/SLAM-Hive/slam_hive_results/mapping_results/2817/2025_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-15.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720465437.578279347]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720465437.580123495]: init begins[0m
[31m[ERROR] [1720465437.581176399]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/d415bf76-3d5c-11ef-87eb-0242ac110005/roslaunch-4989a19ea729-118.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://4989a19ea729:40251/[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://4989a19ea729:11311/[0m
]2;roscore http://4989a19ea729:11311/
[1msetting /run_id to d415bf76-3d5c-11ef-87eb-0242ac110005[0m
[0m[ INFO] [1720465438.734581832]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720465438.738720330]: 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] [1720465438.744860891]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720465438.745039993]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720465438.745063888]: ROW: 240 COL: 376 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1720465438.745241354]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720465438.745504357]: 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 [238][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720465447.738564433]: 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: 316828869.02 
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] [1720465453.155807488]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465453.572393777]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465453.963871064]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465454.340066138]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465454.781502255]: 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!
[0m[ INFO] [1720465457.209967059]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465457.577275913]: 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 ... 
[0m[ INFO] [1720465458.352434488]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465458.758336677]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465459.140860547]: 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] [1720465460.353890029]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465460.773136467]: 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!
[0m[ INFO] [1720465461.947148834]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720465462.747926927]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465463.163061048]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465463.539168819]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465463.959006417]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465464.357275081]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465464.753085025]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465465.151444570]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465465.560887032]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465465.956183440]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465466.380509051]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465466.750540626]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465467.176542126]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465467.565428118]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465467.966446212]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465468.349245771]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465468.764418027]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465469.149403441]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465469.557926002]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465469.962803231]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465470.349595127]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465470.739126824]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465471.148134244]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465471.545692613]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465471.949454374]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465472.352435397]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465472.747953217]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465473.136783360]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465473.552142430]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465473.943371095]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465474.358845338]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465474.735312397]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465475.147838596]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465475.555607426]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465475.952896429]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465476.339729746]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465476.756025344]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465477.135099740]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465477.547995256]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465477.947028333]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465478.349189550]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465478.739577623]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465479.143438126]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465479.546029587]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465479.946981624]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465480.353476344]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465480.751782490]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465481.137388493]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465481.565057670]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465481.949997373]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465482.339793807]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465482.748302216]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465483.137472285]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465483.549287943]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465483.942761543]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465484.359574678]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465484.752274553]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465485.148541844]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465485.556100308]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465485.950231258]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465486.352733976]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465486.749896000]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465487.150885955]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465487.549294613]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465487.950907434]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465488.352889416]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465488.756088445]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465489.153549877]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465489.556552864]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465489.943097723]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465490.350752107]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465490.744602842]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465491.150721389]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465491.544653333]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465491.947902905]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465492.342153693]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465492.750686350]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465493.146756334]: 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!
[0m[ INFO] [1720465494.353346832]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465494.778811736]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465495.158247495]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465495.566271520]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465496.393814048]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465496.752187307]: 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!
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!
[33m[ WARN] [1720465499.221889383]: gyroscope bias initial calibration -0.00755113   0.0196277   0.0790199[0m
[0m[ INFO] [1720465499.256491385]: Initialization finish![0m
time: 1403636629.963556, t: 0.093705 -0.853819 0.311408 q: 0.116419 0.811739 -0.185330 0.541461 
time: 1403636630.363555, t: 0.204468 -1.045738 0.277920 q: 0.141442 0.789145 -0.206075 0.561050 
time: 1403636630.763556, t: 0.302200 -1.296761 0.332571 q: 0.142028 0.798068 -0.193669 0.552637 
time: 1403636631.563555, t: 0.571991 -1.672958 0.272268 q: 0.126374 0.796448 -0.183006 0.562324 
time: 1403636631.963556, t: 0.723092 -1.772969 0.229515 q: 0.126246 0.800438 -0.175345 0.559120 
time: 1403636632.363555, t: 0.877039 -1.895017 0.220743 q: 0.129035 0.797541 -0.173594 0.563155 
time: 1403636632.763556, t: 1.013241 -1.955797 0.143876 q: 0.085843 0.814235 -0.166915 0.549356 
time: 1403636633.163555, t: 1.174247 -2.048141 0.130249 q: 0.063546 0.817273 -0.087757 0.565973 
wait for imu ... 
