/SLAM-Hive/slam_hive_results/mapping_results/2816/2024_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-14.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720465207.330590981]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720465207.334051140]: init begins[0m
[31m[ERROR] [1720465207.335190422]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/4ad749f0-3d5c-11ef-ba5b-0242ac110005/roslaunch-8442bb298672-118.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://8442bb298672:37367/[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
[1mROS_MASTER_URI=http://8442bb298672:11311/[0m
]2;roscore http://8442bb298672:11311/
[0m[ INFO] [1720465208.543057317]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720465208.547200194]: Connected to master at [localhost:11311][0m
[1msetting /run_id to 4ad749f0-3d5c-11ef-ba5b-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720465208.572669087]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720465208.573131735]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720465208.573230189]: 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] [1720465208.573788786]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720465208.574491975]: 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 [232][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720465217.426042692]: 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: 316828638.71 
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] [1720465222.839348349]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465223.261907555]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465223.633510282]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465224.043193129]: 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!
[0m[ INFO] [1720465226.906502147]: 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!
wait for imu ... 
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720465228.469449911]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465228.856921590]: 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!
[0m[ INFO] [1720465230.063327000]: 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!
wait for imu ... 
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] [1720465231.639116355]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465232.054316846]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465232.445980362]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465232.831377736]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465233.243487004]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465233.672889045]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465234.041262494]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465234.423619208]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465234.824713728]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465235.240992581]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465235.661526554]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465236.041789429]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465236.443737329]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720465237.250276887]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720465238.064483445]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465238.481528858]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465238.855579309]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465239.277698676]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465239.665558274]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465240.059982548]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465240.476632313]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465241.265684866]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465241.665368621]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465242.047193748]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465242.471041288]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465242.868204830]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465243.656244566]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465244.077489933]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465244.468553834]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465244.829323920]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465245.271338972]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465245.636644665]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720465246.475606420]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720465247.262503113]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465247.670351714]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465248.067859192]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465248.432147264]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465248.860722438]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465249.262210240]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465250.076701622]: 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!
[0m[ INFO] [1720465251.279624613]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720465251.734126939]: gyroscope bias initial calibration -0.0100246 0.00991318  0.0783515[0m
[0m[ INFO] [1720465251.806253700]: Initialization finish![0m
time: 1403636613.163555, t: 0.203066 -0.110975 -0.182248 q: -0.030689 0.795730 -0.004624 0.604856 
time: 1403636613.563555, t: 0.201919 -0.110972 -0.181758 q: -0.030465 0.796152 -0.004587 0.604312 
time: 1403636613.963556, t: 0.202238 -0.111341 -0.182142 q: -0.030248 0.796437 -0.004567 0.603947 
time: 1403636614.363555, t: 0.202764 -0.111784 -0.182705 q: -0.029944 0.796728 -0.004612 0.603578 
time: 1403636614.763556, t: 0.203143 -0.112139 -0.183172 q: -0.029875 0.797095 -0.004672 0.603097 
time: 1403636615.163555, t: 0.202847 -0.112087 -0.183654 q: -0.029748 0.797315 -0.004720 0.602811 
time: 1403636615.563555, t: 0.202925 -0.112224 -0.183877 q: -0.029585 0.797453 -0.004733 0.602637 
time: 1403636615.963556, t: 0.202866 -0.112289 -0.183987 q: -0.029480 0.797630 -0.004749 0.602407 
time: 1403636616.363555, t: 0.202768 -0.112329 -0.184128 q: -0.029352 0.797754 -0.004797 0.602250 
time: 1403636616.763556, t: 0.202406 -0.112279 -0.184207 q: -0.029333 0.797892 -0.004794 0.602068 
time: 1403636617.163555, t: 0.202229 -0.112233 -0.184165 q: -0.029267 0.797969 -0.004773 0.601969 
time: 1403636617.563555, t: 0.202055 -0.112231 -0.184313 q: -0.029168 0.798133 -0.004825 0.601756 
time: 1403636617.963556, t: 0.201963 -0.112367 -0.184537 q: -0.029010 0.798309 -0.004917 0.601529 
time: 1403636618.363555, t: 0.201940 -0.112509 -0.184750 q: -0.028794 0.798455 -0.004941 0.601345 
time: 1403636618.763556, t: 0.201870 -0.112702 -0.184951 q: -0.028681 0.798579 -0.005029 0.601186 
time: 1403636619.163555, t: 0.201983 -0.112969 -0.185106 q: -0.028642 0.798810 -0.005247 0.600878 
time: 1403636619.563555, t: 0.201784 -0.112915 -0.184977 q: -0.028603 0.798898 -0.005369 0.600763 
time: 1403636619.963556, t: 0.201762 -0.113263 -0.185210 q: -0.028398 0.798974 -0.005380 0.600671 
time: 1403636620.363555, t: 0.202023 -0.113671 -0.185464 q: -0.027953 0.799145 -0.005462 0.600463 
wait for imu ... 
