 0.110218 -0.050999 -0.389472 q: -0.106159 0.792041 0.081298 0.595644 
time: 1403636615.163555, t: 0.110228 -0.050960 -0.389480 q: -0.106180 0.792051 0.081279 0.595629 
wait for imu ... 
time: 1403636615.563555, t: 0.110234 -0.050945 -0.389462 q: -0.106185 0.792044 0.081262 0.595640 
time: 1403636615.963556, t: 0.110227 -0.050957 -0.389466 q: -0.106208 0.792043 0.081260 0.595638 
time: 1403636616.363555, t: 0.110235 -0.050958 -0.389480 q: -0.106208 0.792033 0.081241 0.595653 
wait for imu ... 
time: 1403636616.763556, t: 0.110240 -0.050961 -0.389469 q: -0.106200 0.792044 0.081266 0.595637 
time: 1403636617.163555, t: 0.110233 -0.050958 -0.389470 q: -0.106169 0.792038 0.081294 0.595647 
time: 1403636617.563555, t: 0.110232 -0.050948 -0.389455 q: -0.106200 0.792043 0.081264 0.595639 
time: 1403636617.963556, t: 0.110238 -0.050955 -0.389475 q: -0.106199 0.792032 0.081251 0.595656 
time: 1403636618.363555, t: 0.110239 -0.050940 -0.389466 q: -0.106173 0.792025 0.081276 0.595666 
time: 1403636618.763556, t: 0.110198 -0.050915 -0.389466 q: -0.106237 0.791990 0.081220 0.595709 
time: 1403636619.163555, t: 0.110204 -0.050874 -0.389448 q: -0.106288 0.792049 0.081114 0.595636 
time: 1403636619.563555, t: 0.110186 -0.050854 -0.389450 q: -0.106318 0.792035 0.081170 0.595642 
time: 1403636619.963556, t: 0.110210 -0.050916 -0.389471 q: -0.106322 0.791960 0.081291 0.595723 
time: 1403636620.363555, t: 0.110211 -0.050911 -0.389451 q: -0.106145 0.792004 0.081362 0.595687 
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time: 1403636621.963556, t: 0.110241 -0.050922 -0.389388 q: -0.106120 0.791986 0.081375 0.595714 
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time: 1403636622.763556, t: 0.110302 -0.050980 -0.389422 q: -0.106053 0.791952 0.081361 0.595773 
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time: 1403636699.963556, t: 5.261247 -3.663034 -0.778274 q: 0.084643 0.804711 -0.162245 0.564758 
time: 1403636700.363555, t: 5.192202 -3.675638 -0.861618 q: 0.089117 0.802241 -0.178270 0.562750 
time: 1403636700.763556, t: 5.114266 -3.751895 -1.010531 q: 0.126910 0.787393 -0.205538 0.567151 
time: 1403636701.163555, t: 5.024683 -3.843307 -1.091867 q: 0.134859 0.798672 -0.217738 0.544543 
time: 1403636701.563555, t: 4.976524 -3.954589 -1.061696 q: 0.132724 0.796247 -0.204721 0.553593 
time: 1403636701.963556, t: 4.948583 -4.072629 -1.058687 q: 0.143979 0.788365 -0.222413 0.555232 
time: 1403636702.363555, t: 4.911852 -4.197237 -1.134805 q: 0.185022 0.771064 -0.285501 0.538253 
time: 1403636702.763556, t: 4.906479 -4.321693 -1.283770 q: 0.204108 0.773391 -0.299389 0.520165 
time: 1403636703.163555, t: 4.962859 -4.454082 -1.441259 q: 0.196056 0.766405 -0.302314 0.531782 
time: 1403636703.563555, t: 5.020809 -4.609706 -1.491520 q: 0.200519 0.762435 -0.296217 0.539204 