time: 1403636633.563555, t: 1.370360 -2.157247 0.082457 q: 0.044755 0.824545 -0.085057 0.557573 
time: 1403636633.963556, t: 1.572016 -2.252675 0.062556 q: 0.042860 0.821938 -0.101314 0.558852 
time: 1403636634.363555, t: 1.843436 -2.440028 0.080256 q: 0.051463 0.818753 -0.095197 0.563856 
time: 1403636634.763556, t: 2.142208 -2.652409 0.085976 q: 0.052672 0.813441 -0.072635 0.574686 
time: 1403636635.163555, t: 2.389184 -2.805357 0.111060 q: 0.040366 0.822397 -0.053296 0.564972 
time: 1403636635.563555, t: 2.654917 -2.938063 0.109279 q: 0.024184 0.825826 -0.058901 0.560319 
time: 1403636635.963556, t: 2.921013 -3.081271 0.190611 q: 0.013902 0.819918 -0.071976 0.567769 
time: 1403636636.363555, t: 3.214969 -3.279659 0.310675 q: 0.038472 0.814008 -0.055560 0.576909 
time: 1403636636.763556, t: 3.521363 -3.486208 0.395613 q: 0.061104 0.803918 -0.038956 0.590309 
time: 1403636637.163555, t: 3.719930 -3.589366 0.359590 q: 0.039356 0.813694 -0.048058 0.577966 
time: 1403636637.563555, t: 3.899947 -3.615905 0.354666 q: 0.033235 0.823159 -0.046452 0.564931 
time: 1403636637.963556, t: 4.127021 -3.672370 0.446461 q: 0.030027 0.817726 -0.043174 0.573200 
time: 1403636638.363555, t: 4.313406 -3.694957 0.438331 q: 0.021956 0.816896 -0.044709 0.574630 
time: 1403636638.763556, t: 4.474963 -3.745408 0.379858 q: 0.017549 0.831594 -0.044610 0.553312 
time: 1403636639.163555, t: 4.680728 -3.828330 0.418462 q: -0.003211 0.820761 -0.055935 0.568518 
time: 1403636639.563555, t: 4.923422 -3.984623 0.339732 q: 0.024459 0.821871 -0.034879 0.568078 
time: 1403636639.963556, t: 5.190960 -4.138910 0.266224 q: 0.019702 0.811741 -0.035071 0.582630 
wait for imu ... 
time: 1403636640.363555, t: 5.427695 -4.286707 0.296741 q: 0.007356 0.812659 -0.009682 0.582612 
time: 1403636640.763556, t: 5.633244 -4.434746 0.285051 q: 0.000201 0.814525 0.001169 0.580128 
time: 1403636641.163555, t: 5.800743 -4.548387 0.275896 q: 0.001241 0.815799 0.002428 0.578330 
time: 1403636641.563555, t: 5.914586 -4.627654 0.216610 q: -0.006126 0.814755 -0.005589 0.579746 
time: 1403636641.963556, t: 6.024218 -4.713688 0.216413 q: 0.002484 0.813737 -0.006961 0.581187 
time: 1403636642.763556, t: 6.172389 -4.852761 0.204704 q: 0.031994 0.820014 -0.054841 0.568811 
time: 1403636643.163555, t: 6.244677 -4.927599 0.196330 q: 0.029197 0.816686 -0.057835 0.573434 
time: 1403636643.563555, t: 6.330407 -5.028827 0.189477 q: 0.025380 0.823515 -0.056372 0.563916 
time: 1403636643.963556, t: 6.443816 -5.128166 0.254383 q: 0.026709 0.835650 -0.050563 0.546278 
time: 1403636644.363555, t: 6.650875 -5.251157 0.255562 q: 0.012457 0.819274 -0.061536 0.569955 
time: 1403636644.763556, t: 6.858415 -5.410236 0.160180 q: 0.017398 0.807046 -0.058991 0.587276 
time: 1403636645.163555, t: 7.005982 -5.608553 0.026855 q: 0.030261 0.835005 -0.055656 0.546583 
time: 1403636645.563555, t: 7.214861 -5.802048 -0.010904 q: 0.032719 0.832063 -0.056977 0.550776 
time: 1403636645.963556, t: 7.512316 -5.984582 -0.031930 q: 0.031724 0.826475 -0.060321 0.558832 
time: 1403636646.363555, t: 7.846123 -6.210033 0.040824 q: 0.058934 0.801017 -0.135265 0.580174 
time: 1403636646.763556, t: 8.108585 -6.443882 0.074693 q: 0.118820 0.785727 -0.183015 0.578810 
time: 1403636647.163555, t: 8.321956 -6.663642 0.162065 q: 0.125119 0.792263 -0.190821 0.565909 
time: 1403636647.563555, t: 8.496174 -6.866504 0.189104 q: 0.115123 0.785950 -0.188319 0.577551 
wait for imu ... 