time: 1403636620.763556, t: 0.202051 -0.113933 -0.185528 q: -0.027759 0.799328 -0.005580 0.600227 
time: 1403636621.163555, t: 0.202443 -0.114545 -0.185731 q: -0.027075 0.799540 -0.005468 0.599978 
time: 1403636621.563555, t: 0.202990 -0.115086 -0.186011 q: -0.026878 0.799709 -0.005687 0.599759 
time: 1403636621.963556, t: 0.203207 -0.115432 -0.186100 q: -0.026765 0.799882 -0.005850 0.599532 
time: 1403636622.363555, t: 0.202871 -0.114486 -0.185725 q: -0.026882 0.798734 -0.005297 0.601060 
time: 1403636622.763556, t: 0.202492 -0.114048 -0.185074 q: -0.027150 0.798318 -0.005271 0.601601 
time: 1403636623.163555, t: 0.202283 -0.113931 -0.184579 q: -0.027103 0.797940 -0.005540 0.602101 
time: 1403636623.563555, t: 0.202312 -0.113888 -0.184290 q: -0.027171 0.797850 -0.005633 0.602217 
time: 1403636623.963556, t: 0.202122 -0.113863 -0.184095 q: -0.026596 0.798022 -0.006714 0.602004 
time: 1403636624.363555, t: 0.200851 -0.115484 -0.183992 q: -0.023438 0.803160 -0.008225 0.595246 
wait for imu ... 
time: 1403636624.763556, t: 0.175680 -0.143937 -0.183824 q: -0.007577 0.811147 -0.007164 0.584749 
wait for imu ... 
time: 1403636625.163555, t: 0.116982 -0.191513 -0.129491 q: 0.018760 0.835192 0.014458 0.549449 
time: 1403636625.563555, t: 0.109786 -0.195399 -0.091988 q: 0.006815 0.832788 0.010760 0.553446 
time: 1403636625.963556, t: 0.171113 -0.171994 0.004459 q: 0.002635 0.816708 0.012190 0.576917 
time: 1403636626.363555, t: 0.222583 -0.148714 0.152177 q: -0.018358 0.812265 -0.000114 0.582999 
wait for imu ... 
time: 1403636626.763556, t: 0.239523 -0.179287 0.163315 q: -0.006002 0.805617 0.015552 0.592202 
time: 1403636627.163555, t: 0.206580 -0.227027 0.128818 q: -0.007292 0.822097 0.018423 0.569003 
time: 1403636627.563555, t: 0.178272 -0.257859 0.200173 q: -0.008876 0.815638 0.010767 0.578394 
time: 1403636627.963556, t: 0.147291 -0.307818 0.177582 q: 0.019725 0.834497 -0.020808 0.550266 
time: 1403636628.363555, t: 0.186204 -0.353726 0.231902 q: 0.020665 0.812376 -0.041460 0.581291 
time: 1403636628.763556, t: 0.207280 -0.425545 0.284139 q: 0.019006 0.814561 -0.043506 0.578132 
time: 1403636629.163555, t: 0.213451 -0.532748 0.317345 q: 0.043947 0.826093 -0.059039 0.558707 
wait for imu ... 