time: 1403636703.963556, t: 5.060999 -4.771173 -1.496772 q: 0.194441 0.762016 -0.294668 0.542858 
time: 1403636704.363555, t: 5.089760 -4.924827 -1.558330 q: 0.190958 0.772575 -0.290454 0.531318 
time: 1403636704.763556, t: 5.144946 -5.098229 -1.570307 q: 0.191379 0.785233 -0.287208 0.514097 
time: 1403636705.163555, t: 5.282596 -5.303281 -1.635305 q: 0.191097 0.788066 -0.281922 0.512790 
time: 1403636705.563555, t: 5.516861 -5.525741 -1.675287 q: 0.195516 0.781976 -0.278024 0.522485 
time: 1403636705.963556, t: 5.806849 -5.740905 -1.736332 q: 0.187261 0.769356 -0.284396 0.540503 
time: 1403636706.363555, t: 6.080087 -5.979218 -1.763002 q: 0.191920 0.769167 -0.274638 0.544172 
time: 1403636706.763556, t: 6.338841 -6.211072 -1.809270 q: 0.196957 0.780062 -0.270699 0.528614 
time: 1403636707.163555, t: 6.641112 -6.419808 -1.786140 q: 0.202718 0.775767 -0.277500 0.529231 
time: 1403636707.563555, t: 6.991667 -6.606065 -1.707804 q: 0.206337 0.775628 -0.285700 0.523643 
time: 1403636707.963556, t: 7.374664 -6.787397 -1.656000 q: 0.189240 0.771679 -0.294292 0.531123 
time: 1403636708.363555, t: 7.749401 -6.983222 -1.738121 q: 0.179743 0.763592 -0.290455 0.547955 
time: 1403636708.763556, t: 8.057694 -7.195957 -1.798830 q: 0.196918 0.761070 -0.280216 0.550886 
time: 1403636709.163555, t: 8.301288 -7.376329 -1.854974 q: 0.222438 0.754982 -0.277214 0.551068 
time: 1403636709.563555, t: 8.548613 -7.473372 -1.852982 q: 0.221279 0.764545 -0.283018 0.535170 
time: 1403636709.963556, t: 8.821018 -7.505918 -1.895083 q: 0.218212 0.767362 -0.278450 0.534794 
time: 1403636710.363555, t: 9.128488 -7.486097 -1.920457 q: 0.199768 0.764892 -0.277975 0.545676 
time: 1403636710.763556, t: 9.425406 -7.440091 -2.029361 q: 0.152451 0.772853 -0.249793 0.563082 
wait for imu ... 
time: 1403636711.163555, t: 9.661948 -7.403161 -2.090242 q: 0.146522 0.792337 -0.176944 0.565176 
time: 1403636711.563555, t: 9.865566 -7.312572 -2.088233 q: 0.140366 0.776514 -0.171143 0.589944 
time: 1403636711.963556, t: 9.987057 -7.139610 -2.055586 q: 0.133500 0.780856 -0.186291 0.581152 
time: 1403636712.363555, t: 10.023261 -6.934210 -1.957823 q: 0.125630 0.786358 -0.167989 0.581067 
time: 1403636712.763556, t: 9.990652 -6.703492 -1.811274 q: 0.104000 0.784384 -0.129937 0.597530 
time: 1403636713.163555, t: 9.876131 -6.443411 -1.727902 q: 0.093472 0.792100 -0.124997 0.590098 
time: 1403636713.563555, t: 9.700851 -6.176247 -1.572363 q: 0.084199 0.797184 -0.132907 0.582876 
optimize pose graph 
time: 1403636713.963556, t: 9.489312 -5.943242 -1.446775 q: 0.078897 0.800336 -0.145571 0.576234 
time: 1403636714.363555, t: 9.258101 -5.765192 -1.401691 q: 0.087611 0.798722 -0.150508 0.575947 
time: 1403636714.763556, t: 9.027587 -5.628055 -1.416736 q: 0.064562 0.818871 -0.119342 0.557710 
