/SLAM-Hive/slam_hive_results/mapping_results/2818/2026_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-16.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720465667.699356186]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720465667.700668413]: init begins[0m
[31m[ERROR] [1720465667.701652479]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/5d3edf80-3d5d-11ef-851f-0242ac110005/roslaunch-23e8c1539f7e-117.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://23e8c1539f7e:41285/[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 [154][0m
[0m[ INFO] [1720465668.856833375]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720465668.857375343]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[1mROS_MASTER_URI=http://23e8c1539f7e:11311/[0m
]2;roscore http://23e8c1539f7e:11311/
result path /home/output/vio.csv
[33m[ WARN] [1720465668.864111688]:  fix extrinsic param [0m
camera number 1
[1msetting /run_id to 5d3edf80-3d5d-11ef-851f-0242ac110005[0m
[0m[ INFO] [1720465668.864315390]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720465668.864345630]: ROW: 192 COL: 300 [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] [1720465668.864546955]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720465668.864834369]: 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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720465677.857797402]: 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: 316829099.15 
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] [1720465683.269036225]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465683.668528362]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465684.078802851]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465684.468201391]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465684.867586062]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465685.271215906]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465685.687958613]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465686.100100906]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465686.469362586]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465686.906312655]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465687.285557633]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465687.682474494]: 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!
[0m[ INFO] [1720465688.467834527]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465688.867651183]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465689.269261240]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465689.694282515]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465690.072424523]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465690.470707920]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465690.888082573]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465691.278132188]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465691.662809642]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465692.068272568]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720465692.862525352]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465693.264440689]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465693.667606550]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465694.065868661]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465694.464890557]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465694.857513260]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465695.268143315]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465695.676544274]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465696.057287320]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465696.466245614]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465696.860456963]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465697.278845369]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465697.682025841]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465698.080703500]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465698.467503995]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465698.883008771]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465699.267285512]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465699.671631784]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720465700.465012352]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465700.866721167]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465701.260756602]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465701.667857057]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465702.065301926]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465702.464571781]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465703.264049916]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465703.662141526]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465704.064130312]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465704.472020067]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465704.863918211]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465705.262685865]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465705.678441330]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465706.068109506]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465706.464912337]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465706.868321252]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465707.262640529]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465707.664173595]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465708.062462862]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465708.462956922]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465708.861554857]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465709.263614137]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465709.665526538]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465710.054900628]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465710.473084065]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465710.874760940]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465711.266937021]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465712.086202706]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465712.459161595]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465712.870023464]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465713.266386974]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465713.671249296]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465714.076930529]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465714.470323157]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465714.863113908]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465715.268104207]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465715.676045118]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465716.083760354]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465716.474162608]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465716.862385287]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465717.278137890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465717.685666298]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465718.065649367]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465718.457791624]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465718.869825134]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465719.272201061]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465719.670765532]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465720.055291820]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465720.464219198]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465720.864453042]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465721.265066448]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465722.064425551]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465722.461843376]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465722.858650749]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465723.669778057]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465724.065392471]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465724.463317148]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465724.875873760]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465725.268817222]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465725.660615606]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465726.068447194]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720465726.468967092]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465726.877880739]: Not enough features or parallax; Move device around[0m
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!