time: 1403636629.963556, t: 0.295575 -0.833930 0.269432 q: 0.103249 0.818503 -0.162291 0.541344 
time: 1403636630.363555, t: 0.376554 -1.013281 0.250253 q: 0.124905 0.797361 -0.182091 0.561655 
time: 1403636630.763556, t: 0.491867 -1.178531 0.297277 q: 0.123572 0.806847 -0.167286 0.552941 
time: 1403636631.163555, t: 0.725497 -1.319350 0.274050 q: 0.104320 0.807394 -0.160846 0.557997 
time: 1403636631.563555, t: 0.901497 -1.491574 0.218403 q: 0.099683 0.807054 -0.152380 0.561700 
time: 1403636631.963556, t: 1.072118 -1.650310 0.172650 q: 0.097991 0.810271 -0.143961 0.559584 
time: 1403636632.363555, t: 1.227515 -1.771468 0.165009 q: 0.102987 0.806421 -0.143610 0.564319 
time: 1403636632.763556, t: 1.367122 -1.850160 0.095319 q: 0.062978 0.821686 -0.137958 0.549394 
time: 1403636633.163555, t: 1.540852 -1.947091 0.087001 q: 0.041048 0.821374 -0.059603 0.565780 
time: 1403636633.563555, t: 1.727119 -2.037424 0.041987 q: 0.023791 0.828143 -0.057393 0.557063 
time: 1403636633.963556, t: 1.956821 -2.142184 0.017266 q: 0.022115 0.825944 -0.073711 0.558475 
time: 1403636634.363555, t: 2.216781 -2.281292 0.035252 q: 0.030707 0.822335 -0.067714 0.564125 
time: 1403636634.763556, t: 2.489719 -2.437251 0.040022 q: 0.031932 0.815933 -0.045581 0.575462 
time: 1403636635.163555, t: 2.759256 -2.562939 0.055892 q: 0.019614 0.824072 -0.025646 0.565565 
time: 1403636635.563555, t: 3.036409 -2.670386 0.045638 q: 0.002915 0.827630 -0.030760 0.560423 
time: 1403636635.963556, t: 3.326493 -2.799553 0.119383 q: -0.007919 0.822219 -0.043877 0.567422 
time: 1403636636.363555, t: 3.643370 -2.981127 0.242092 q: 0.016910 0.815734 -0.028144 0.577494 
time: 1403636636.763556, t: 3.913599 -3.132856 0.332042 q: 0.039410 0.805105 -0.012221 0.591696 
time: 1403636637.163555, t: 4.128039 -3.220574 0.297244 q: 0.018498 0.815169 -0.021507 0.578528 
time: 1403636637.563555, t: 4.312227 -3.254999 0.276810 q: 0.012834 0.824749 -0.019997 0.564999 
time: 1403636637.963556, t: 4.507001 -3.271286 0.367326 q: 0.009899 0.819249 -0.017379 0.573089 
time: 1403636638.363555, t: 4.693926 -3.276375 0.356129 q: 0.002176 0.818535 -0.019277 0.574129 
time: 1403636638.763556, t: 4.898641 -3.319125 0.296760 q: -0.001009 0.833279 -0.019304 0.552514 
time: 1403636639.163555, t: 5.140712 -3.396595 0.337258 q: -0.021863 0.822926 -0.031555 0.566849 
time: 1403636639.563555, t: 5.403475 -3.535576 0.255307 q: 0.006450 0.823555 -0.011100 0.567091 
time: 1403636639.963556, t: 5.677816 -3.673965 0.176460 q: 0.002065 0.813508 -0.012263 0.581421 
time: 1403636640.363555, t: 5.914649 -3.795869 0.207153 q: -0.009685 0.813719 0.012710 0.581039 
time: 1403636640.763556, t: 6.118280 -3.907040 0.200811 q: -0.016238 0.815200 0.023211 0.578487 
wait for imu ... 