time: 1403636647.963556, t: 8.603916 -7.087342 0.211293 q: 0.127889 0.783166 -0.200044 0.574698 
time: 1403636648.363555, t: 8.623871 -7.316927 0.148000 q: 0.183301 0.760177 -0.276348 0.558716 
time: 1403636648.763556, t: 8.586001 -7.528521 0.054639 q: 0.233268 0.737052 -0.344951 0.532306 
time: 1403636649.163555, t: 8.551970 -7.745946 0.086337 q: 0.241555 0.738008 -0.353784 0.521376 
time: 1403636649.563555, t: 8.560693 -7.976226 0.215326 q: 0.238134 0.738001 -0.340745 0.531545 
time: 1403636649.963556, t: 8.485352 -8.120491 0.388722 q: 0.252879 0.721896 -0.354871 0.537574 
time: 1403636650.363555, t: 8.377986 -8.232317 0.403684 q: 0.283938 0.699899 -0.399336 0.519664 
time: 1403636650.763556, t: 8.235424 -8.295071 0.343416 q: 0.319389 0.672732 -0.463418 0.480277 
wait for imu ... 
time: 1403636651.163555, t: 8.092256 -8.336037 0.363487 q: 0.335954 0.658258 -0.465637 0.486840 
time: 1403636651.563555, t: 7.954357 -8.340824 0.427062 q: 0.324788 0.668816 -0.460678 0.484742 
time: 1403636651.963556, t: 7.800245 -8.311472 0.415520 q: 0.328360 0.644086 -0.478205 0.498652 
time: 1403636652.363555, t: 7.568801 -8.225809 0.328182 q: 0.383857 0.593971 -0.563258 0.427308 
wait for imu ... 
time: 1403636652.763556, t: 7.329687 -8.141506 0.255328 q: -0.398916 -0.563355 0.616098 -0.379370 
wait for imu ... 
time: 1403636653.163555, t: 7.108796 -8.148062 0.282696 q: -0.412589 -0.559501 0.605410 -0.387566 
time: 1403636653.563555, t: 6.917629 -8.230993 0.293419 q: -0.417779 -0.564904 0.584823 -0.405372 
wait for imu ... 
time: 1403636653.963556, t: 6.748567 -8.273182 0.337180 q: -0.419708 -0.565000 0.576047 -0.415680 
wait for imu ... 
time: 1403636654.363555, t: 6.579072 -8.243468 0.319493 q: -0.426006 -0.548431 0.595521 -0.403853 
wait for imu ... 