time: 1403636715.163555, t: 8.853272 -5.535455 -1.345636 q: 0.026066 0.828474 -0.035389 0.558300 
time: 1403636715.563555, t: 8.745262 -5.456359 -1.275222 q: -0.006492 0.818615 -0.031522 0.573441 
optimize pose graph 
time: 1403636715.963556, t: 8.655873 -5.421346 -1.268551 q: 0.014428 0.799739 -0.025378 0.599637 
time: 1403636716.363555, t: 8.494374 -5.398951 -1.212079 q: 0.015937 0.812653 -0.039376 0.581198 
time: 1403636716.763556, t: 8.314806 -5.388788 -1.225202 q: 0.013426 0.812790 -0.027451 0.581755 
time: 1403636717.163555, t: 8.121958 -5.371919 -1.246723 q: -0.032275 0.813633 0.040747 0.579050 
time: 1403636717.563555, t: 7.916806 -5.349485 -1.221058 q: -0.033024 0.810172 0.083350 0.579295 
time: 1403636717.963556, t: 7.697616 -5.264733 -1.254526 q: -0.042124 0.809036 0.100244 0.577614 
time: 1403636718.363555, t: 7.459858 -5.097923 -1.245662 q: -0.098060 0.804169 0.143640 0.568387 
time: 1403636718.763556, t: 7.227040 -4.916383 -1.316765 q: -0.150130 0.799685 0.172329 0.555218 
time: 1403636719.163555, t: 7.046033 -4.774590 -1.377745 q: -0.139122 0.788357 0.197588 0.565771 
time: 1403636719.563555, t: 6.862444 -4.656081 -1.418159 q: -0.144895 0.783995 0.187471 0.573769 
optimize pose graph 
time: 1403636719.963556, t: 6.649691 -4.577142 -1.450273 q: -0.139047 0.796602 0.178047 0.560705 
time: 1403636720.363555, t: 6.461817 -4.514872 -1.488659 q: -0.137881 0.798527 0.175918 0.558924 
time: 1403636720.763556, t: 6.305690 -4.476877 -1.526660 q: -0.141578 0.798809 0.176441 0.557430 
time: 1403636721.163555, t: 6.183747 -4.473817 -1.536906 q: -0.114428 0.803214 0.134351 0.568950 
time: 1403636721.563555, t: 6.058562 -4.499176 -1.534678 q: -0.083431 0.807351 0.094922 0.576379 
optimize pose graph 
time: 1403636721.963556, t: 5.928784 -4.546650 -1.557666 q: -0.063161 0.809433 0.083065 0.577865 
time: 1403636722.363555, t: 5.786139 -4.574820 -1.560410 q: -0.066073 0.810181 0.087599 0.575819 
time: 1403636722.763556, t: 5.637616 -4.589104 -1.584014 q: -0.053680 0.811417 0.078156 0.576726 
time: 1403636723.163555, t: 5.483209 -4.586174 -1.568247 q: -0.057488 0.811865 0.073304 0.576366 
time: 1403636723.563555, t: 5.330829 -4.572532 -1.563438 q: -0.039312 0.805810 0.058663 0.587948 
time: 1403636723.963556, t: 5.165942 -4.544262 -1.534316 q: -0.028943 0.817458 0.029978 0.574479 
time: 1403636724.363555, t: 4.999192 -4.526101 -1.561343 q: 0.006563 0.823226 -0.014919 0.567480 
time: 1403636724.763556, t: 4.867980 -4.500183 -1.546046 q: 0.034529 0.815270 -0.050112 0.575874 
time: 1403636725.163555, t: 4.759797 -4.456753 -1.409435 q: 0.020866 0.817900 -0.057243 0.572126 
time: 1403636725.563555, t: 4.680886 -4.434140 -1.277490 q: 0.027207 0.819037 -0.050537 0.570863 
time: 1403636725.963556, t: 4.607483 -4.418174 -1.240676 q: 0.024999 0.819023 -0.051042 0.570940 