time: 1403636641.163555, t: 6.298695 -4.005216 0.191382 q: -0.015034 0.816358 0.024420 0.576833 
time: 1403636641.563555, t: 6.422849 -4.076607 0.128471 q: -0.022209 0.815612 0.016098 0.577948 
time: 1403636641.963556, t: 6.528915 -4.149521 0.121981 q: -0.013755 0.814673 0.014818 0.579568 
time: 1403636642.363555, t: 6.619523 -4.218873 0.162992 q: 0.005624 0.811686 -0.013174 0.583919 
time: 1403636642.763556, t: 6.672565 -4.279151 0.111284 q: 0.016114 0.822498 -0.033050 0.567578 
time: 1403636643.163555, t: 6.729840 -4.339947 0.108582 q: 0.013352 0.819304 -0.036566 0.572037 
time: 1403636643.563555, t: 6.799450 -4.417419 0.102506 q: 0.010108 0.826012 -0.035371 0.562451 
time: 1403636643.963556, t: 6.917951 -4.505056 0.165650 q: 0.012035 0.837927 -0.029341 0.544859 
time: 1403636644.363555, t: 7.131237 -4.611667 0.163947 q: -0.002856 0.821844 -0.040720 0.568249 
time: 1403636644.763556, t: 7.349739 -4.760354 0.065435 q: 0.001660 0.809578 -0.038508 0.585745 
time: 1403636645.163555, t: 7.513905 -4.941616 -0.076940 q: 0.015806 0.837314 -0.034517 0.545402 
time: 1403636645.563555, t: 7.749049 -5.115208 -0.118902 q: 0.018309 0.834512 -0.035910 0.549513 
time: 1403636645.963556, t: 8.077384 -5.286578 -0.142845 q: 0.016785 0.829141 -0.039177 0.557413 
time: 1403636646.363555, t: 8.428038 -5.480527 -0.078440 q: 0.043634 0.805806 -0.114608 0.579342 
time: 1403636646.763556, t: 8.733421 -5.714712 -0.047547 q: 0.103520 0.791814 -0.162595 0.579549 
time: 1403636647.163555, t: 8.973509 -5.928383 0.041685 q: 0.110203 0.798318 -0.170468 0.566996 
time: 1403636647.563555, t: 9.157428 -6.128789 0.071565 q: 0.099850 0.791701 -0.168548 0.578646 
time: 1403636647.963556, t: 9.247372 -6.334237 0.100001 q: 0.113140 0.788834 -0.180831 0.576403 
time: 1403636648.363555, t: 9.267855 -6.549605 0.038246 q: 0.169080 0.767762 -0.257736 0.561717 
time: 1403636648.763556, t: 9.242582 -6.754991 -0.049299 q: 0.219876 0.746255 -0.326910 0.536551 
wait for imu ... 
time: 1403636649.163555, t: 9.226549 -6.953055 -0.014512 q: 0.228448 0.747513 -0.335769 0.525638 
time: 1403636649.563555, t: 9.241903 -7.084867 0.055383 q: 0.223310 0.747972 -0.321620 0.535939 
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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: 1403636687.963556, t: 4.840515 -4.697543 -1.073605 q: -0.141092 0.790452 0.186903 0.565991 
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: 1403636710.763556, t: 8.044796 -9.113270 -1.841545 q: 0.202405 0.747325 -0.317201 0.547650 
time: 1403636711.163555, t: 8.289435 -9.117316 -1.903389 q: 0.196751 0.773211 -0.246252 0.550266 
time: 1403636711.563555, t: 8.509472 -9.066478 -1.897134 q: 0.192639 0.758005 -0.239030 0.575485 
time: 1403636711.963556, t: 8.673507 -8.921309 -1.862109 q: 0.185037 0.761012 -0.254558 0.567294 
time: 1403636712.363555, t: 8.625751 -8.712594 -1.748930 q: 0.176290 0.767883 -0.236138 0.568786 
time: 1403636712.763556, t: 8.743663 -8.489705 -1.618298 q: 0.157150 0.769518 -0.198830 0.586185 
time: 1403636713.163555, t: 8.675691 -8.212161 -1.537283 q: 0.146027 0.777667 -0.194468 0.579734 
time: 1403636713.563555, t: 8.542331 -7.912789 -1.383544 q: 0.136117 0.782003 -0.202711 0.573456 
time: 1403636713.963556, t: 8.379014 -7.643600 -1.258134 q: 0.130189 0.784035 -0.215620 0.567316 