time: 1403636654.763556, t: 6.411600 -8.170637 0.374094 q: -0.444016 -0.508997 0.641077 -0.364407 
time: 1403636655.163555, t: 6.270230 -8.087283 0.361713 q: -0.466798 -0.486904 0.643598 -0.361670 
time: 1403636655.563555, t: 6.156932 -7.941666 0.319834 q: -0.476717 -0.460436 0.659694 -0.354322 
wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
time: 1403636703.963556, t: 3.471023 -6.432324 -1.214871 q: 0.246018 0.729980 -0.365961 0.522184 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
time: 1403636718.763556, t: 5.557863 -7.048989 -1.058525 q: -0.100857 0.811168 0.103962 0.566591 
time: 1403636719.163555, t: 5.361736 -6.859677 -1.122009 q: -0.089157 0.801856 0.130331 0.576274 
time: 1403636719.563555, t: 5.195243 -6.719444 -1.171417 q: -0.094575 0.796566 0.120830 0.584755 
time: 1403636719.963556, t: 4.985345 -6.599722 -1.198097 q: -0.089979 0.808303 0.110466 0.571269 
wait for imu ... 
time: 1403636720.363555, t: 4.813267 -6.521706 -1.232230 q: -0.089277 0.809992 0.108382 0.569382 
time: 1403636720.763556, t: 4.645388 -6.467336 -1.258595 q: -0.093413 0.810198 0.109158 0.568276 
time: 1403636721.163555, t: 4.543950 -6.470150 -1.279839 q: -0.065825 0.811076 0.067093 0.577339 
time: 1403636721.563555, t: 4.456025 -6.505724 -1.284544 q: -0.034789 0.812014 0.027860 0.581933 
wait for imu ... 
time: 1403636721.963556, t: 4.332520 -6.538608 -1.311773 q: -0.014644 0.813096 0.016133 0.581721 
time: 1403636722.363555, t: 4.186096 -6.541846 -1.312485 q: -0.017788 0.814209 0.020841 0.579925 
time: 1403636722.763556, t: 4.029466 -6.534768 -1.339690 q: -0.005613 0.814664 0.011621 0.579789 
time: 1403636723.163555, t: 3.869527 -6.507642 -1.326682 q: -0.009700 0.814736 0.007078 0.579707 
wait for imu ... 
time: 1403636723.563555, t: 3.730684 -6.477420 -1.326567 q: 0.009134 0.807569 -0.006814 0.589663 
time: 1403636723.963556, t: 3.565631 -6.425944 -1.306554 q: 0.018213 0.816921 -0.036268 0.575319 
time: 1403636724.363555, t: 3.407228 -6.381104 -1.339027 q: 0.052986 0.819091 -0.081475 0.565370 
time: 1403636724.763556, t: 3.299133 -6.330906 -1.331076 q: 0.081566 0.808412 -0.115794 0.571322 
time: 1403636725.163555, t: 3.221638 -6.280235 -1.199256 q: 0.067478 0.810487 -0.123062 0.568695 
time: 1403636725.563555, t: 3.153902 -6.252051 -1.068264 q: 0.073612 0.812086 -0.116343 0.567064 
time: 1403636725.963556, t: 3.091423 -6.226139 -1.034424 q: 0.071385 0.811996 -0.116750 0.567394 
time: 1403636726.363555, t: 3.033000 -6.200399 -1.057915 q: 0.072528 0.809075 -0.110263 0.572695 
time: 1403636726.763556, t: 2.974333 -6.179352 -1.016755 q: 0.050317 0.803301 -0.119378 0.581313 
time: 1403636727.163555, t: 2.885473 -6.188961 -0.873152 q: 0.067071 0.806352 -0.093626 0.580114 
time: 1403636727.563555, t: 2.783765 -6.179927 -0.788825 q: 0.070855 0.807053 -0.088751 0.579455 
time: 1403636727.963556, t: 2.683991 -6.126451 -0.664352 q: 0.080224 0.808440 -0.083147 0.577128 
wait for imu ... 
time: 1403636728.363555, t: 2.596670 -6.042496 -0.588875 q: 0.070273 0.805769 -0.091366 0.580904 
time: 1403636728.763556, t: 2.464792 -5.933597 -0.574627 q: 0.051742 0.807183 -0.084014 0.581996 
time: 1403636729.163555, t: 2.303371 -5.827022 -0.519240 q: 0.036396 0.807030 -0.038303 0.588142 
time: 1403636729.563555, t: 2.113227 -5.693131 -0.512979 q: 0.027481 0.809002 -0.033025 0.586234 
time: 1403636729.963556, t: 1.900905 -5.544203 -0.465347 q: 0.026281 0.815604 -0.035677 0.576911 
wait for imu ... 