[0m[ INFO] [1720465728.088839532]: 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] [1720465728.930311322]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465729.683888601]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465730.094382107]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720465730.484160007]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720465730.918216666]: gyroscope bias initial calibration -0.00422511   0.0219319   0.0780841[0m
[0m[ INFO] [1720465730.946076636]: Initialization finish![0m
time: 1403636631.563555, t: 0.668504 -1.361324 0.035651 q: 0.130050 0.795945 -0.179976 0.563176 
time: 1403636631.963556, t: 0.771652 -1.502701 -0.004666 q: 0.131390 0.799288 -0.172810 0.560368 
time: 1403636632.363555, t: 0.944930 -1.666961 -0.002083 q: 0.136458 0.796050 -0.172023 0.563997 
time: 1403636632.763556, t: 1.054824 -1.719744 -0.064621 q: 0.094359 0.812619 -0.166223 0.550560 
time: 1403636633.163555, t: 1.232616 -1.845646 -0.069073 q: 0.072375 0.816033 -0.086840 0.566843 
time: 1403636633.563555, t: 1.449804 -1.981376 -0.112443 q: 0.054315 0.823072 -0.084393 0.559000 
time: 1403636633.963556, t: 1.727664 -2.128459 -0.137440 q: 0.052971 0.820236 -0.100474 0.560635 
time: 1403636634.363555, t: 1.996680 -2.290708 -0.116210 q: 0.061546 0.816789 -0.094143 0.565867 
time: 1403636634.763556, t: 2.226011 -2.448012 -0.107059 q: 0.063107 0.811165 -0.071821 0.576949 
time: 1403636635.163555, t: 2.497180 -2.594945 -0.086164 q: 0.051493 0.820165 -0.053022 0.567333 
time: 1403636635.563555, t: 2.771115 -2.722927 -0.086592 q: 0.034954 0.823496 -0.058572 0.563206 
time: 1403636635.963556, t: 3.088609 -2.880446 -0.008245 q: 0.024156 0.817508 -0.071459 0.570956 
time: 1403636636.363555, t: 3.391935 -3.084770 0.117741 q: 0.048587 0.811203 -0.055144 0.580128 
time: 1403636636.763556, t: 3.661911 -3.267032 0.204339 q: 0.070569 0.800706 -0.038441 0.593643 
time: 1403636637.163555, t: 3.856040 -3.353007 0.168960 q: 0.048557 0.810599 -0.047433 0.581654 
time: 1403636637.563555, t: 3.982870 -3.389555 0.149607 q: 0.041497 0.820258 -0.045934 0.568634 
wait for imu ... 
time: 1403636637.963556, t: 4.152410 -3.451753 0.242820 q: 0.037347 0.814909 -0.042282 0.576837 
time: 1403636638.363555, t: 4.318871 -3.477854 0.232845 q: 0.029220 0.814186 -0.043790 0.578212 
time: 1403636638.763556, t: 4.481084 -3.523200 0.171634 q: 0.025025 0.829008 -0.044030 0.556939 
time: 1403636639.163555, t: 4.688259 -3.618208 0.218722 q: 0.003828 0.818226 -0.055133 0.572234 
time: 1403636639.563555, t: 4.974064 -3.781734 0.144553 q: 0.031840 0.819340 -0.034517 0.571381 
time: 1403636639.963556, t: 5.167183 -3.926396 0.057684 q: 0.027419 0.808941 -0.034864 0.586214 
time: 1403636640.363555, t: 5.371186 -4.064253 0.094599 q: 0.015669 0.810060 -0.009854 0.586055 
time: 1403636640.763556, t: 5.554742 -4.187937 0.092927 q: 0.009414 0.811958 0.000330 0.583640 
wait for imu ... 