optimize pose graph 
time: 1403636714.363555, t: 8.177178 -7.429762 -1.211193 q: 0.138676 0.781991 -0.220349 0.566309 
time: 1403636714.763556, t: 7.974986 -7.254397 -1.220561 q: 0.114094 0.804864 -0.191094 0.550145 
time: 1403636715.163555, t: 7.821544 -7.130695 -1.148961 q: 0.075845 0.821896 -0.108293 0.554082 
time: 1403636715.563555, t: 7.732741 -7.034856 -1.079078 q: 0.044730 0.812462 -0.103483 0.572010 
time: 1403636715.963556, t: 7.660696 -6.997779 -1.076169 q: 0.067770 0.794215 -0.095672 0.596218 
time: 1403636716.363555, t: 7.514965 -6.953931 -1.024394 q: 0.067705 0.805867 -0.110742 0.577694 
time: 1403636716.763556, t: 7.342635 -6.915618 -1.035288 q: 0.065219 0.807062 -0.098810 0.578475 
time: 1403636717.163555, t: 7.152510 -6.860351 -1.054714 q: 0.019445 0.813938 -0.030828 0.579808 
time: 1403636717.563555, t: 6.956794 -6.803719 -1.029918 q: 0.018609 0.814261 0.012098 0.580075 
time: 1403636717.963556, t: 6.761330 -6.688099 -1.069775 q: 0.009210 0.814567 0.029236 0.579260 
time: 1403636718.363555, t: 6.549219 -6.480735 -1.061886 q: -0.047475 0.813498 0.073110 0.574998 
time: 1403636718.763556, t: 6.338364 -6.258142 -1.133250 q: -0.100641 0.811514 0.102214 0.566453 
time: 1403636719.163555, t: 6.170072 -6.086553 -1.192350 q: -0.088867 0.802340 0.128364 0.576086 
time: 1403636719.563555, t: 5.990217 -5.930201 -1.230218 q: -0.093898 0.797037 0.118554 0.584689 
time: 1403636719.963556, t: 5.810887 -5.821768 -1.262959 q: -0.089094 0.808865 0.107759 0.571128 
time: 1403636720.363555, t: 5.647488 -5.730565 -1.297814 q: -0.087947 0.810651 0.105318 0.569226 
time: 1403636720.763556, t: 5.514959 -5.676473 -1.334262 q: -0.091870 0.810962 0.105841 0.568066 
time: 1403636721.163555, t: 5.401224 -5.658661 -1.344464 q: -0.063951 0.811634 0.063550 0.577167 
time: 1403636721.563555, t: 5.275991 -5.665468 -1.342467 q: -0.032474 0.812325 0.023962 0.581807 
time: 1403636721.963556, t: 5.137349 -5.684188 -1.371479 q: -0.012131 0.813373 0.011973 0.581493 
time: 1403636722.363555, t: 4.995368 -5.686000 -1.375351 q: -0.015213 0.814519 0.016480 0.579704 
time: 1403636722.763556, t: 4.847827 -5.676263 -1.399509 q: -0.002940 0.814936 0.007093 0.579500 
time: 1403636723.163555, t: 4.692599 -5.645138 -1.384613 q: -0.006881 0.814979 0.002223 0.579445 
time: 1403636723.563555, t: 4.547061 -5.604649 -1.379183 q: 0.012281 0.807715 -0.011880 0.589325 
time: 1403636723.963556, t: 4.392387 -5.548418 -1.348688 q: 0.021461 0.816860 -0.041499 0.574941 
time: 1403636724.363555, t: 4.240294 -5.499601 -1.377877 q: 0.056314 0.818735 -0.086824 0.564768 
time: 1403636724.763556, t: 4.115805 -5.451374 -1.363705 q: 0.084972 0.807718 -0.121228 0.570679 
time: 1403636725.163555, t: 4.015862 -5.392156 -1.226106 q: 0.071001 0.809741 -0.128536 0.568117 
time: 1403636725.563555, t: 3.940781 -5.361301 -1.096201 q: 0.077041 0.811472 -0.121751 0.566352 
time: 1403636725.963556, t: 3.872680 -5.338213 -1.061607 q: 0.074714 0.811395 -0.122130 0.566692 
time: 1403636726.363555, t: 3.821905 -5.316196 -1.087894 q: 0.075934 0.808503 -0.115547 0.572019 
time: 1403636726.763556, t: 3.771000 -5.296708 -1.047136 q: 0.053853 0.802661 -0.124730 0.580756 
time: 1403636727.163555, t: 3.679404 -5.308704 -0.909032 q: 0.070547 0.805849 -0.098757 0.579549 
wait for imu ... 