time: 1403636730.363555, t: 1.702373 -5.390866 -0.471881 q: 0.022355 0.817990 -0.036633 0.573630 
wait for imu ... 
time: 1403636730.763556, t: 1.552765 -5.256441 -0.464363 q: 0.020722 0.829148 -0.036087 0.557479 
time: 1403636731.163555, t: 1.481294 -5.136785 -0.388399 q: -0.001807 0.817611 -0.054435 0.573190 
time: 1403636731.563555, t: 1.439646 -5.090876 -0.386835 q: 0.013761 0.813543 -0.045957 0.579523 
time: 1403636731.963556, t: 1.382643 -5.081002 -0.450784 q: 0.016997 0.813060 -0.042411 0.580384 
time: 1403636732.363555, t: 1.324926 -5.095934 -0.550720 q: 0.020456 0.810428 -0.036809 0.584322 
time: 1403636732.763556, t: 1.226432 -5.086089 -0.550648 q: 0.038484 0.800487 -0.021148 0.597739 
time: 1403636733.163555, t: 1.056556 -4.998280 -0.525098 q: 0.030377 0.807697 -0.024255 0.588316 
time: 1403636733.563555, t: 0.852402 -4.872284 -0.440498 q: 0.021232 0.815299 -0.027642 0.577990 
time: 1403636733.963556, t: 0.657530 -4.733317 -0.389809 q: 0.024187 0.817628 -0.024265 0.574726 
time: 1403636734.363555, t: 0.480249 -4.582439 -0.363248 q: 0.018936 0.813688 -0.027719 0.580332 
time: 1403636734.763556, t: 0.302127 -4.435023 -0.299245 q: 0.015439 0.820549 -0.024619 0.570837 
time: 1403636735.163555, t: 0.144220 -4.293166 -0.309378 q: 0.010872 0.820987 -0.024913 0.570299 
time: 1403636735.563555, t: 0.030447 -4.159115 -0.245360 q: 0.012831 0.820196 -0.034922 0.570871 
time: 1403636735.963556, t: -0.055501 -4.048005 -0.147824 q: 0.019299 0.818637 -0.040250 0.572574 
time: 1403636736.363555, t: -0.139224 -3.936793 -0.050648 q: -0.000863 0.813913 -0.006333 0.580951 
time: 1403636736.763556, t: -0.211289 -3.838748 -0.005970 q: 0.003914 0.812097 0.020779 0.583139 
time: 1403636737.163555, t: -0.292409 -3.699119 -0.027018 q: -0.014407 0.811823 0.019767 0.583391 
wait for imu ... 
time: 1403636737.563555, t: -0.395118 -3.541089 -0.058649 q: -0.024349 0.819009 0.024377 0.572746 
time: 1403636737.963556, t: -0.479286 -3.410786 0.008111 q: -0.038690 0.822242 0.014645 0.567632 
time: 1403636738.363555, t: -0.517687 -3.352046 0.147455 q: -0.027997 0.820475 0.014053 0.570824 
time: 1403636738.763556, t: -0.493071 -3.347571 0.190960 q: -0.005354 0.821931 -0.026751 0.568933 
wait for imu ... 
time: 1403636739.163555, t: -0.480120 -3.384444 0.130163 q: 0.046462 0.808324 -0.122094 0.574062 
time: 1403636739.563555, t: -0.477746 -3.481619 0.031318 q: 0.131637 0.792633 -0.197959 0.561442 
time: 1403636739.963556, t: -0.461053 -3.580374 -0.010538 q: 0.146338 0.784279 -0.231450 0.556707 
time: 1403636740.363555, t: -0.446568 -3.676536 -0.119353 q: 0.154729 0.786239 -0.216820 0.557563 
wait for imu ... 