time: 1403636726.363555, t: 4.546992 -4.401405 -1.265168 q: 0.025825 0.815571 -0.044962 0.576330 
time: 1403636726.763556, t: 4.484403 -4.388518 -1.222450 q: 0.003100 0.810507 -0.054691 0.583162 
time: 1403636727.163555, t: 4.402832 -4.416645 -1.086691 q: 0.019862 0.811457 -0.028768 0.583366 
time: 1403636727.563555, t: 4.301708 -4.424534 -1.000964 q: 0.023753 0.811757 -0.023769 0.583028 
optimize pose graph 
time: 1403636727.963556, t: 4.188047 -4.389453 -0.868967 q: 0.033247 0.812690 -0.018016 0.581468 
time: 1403636728.363555, t: 4.065785 -4.313103 -0.780507 q: 0.023209 0.810617 -0.026645 0.584510 
time: 1403636728.763556, t: 3.912795 -4.221021 -0.758343 q: 0.004758 0.811451 -0.019271 0.584083 
time: 1403636729.163555, t: 3.743595 -4.133686 -0.709287 q: -0.010927 0.807716 0.026291 0.588884 
time: 1403636729.563555, t: 3.541071 -4.033435 -0.703929 q: -0.019769 0.809337 0.031814 0.586149 
time: 1403636729.963556, t: 3.321795 -3.926443 -0.651906 q: -0.020351 0.816265 0.029707 0.576555 
time: 1403636730.363555, t: 3.113960 -3.815018 -0.661594 q: -0.024110 0.818760 0.029094 0.572892 
time: 1403636730.763556, t: 2.951205 -3.707610 -0.653397 q: -0.024492 0.829842 0.030594 0.556620 
time: 1403636731.163555, t: 2.867992 -3.607915 -0.578089 q: -0.048336 0.819851 0.011446 0.570418 
time: 1403636731.563555, t: 2.810911 -3.568161 -0.576671 q: -0.033382 0.815124 0.019644 0.577990 
time: 1403636731.963556, t: 2.757868 -3.569494 -0.642243 q: -0.030230 0.814434 0.023160 0.579005 
time: 1403636732.363555, t: 2.709348 -3.593259 -0.744985 q: -0.027022 0.811394 0.028473 0.583180 
time: 1403636732.763556, t: 2.607508 -3.596459 -0.747273 q: -0.010072 0.800173 0.043168 0.598129 
time: 1403636733.163555, t: 2.423782 -3.538006 -0.718953 q: -0.017412 0.807571 0.040715 0.588105 
time: 1403636733.563555, t: 2.211721 -3.449748 -0.635018 q: -0.025752 0.815423 0.038110 0.577035 
time: 1403636733.963556, t: 2.001543 -3.346963 -0.582063 q: -0.022607 0.817433 0.041758 0.574063 
time: 1403636734.363555, t: 1.797551 -3.232372 -0.554276 q: -0.028377 0.813730 0.038115 0.579297 
time: 1403636734.763556, t: 1.597336 -3.116703 -0.487987 q: -0.031111 0.820296 0.041837 0.569557 
time: 1403636735.163555, t: 1.420308 -3.004850 -0.497194 q: -0.035646 0.820733 0.041761 0.568668 
time: 1403636735.563555, t: 1.287796 -2.897711 -0.434301 q: -0.033841 0.820772 0.031984 0.569355 
time: 1403636735.963556, t: 1.184756 -2.805322 -0.340863 q: -0.027640 0.819665 0.026678 0.571554 
time: 1403636736.363555, t: 1.089196 -2.713738 -0.247616 q: -0.048506 0.812232 0.060159 0.578193 
time: 1403636736.763556, t: 1.012337 -2.632530 -0.202749 q: -0.043910 0.808167 0.087148 0.580813 
time: 1403636737.163555, t: 0.904397 -2.508429 -0.226593 q: -0.062188 0.807969 0.086124 0.579569 
wait for imu ... 