time: 1403636727.563555, t: 3.584106 -5.301528 -0.823964 q: 0.074262 0.806604 -0.093738 0.578868 
time: 1403636727.963556, t: 3.478510 -5.249424 -0.696941 q: 0.083485 0.807999 -0.088056 0.576553 
time: 1403636728.363555, t: 3.378051 -5.150453 -0.615264 q: 0.073806 0.805197 -0.096372 0.580450 
time: 1403636728.763556, t: 3.242852 -5.038503 -0.596198 q: 0.055223 0.806654 -0.088986 0.581672 
time: 1403636729.163555, t: 3.091564 -4.925035 -0.550056 q: 0.039991 0.806844 -0.043291 0.587818 
time: 1403636729.563555, t: 2.901692 -4.787303 -0.544471 q: 0.031041 0.808872 -0.038040 0.585931 
time: 1403636729.963556, t: 2.695147 -4.640853 -0.491351 q: 0.029670 0.815530 -0.040825 0.576510 
time: 1403636730.363555, t: 2.496646 -4.489054 -0.494495 q: 0.025672 0.817938 -0.041615 0.573224 
time: 1403636730.763556, t: 2.345303 -4.352158 -0.483720 q: 0.023926 0.829101 -0.041051 0.557076 
time: 1403636731.163555, t: 2.283691 -4.241721 -0.407497 q: 0.001355 0.817522 -0.059215 0.572843 
time: 1403636731.563555, t: 2.244520 -4.198887 -0.407526 q: 0.016831 0.813568 -0.050434 0.579033 
time: 1403636731.963556, t: 2.199364 -4.199852 -0.474347 q: 0.019895 0.813182 -0.046589 0.579800 
time: 1403636732.363555, t: 2.149149 -4.218063 -0.576589 q: 0.023291 0.810624 -0.040685 0.583687 
time: 1403636732.763556, t: 2.051030 -4.206766 -0.577748 q: 0.041386 0.800704 -0.025062 0.597104 
time: 1403636733.163555, t: 1.882372 -4.120070 -0.550146 q: 0.033175 0.807883 -0.028073 0.587738 
time: 1403636733.563555, t: 1.673330 -3.995090 -0.465164 q: 0.023830 0.815478 -0.031223 0.577454 
time: 1403636733.963556, t: 1.484053 -3.861660 -0.409459 q: 0.026594 0.817830 -0.027594 0.574182 
time: 1403636734.363555, t: 1.302207 -3.710177 -0.379810 q: 0.021336 0.813860 -0.030923 0.579845 
time: 1403636734.763556, t: 1.124491 -3.556751 -0.314591 q: 0.017860 0.820718 -0.027801 0.570376 
time: 1403636735.163555, t: 0.967271 -3.411999 -0.325400 q: 0.013313 0.821146 -0.027944 0.569878 
time: 1403636735.563555, t: 0.856778 -3.282643 -0.263823 q: 0.015170 0.820315 -0.037725 0.570465 
time: 1403636735.963556, t: 0.774791 -3.174329 -0.170298 q: 0.021561 0.818755 -0.042868 0.572134 
time: 1403636736.363555, t: 0.709117 -3.069027 -0.081083 q: 0.001350 0.814218 -0.008752 0.580491 
time: 1403636736.763556, t: 0.648207 -2.972911 -0.036769 q: 0.006052 0.812460 0.018548 0.582691 
time: 1403636737.163555, t: 0.563569 -2.839746 -0.060325 q: -0.012439 0.812169 0.017624 0.583023 
time: 1403636737.563555, t: 0.459035 -2.693358 -0.089859 q: -0.022558 0.819367 0.022326 0.572390 
time: 1403636737.963556, t: 0.376444 -2.570294 -0.021411 q: -0.036918 0.822580 0.012596 0.567310 
time: 1403636738.363555, t: 0.346957 -2.510468 0.118023 q: -0.026076 0.820831 0.012040 0.570449 
time: 1403636738.763556, t: 0.368309 -2.494007 0.154733 q: -0.003201 0.822074 -0.028703 0.568648 
time: 1403636739.163555, t: 0.384287 -2.529762 0.090144 q: 0.048668 0.808157 -0.123861 0.573735 
wait for imu ... 