time: 1403636740.763556, t: -0.442071 -3.751484 -0.246134 q: 0.140042 0.788131 -0.216446 0.558918 
time: 1403636741.163555, t: -0.466260 -3.814428 -0.375586 q: 0.163135 0.784206 -0.204844 0.562536 
time: 1403636741.563555, t: -0.509404 -3.825873 -0.562792 q: 0.148860 0.788378 -0.242668 0.545356 
time: 1403636741.963556, t: -0.541706 -3.855335 -0.671932 q: 0.164645 0.788361 -0.228369 0.547017 
wait for imu ... 
time: 1403636742.363555, t: -0.535723 -3.885170 -0.773129 q: 0.148823 0.794561 -0.224848 0.544029 
time: 1403636742.763556, t: -0.492117 -3.927356 -0.802337 q: 0.147114 0.784980 -0.216891 0.561357 
time: 1403636743.163555, t: -0.460689 -3.971866 -0.922055 q: 0.143839 0.795615 -0.232818 0.540465 
time: 1403636743.563555, t: -0.396320 -4.053038 -1.005272 q: 0.147308 0.797767 -0.245515 0.530651 
time: 1403636743.963556, t: -0.269030 -4.180626 -1.119875 q: 0.169355 0.777760 -0.247451 0.552427 
time: 1403636744.363555, t: -0.132270 -4.295789 -1.327778 q: 0.180213 0.764815 -0.271023 0.555992 
time: 1403636744.763556, t: -0.034654 -4.400063 -1.619316 q: 0.174019 0.757616 -0.276209 0.565195 
time: 1403636745.163555, t: -0.005025 -4.502835 -1.864475 q: 0.173389 0.775097 -0.268168 0.545204 
time: 1403636745.563555, t: 0.031061 -4.606622 -1.992318 q: 0.175824 0.769618 -0.252260 0.559587 
time: 1403636745.963556, t: 0.052834 -4.675439 -1.985624 q: 0.198972 0.765192 -0.263854 0.552515 
time: 1403636746.363555, t: 0.084890 -4.669420 -1.878791 q: 0.219393 0.751255 -0.268167 0.561756 
time: 1403636746.763556, t: 0.119927 -4.579183 -1.849198 q: 0.176693 0.778957 -0.288812 0.527819 
time: 1403636747.163555, t: 0.189293 -4.538316 -1.837460 q: 0.179053 0.773564 -0.277719 0.540750 
time: 1403636747.563555, t: 0.300643 -4.540268 -1.738192 q: 0.195612 0.770193 -0.273449 0.542000 
time: 1403636747.963556, t: 0.427525 -4.502657 -1.615994 q: 0.186559 0.762840 -0.291907 0.545949 
time: 1403636748.363555, t: 0.539906 -4.485489 -1.506122 q: 0.193093 0.763431 -0.293957 0.541736 
time: 1403636748.763556, t: 0.632122 -4.482202 -1.403396 q: 0.190895 0.758999 -0.295887 0.547659 
time: 1403636749.163555, t: 0.697833 -4.499251 -1.329113 q: 0.181723 0.749565 -0.314091 0.553603 
time: 1403636749.563555, t: 0.701983 -4.551152 -1.231310 q: 0.215065 0.756078 -0.295997 0.542659 
time: 1403636749.963556, t: 0.706251 -4.575734 -1.148491 q: 0.214709 0.747140 -0.286978 0.559755 
wait for imu ... 
time: 1403636750.363555, t: 0.685853 -4.541274 -1.097569 q: 0.202453 0.757594 -0.281256 0.553136 
time: 1403636750.763556, t: 0.646621 -4.485862 -0.913534 q: 0.194320 0.765287 -0.271617 0.550272 
time: 1403636751.163555, t: 0.600441 -4.399744 -0.664936 q: 0.195225 0.771350 -0.269514 0.542465 
time: 1403636751.563555, t: 0.583521 -4.306340 -0.466804 q: 0.176951 0.766385 -0.284605 0.548035 
time: 1403636751.963556, t: 0.560867 -4.254082 -0.304307 q: 0.164950 0.783543 -0.271152 0.534162 
time: 1403636752.363555, t: 0.566112 -4.261940 -0.158571 q: 0.165860 0.776556 -0.241964 0.557588 
time: 1403636752.763556, t: 0.576718 -4.273824 0.000570 q: 0.119901 0.796475 -0.174413 0.566420 
time: 1403636753.163555, t: 0.579904 -4.279680 0.056426 q: 0.076789 0.813456 -0.082238 0.570640 
time: 1403636753.563555, t: 0.588757 -4.232903 0.042418 q: 0.025151 0.815775 -0.016782 0.577578 
time: 1403636753.963556, t: 0.580080 -4.148482 0.062895 q: 0.016957 0.813060 -0.015356 0.581730 
time: 1403636754.363555, t: 0.553260 -4.036022 0.083456 q: 0.029016 0.804831 -0.020301 0.592446 
time: 1403636754.763556, t: 0.481039 -3.877657 0.129916 q: 0.006908 0.808892 0.011873 0.587797 
time: 1403636755.163555, t: 0.362586 -3.679254 0.113174 q: -0.019581 0.808794 0.045473 0.586004 
wait for imu ... 