time: 1403636737.563555, t: 0.779738 -2.373451 -0.251898 q: -0.071229 0.814794 0.091242 0.568078 
time: 1403636737.963556, t: 0.685994 -2.265699 -0.178192 q: -0.085073 0.818840 0.081725 0.561769 
time: 1403636738.363555, t: 0.667183 -2.215357 -0.039732 q: -0.074416 0.817214 0.080862 0.565760 
time: 1403636738.763556, t: 0.681053 -2.195894 -0.004104 q: -0.051439 0.821880 0.040212 0.565906 
time: 1403636739.163555, t: 0.701157 -2.227059 -0.070642 q: -0.000077 0.815988 -0.055855 0.575365 
time: 1403636739.563555, t: 0.716798 -2.315610 -0.172471 q: 0.085865 0.806433 -0.132733 0.569803 
time: 1403636739.963556, t: 0.740886 -2.397619 -0.212208 q: 0.100919 0.800784 -0.166852 0.566322 
time: 1403636740.363555, t: 0.765757 -2.482789 -0.312037 q: 0.109163 0.801549 -0.152279 0.567815 
time: 1403636740.763556, t: 0.767559 -2.549992 -0.433720 q: 0.094437 0.803335 -0.152061 0.567989 
time: 1403636741.163555, t: 0.745289 -2.612581 -0.558425 q: 0.117115 0.798515 -0.140985 0.573394 
time: 1403636741.563555, t: 0.703025 -2.631931 -0.743909 q: 0.104156 0.805799 -0.178377 0.554997 
optimize pose graph 
time: 1403636741.963556, t: 0.677217 -2.670079 -0.851275 q: 0.119577 0.804715 -0.164171 0.557837 
time: 1403636742.363555, t: 0.692699 -2.703781 -0.956349 q: 0.103974 0.810597 -0.160278 0.553563 
time: 1403636742.763556, t: 0.743862 -2.739865 -0.988849 q: 0.100935 0.800376 -0.153207 0.570735 
time: 1403636743.163555, t: 0.783908 -2.775265 -1.110506 q: 0.099448 0.812225 -0.168130 0.549667 
time: 1403636743.563555, t: 0.865144 -2.845267 -1.196130 q: 0.103629 0.815378 -0.180348 0.540272 
time: 1403636743.963556, t: 1.013482 -2.949482 -1.313452 q: 0.123800 0.795607 -0.183767 0.563838 
optimize pose graph 
time: 1403636744.363555, t: 1.165450 -3.041537 -1.525404 q: 0.134186 0.784625 -0.208151 0.568359 
time: 1403636744.763556, t: 1.279628 -3.130358 -1.817651 q: 0.127104 0.777912 -0.213889 0.577017 
time: 1403636745.163555, t: 1.329779 -3.230037 -2.062651 q: 0.127942 0.794757 -0.204382 0.556974 
time: 1403636745.563555, t: 1.383842 -3.327768 -2.185438 q: 0.129113 0.788059 -0.188882 0.571503 
time: 1403636745.963556, t: 1.415446 -3.391281 -2.174800 q: 0.152823 0.784595 -0.200674 0.566379 
time: 1403636746.363555, t: 1.453211 -3.389309 -2.075069 q: 0.172329 0.771128 -0.206056 0.577239 
time: 1403636746.763556, t: 1.476185 -3.299100 -2.053107 q: 0.132524 0.800376 -0.224299 0.539931 
time: 1403636747.163555, t: 1.534210 -3.245383 -2.041511 q: 0.133852 0.794058 -0.213683 0.553078 
time: 1403636747.563555, t: 1.634317 -3.223081 -1.941202 q: 0.150357 0.790237 -0.209744 0.555810 
time: 1403636747.963556, t: 1.743611 -3.163669 -1.824112 q: 0.140981 0.784338 -0.228928 0.559043 
time: 1403636748.363555, t: 1.846068 -3.126900 -1.716288 q: 0.147780 0.785124 -0.231143 0.555260 
time: 1403636748.763556, t: 1.938579 -3.118409 -1.617108 q: 0.144921 0.781016 -0.233519 0.560786 
time: 1403636749.163555, t: 2.007703 -3.128194 -1.539664 q: 0.135337 0.773167 -0.252477 0.565820 
time: 1403636749.563555, t: 2.028018 -3.180519 -1.437211 q: 0.169528 0.778273 -0.233928 0.557520 
time: 1403636749.963556, t: 2.042825 -3.212499 -1.350847 q: 0.167811 0.768626 -0.225810 0.574511 
time: 1403636750.363555, t: 2.017605 -3.188195 -1.301932 q: 0.156150 0.778497 -0.219300 0.566981 
time: 1403636750.763556, t: 1.966811 -3.135504 -1.126930 q: 0.148482 0.785221 -0.209017 0.563643 
time: 1403636751.163555, t: 1.906036 -3.055728 -0.882681 q: 0.150024 0.791046 -0.206355 0.556019 