time: 1403636739.563555, t: 0.384051 -2.619638 -0.008088 q: 0.133765 0.792227 -0.199564 0.560943 
time: 1403636739.963556, t: 0.394986 -2.708109 -0.047182 q: 0.148379 0.783777 -0.233035 0.556212 
time: 1403636740.363555, t: 0.414897 -2.800118 -0.146519 q: 0.156644 0.785837 -0.218552 0.556919 
time: 1403636740.763556, t: 0.410690 -2.867014 -0.270437 q: 0.141929 0.787637 -0.218398 0.558379 
time: 1403636741.163555, t: 0.382097 -2.928420 -0.392610 q: 0.164839 0.783793 -0.206799 0.561899 
time: 1403636741.563555, t: 0.339817 -2.941457 -0.574952 q: 0.150386 0.787893 -0.244685 0.544737 
time: 1403636741.963556, t: 0.309482 -2.975123 -0.682669 q: 0.166041 0.787934 -0.230504 0.546314 
optimize pose graph 
time: 1403636742.363555, t: 0.316295 -3.007727 -0.786749 q: 0.150182 0.794098 -0.227098 0.543397 
time: 1403636742.763556, t: 0.359679 -3.051516 -0.817250 q: 0.148532 0.784522 -0.219138 0.560750 
time: 1403636743.163555, t: 0.391876 -3.094510 -0.937233 q: 0.145224 0.795112 -0.235040 0.539874 
time: 1403636743.563555, t: 0.457850 -3.176173 -1.020066 q: 0.148634 0.797227 -0.247598 0.530124 
time: 1403636743.963556, t: 0.584078 -3.303939 -1.133205 q: 0.170667 0.777235 -0.249453 0.551862 
time: 1403636744.363555, t: 0.719718 -3.423072 -1.344532 q: 0.181370 0.764275 -0.272893 0.555445 
time: 1403636744.763556, t: 0.817861 -3.529872 -1.635717 q: 0.175097 0.757102 -0.278003 0.564670 
time: 1403636745.163555, t: 0.848606 -3.632172 -1.874624 q: 0.174378 0.774650 -0.269947 0.544646 
time: 1403636745.563555, t: 0.884363 -3.738705 -1.996566 q: 0.176705 0.769273 -0.253877 0.559053 
time: 1403636745.963556, t: 0.904012 -3.807798 -1.989123 q: 0.199887 0.764828 -0.265325 0.551983 
time: 1403636746.363555, t: 0.941738 -3.813783 -1.885571 q: 0.220189 0.750961 -0.269670 0.561118 
time: 1403636746.763556, t: 0.983225 -3.733447 -1.861474 q: 0.177355 0.778638 -0.290418 0.527187 
time: 1403636747.163555, t: 1.048629 -3.693115 -1.849793 q: 0.179703 0.773244 -0.279392 0.540130 
time: 1403636747.563555, t: 1.152237 -3.693455 -1.742966 q: 0.196271 0.769852 -0.275168 0.541376 
time: 1403636747.963556, t: 1.275803 -3.654946 -1.625326 q: 0.187270 0.762399 -0.293805 0.545304 
time: 1403636748.363555, t: 1.383888 -3.636103 -1.518113 q: 0.193824 0.762932 -0.296082 0.541019 
time: 1403636748.763556, t: 1.479626 -3.638052 -1.422529 q: 0.191629 0.758498 -0.298261 0.546809 
time: 1403636749.163555, t: 1.545779 -3.657081 -1.345597 q: 0.182536 0.748997 -0.316545 0.552706 
time: 1403636749.563555, t: 1.551759 -3.709195 -1.243857 q: 0.215979 0.755546 -0.298532 0.541647 
time: 1403636749.963556, t: 1.558439 -3.737427 -1.158451 q: 0.215792 0.746568 -0.289653 0.558723 
time: 1403636750.363555, t: 1.537366 -3.710126 -1.109396 q: 0.203471 0.757037 -0.283929 0.552158 
time: 1403636750.763556, t: 1.498448 -3.651767 -0.931720 q: 0.195514 0.764714 -0.274221 0.549354 
time: 1403636751.163555, t: 1.455394 -3.564364 -0.683564 q: 0.196386 0.770805 -0.272042 0.541558 
time: 1403636751.563555, t: 1.438094 -3.468282 -0.493540 q: 0.178167 0.765765 -0.287097 0.547207 
time: 1403636751.963556, t: 1.413987 -3.412415 -0.334988 q: 0.166170 0.782920 -0.273657 0.533419 
time: 1403636752.363555, t: 1.417948 -3.422051 -0.190800 q: 0.167098 0.775989 -0.244451 0.556923 
wait for imu ... 