time: 1403636755.563555, t: 0.207901 -3.457176 0.147303 q: -0.020631 0.822534 0.049334 0.566196 
time: 1403636755.963556, t: 0.083376 -3.202848 0.157286 q: -0.023171 0.814706 0.042332 0.577862 
time: 1403636756.363555, t: -0.028290 -2.940584 0.190551 q: -0.024107 0.810776 0.043446 0.583243 
time: 1403636756.763556, t: -0.158075 -2.679329 0.191978 q: -0.027410 0.808065 0.046413 0.586622 
time: 1403636757.163555, t: -0.336070 -2.433913 0.223747 q: -0.032454 0.808429 0.047179 0.585801 
time: 1403636757.563555, t: -0.553815 -2.187997 0.212861 q: -0.028443 0.814945 0.057642 0.575963 
time: 1403636757.963556, t: -0.746451 -1.911523 0.281261 q: -0.048062 0.828634 0.076358 0.552471 
time: 1403636758.363555, t: -0.883435 -1.621371 0.374645 q: -0.061215 0.808422 0.076347 0.580412 
time: 1403636758.763556, t: -1.003606 -1.366175 0.365777 q: -0.077025 0.827521 0.062808 0.552568 
wait for imu ... 
time: 1403636759.163555, t: -1.046960 -1.193757 0.323577 q: -0.083187 0.808425 0.058363 0.579761 
time: 1403636759.563555, t: -1.062618 -1.132325 0.221915 q: -0.072058 0.806360 0.069092 0.582938 
time: 1403636759.963556, t: -1.086093 -1.148494 0.164732 q: -0.061744 0.812197 0.079025 0.574699 
time: 1403636760.363555, t: -1.133800 -1.134449 0.122687 q: -0.063745 0.809213 0.075929 0.579090 
time: 1403636760.763556, t: -1.185557 -1.133295 0.060416 q: -0.052741 0.817002 0.085587 0.567803 
wait for imu ... 
time: 1403636761.163555, t: -1.241539 -1.104513 0.002387 q: -0.056534 0.824615 0.085673 0.556304 
time: 1403636761.563555, t: -1.243531 -1.035330 -0.021921 q: -0.058161 0.813987 0.084451 0.571762 
time: 1403636761.963556, t: -1.240754 -0.973988 -0.006193 q: -0.074848 0.810298 0.069544 0.577043 
time: 1403636762.363555, t: -1.237185 -0.935792 0.016983 q: -0.041479 0.824843 0.089488 0.556692 
wait for imu ... 
time: 1403636762.763556, t: -1.188109 -0.872975 -0.056481 q: -0.086038 0.811891 0.058340 0.574480 
time: 1403636763.163555, t: -1.212430 -0.906028 -0.086495 q: -0.059054 0.796351 0.022996 0.601506 
time: 1403636763.563555, t: -1.218774 -0.899020 -0.107346 q: -0.061564 0.805437 0.017550 0.589213 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720465636.376268656]: Shutdown request received.[0m
[33m[ WARN] [1720465636.376307971]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720465636.377175717]: Shutdown request received.[0m
[33m[ WARN] [1720465636.377202840]: Reason given for shutdown: [user request][0m
killed