time: 1403636751.563555, t: 1.871692 -2.962078 -0.691896 q: 0.131449 0.787286 -0.221790 0.560100 
time: 1403636751.963556, t: 1.842405 -2.917105 -0.535306 q: 0.120568 0.803287 -0.207128 0.545244 
time: 1403636752.363555, t: 1.850034 -2.933200 -0.395522 q: 0.119432 0.793999 -0.178626 0.568677 
time: 1403636752.763556, t: 1.866905 -2.948198 -0.239608 q: 0.072913 0.808353 -0.109822 0.573749 
time: 1403636753.163555, t: 1.872695 -2.949051 -0.180909 q: 0.029769 0.817751 -0.016687 0.574559 
time: 1403636753.563555, t: 1.880245 -2.904810 -0.197617 q: -0.022204 0.814772 0.048695 0.577306 
time: 1403636753.963556, t: 1.856664 -2.817550 -0.187274 q: -0.030408 0.811887 0.049987 0.580875 
time: 1403636754.363555, t: 1.808140 -2.711335 -0.160131 q: -0.019192 0.804073 0.044431 0.592558 
time: 1403636754.763556, t: 1.708602 -2.566928 -0.113193 q: -0.040827 0.805523 0.076875 0.586136 
time: 1403636755.163555, t: 1.562871 -2.394214 -0.130488 q: -0.067126 0.802762 0.110372 0.582139 
time: 1403636755.563555, t: 1.375937 -2.203155 -0.091490 q: -0.066625 0.816167 0.115343 0.562254 
time: 1403636755.963556, t: 1.213243 -1.983674 -0.077981 q: -0.070243 0.808973 0.107807 0.573590 
optimize pose graph 
time: 1403636756.363555, t: 1.052100 -1.753498 -0.034188 q: -0.071822 0.804954 0.108640 0.578868 
time: 1403636756.763556, t: 0.869266 -1.525438 -0.028776 q: -0.075513 0.802026 0.111375 0.581934 
time: 1403636757.163555, t: 0.647321 -1.312925 0.011179 q: -0.080372 0.802373 0.112106 0.580663 
time: 1403636757.563555, t: 0.394698 -1.108109 0.005962 q: -0.075522 0.808060 0.123072 0.571129 
time: 1403636757.963556, t: 0.161911 -0.869275 0.075013 q: -0.093134 0.820194 0.142816 0.546087 
optimize pose graph 
time: 1403636758.363555, t: -0.013934 -0.610037 0.165462 q: -0.108491 0.800099 0.141184 0.572833 
time: 1403636758.763556, t: -0.168077 -0.381574 0.155627 q: -0.121947 0.820187 0.129282 0.543791 
time: 1403636759.163555, t: -0.226356 -0.216702 0.115808 q: -0.130170 0.801581 0.123388 0.570350 
time: 1403636759.563555, t: -0.246765 -0.160816 0.007935 q: -0.119205 0.798641 0.133903 0.574485 
time: 1403636759.963556, t: -0.289992 -0.156708 -0.046177 q: -0.108076 0.803673 0.144175 0.567135 
time: 1403636760.363555, t: -0.342740 -0.153166 -0.089216 q: -0.110447 0.800906 0.140789 0.571427 
time: 1403636760.763556, t: -0.393426 -0.157780 -0.153634 q: -0.098621 0.807860 0.150970 0.561109 
time: 1403636761.163555, t: -0.449751 -0.133208 -0.210973 q: -0.101356 0.815399 0.151581 0.549431 
time: 1403636761.563555, t: -0.467895 -0.063891 -0.240867 q: -0.104226 0.804813 0.149484 0.564861 
time: 1403636761.963556, t: -0.464268 -0.005308 -0.225984 q: -0.121342 0.802391 0.134290 0.568693 
optimize pose graph 
time: 1403636762.363555, t: -0.466277 0.031374 -0.198108 q: -0.086311 0.815247 0.155234 0.551204 
time: 1403636762.763556, t: -0.432960 0.102543 -0.269537 q: -0.131885 0.804849 0.122976 0.565422 
time: 1403636763.163555, t: -0.456993 0.065951 -0.304108 q: -0.107041 0.792225 0.086361 0.594528 
time: 1403636763.563555, t: -0.469141 0.061917 -0.332015 q: -0.108742 0.801608 0.081609 0.582185 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720465175.879785165]: Shutdown request received.[0m
[33m[ WARN] [1720465175.879826706]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720465175.880856719]: Shutdown request received.[0m
[33m[ WARN] [1720465175.880885499]: Reason given for shutdown: [user request][0m
killed