time: 1403636752.763556, t: 1.431064 -3.439481 -0.035085 q: 0.121088 0.796090 -0.177084 0.565879 
time: 1403636753.163555, t: 1.437272 -3.444302 0.024826 q: 0.078090 0.813289 -0.085135 0.570276 
time: 1403636753.563555, t: 1.447322 -3.399087 0.013427 q: 0.026549 0.815764 -0.019832 0.577435 
time: 1403636753.963556, t: 1.437808 -3.314538 0.026748 q: 0.018563 0.813005 -0.018406 0.581669 
time: 1403636754.363555, t: 1.409346 -3.203540 0.046970 q: 0.030745 0.804732 -0.023359 0.592382 
time: 1403636754.763556, t: 1.326083 -3.043022 0.097321 q: 0.008573 0.808843 0.008868 0.587896 
time: 1403636755.163555, t: 1.201200 -2.843664 0.081758 q: -0.017927 0.808866 0.042564 0.586176 
time: 1403636755.563555, t: 1.042283 -2.621884 0.122973 q: -0.019130 0.822663 0.046463 0.566304 
time: 1403636755.963556, t: 0.918104 -2.374489 0.133697 q: -0.021692 0.814888 0.039536 0.577862 
time: 1403636756.363555, t: 0.799380 -2.113309 0.172433 q: -0.022629 0.810975 0.040735 0.583222 
time: 1403636756.763556, t: 0.659568 -1.853026 0.177414 q: -0.026042 0.808333 0.043688 0.586525 
time: 1403636757.163555, t: 0.475003 -1.599852 0.216180 q: -0.031015 0.808751 0.044371 0.585654 
time: 1403636757.563555, t: 0.264940 -1.352083 0.206285 q: -0.026971 0.815374 0.054779 0.575706 
time: 1403636757.963556, t: 0.068851 -1.070749 0.277518 q: -0.046644 0.829117 0.073367 0.552274 
time: 1403636758.363555, t: -0.067840 -0.775207 0.368937 q: -0.059641 0.808934 0.073341 0.580250 
time: 1403636758.763556, t: -0.186792 -0.515721 0.356380 q: -0.075544 0.827926 0.059750 0.552505 
time: 1403636759.163555, t: -0.215645 -0.337234 0.306379 q: -0.081554 0.808842 0.055434 0.579699 
time: 1403636759.563555, t: -0.221171 -0.280282 0.198472 q: -0.070462 0.806799 0.066200 0.582862 
time: 1403636759.963556, t: -0.257694 -0.285661 0.140602 q: -0.060179 0.812611 0.076165 0.574666 
time: 1403636760.363555, t: -0.318622 -0.279268 0.096765 q: -0.062187 0.809509 0.073217 0.579196 
time: 1403636760.763556, t: -0.375158 -0.278645 0.032011 q: -0.051186 0.817316 0.082966 0.567884 
time: 1403636761.163555, t: -0.432480 -0.248288 -0.027754 q: -0.054980 0.824841 0.083056 0.556521 
time: 1403636761.563555, t: -0.438540 -0.178984 -0.057120 q: -0.056510 0.814143 0.081970 0.572066 
time: 1403636761.963556, t: -0.409143 -0.120623 -0.034928 q: -0.073196 0.810542 0.067129 0.577198 
time: 1403636762.363555, t: -0.398931 -0.083027 -0.007454 q: -0.039881 0.825092 0.086913 0.556848 
time: 1403636762.763556, t: -0.351134 -0.018475 -0.078030 q: -0.084234 0.812029 0.055573 0.574826 
time: 1403636763.163555, t: -0.375149 -0.051808 -0.109154 q: -0.057103 0.796467 0.020115 0.601643 
time: 1403636763.563555, t: -0.382278 -0.050639 -0.128762 q: -0.059706 0.805547 0.014587 0.589336 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720465406.020088872]: Shutdown request received.[0m
[33m[ WARN] [1720465406.020132434]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720465406.021028355]: Shutdown request received.[0m
[33m[ WARN] [1720465406.021061863]: Reason given for shutdown: [user request][0m
killed