time: 1403636641.163555, t: 5.735511 -4.297768 0.098115 q: 0.010679 0.813207 0.001458 0.581875 
time: 1403636641.563555, t: 5.883159 -4.390193 0.027378 q: 0.003627 0.812275 -0.006822 0.583224 
time: 1403636641.963556, t: 5.991798 -4.476494 0.015764 q: 0.012254 0.811246 -0.008181 0.584520 
time: 1403636642.363555, t: 6.084695 -4.552688 0.052680 q: 0.031895 0.807257 -0.036177 0.588226 
time: 1403636642.763556, t: 6.125874 -4.615110 0.000992 q: 0.042083 0.817531 -0.056441 0.571565 
time: 1403636643.563555, t: 6.255875 -4.766209 -0.009743 q: 0.036114 0.821409 -0.058392 0.566192 
time: 1403636643.963556, t: 6.367093 -4.873476 0.048587 q: 0.037756 0.833742 -0.053224 0.548285 
time: 1403636644.363555, t: 6.564771 -4.992719 0.050821 q: 0.023862 0.817396 -0.064172 0.571994 
time: 1403636644.763556, t: 6.775412 -5.163054 -0.035902 q: 0.028772 0.805170 -0.061368 0.589158 
time: 1403636645.163555, t: 6.926763 -5.358483 -0.159488 q: 0.041610 0.833145 -0.058689 0.548356 
time: 1403636645.963556, t: 7.418155 -5.716164 -0.200080 q: 0.043101 0.824666 -0.063307 0.560411 
time: 1403636646.363555, t: 7.749306 -5.938118 -0.125162 q: 0.069953 0.798362 -0.137649 0.582045 
time: 1403636646.763556, t: 8.003052 -6.186443 -0.083827 q: 0.129109 0.782218 -0.185258 0.580642 
time: 1403636647.163555, t: 8.200000 -6.410423 0.010789 q: 0.134880 0.788714 -0.193084 0.567852 
wait for imu ... 
time: 1403636647.563555, t: 8.407563 -6.632305 0.029448 q: 0.123549 0.783078 -0.189704 0.579255 
time: 1403636647.963556, t: 8.558991 -6.859153 0.065048 q: 0.134937 0.780971 -0.200656 0.575859 
time: 1403636648.363555, t: 8.604622 -7.089713 0.005829 q: 0.188655 0.758133 -0.276151 0.559807 
time: 1403636648.763556, t: 8.603752 -7.309045 -0.096286 q: 0.237263 0.735183 -0.344096 0.533676 
time: 1403636649.163555, t: 8.587964 -7.528196 -0.067080 q: 0.244909 0.736404 -0.352760 0.522771 
time: 1403636649.563555, t: 8.575775 -7.740294 0.077398 q: 0.241357 0.736388 -0.339734 0.532973 
time: 1403636649.963556, t: 8.524026 -7.894711 0.228865 q: 0.254711 0.721143 -0.352969 0.538968 
time: 1403636650.363555, t: 8.404559 -7.978742 0.253944 q: 0.285988 0.699179 -0.397856 0.520644 
wait for imu ... 
time: 1403636650.763556, t: 8.252110 -8.042987 0.202659 q: 0.320996 0.672289 -0.462004 0.481188 
time: 1403636651.163555, t: 8.129163 -8.094509 0.212243 q: 0.336940 0.658328 -0.464035 0.487592 
time: 1403636651.563555, t: 8.003628 -8.090834 0.271510 q: 0.325567 0.669155 -0.458995 0.485346 
time: 1403636651.963556, t: 7.855284 -8.069139 0.255990 q: 0.329159 0.644417 -0.476665 0.499171 
time: 1403636652.363555, t: 7.627063 -7.987109 0.167484 q: 0.384689 0.594256 -0.561921 0.427924 
time: 1403636652.763556, t: 7.399946 -7.897776 0.089110 q: -0.399674 -0.563758 0.614883 -0.379942 
time: 1403636653.163555, t: 7.156742 -7.894547 0.113866 q: -0.413920 -0.559197 0.604566 -0.387904 
time: 1403636653.563555, t: 6.934893 -7.958525 0.113742 q: -0.419610 -0.564090 0.584204 -0.405507 
time: 1403636653.963556, t: 6.779713 -8.014830 0.160662 q: -0.420931 -0.564794 0.575160 -0.415953 
time: 1403636654.363555, t: 6.633130 -8.003296 0.141179 q: -0.426883 -0.548587 0.594492 -0.404231 
time: 1403636655.563555, t: 6.272324 -7.739438 0.145061 q: -0.477222 -0.461089 0.658500 -0.355014 
time: 1403636655.963556, t: 6.146396 -7.538713 0.071058 q: -0.474035 -0.420807 0.706105 -0.315640 
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time: 1403636657.163555, t: 5.613845 -7.035698 0.044695 q: 0.510582 0.393939 -0.698083 0.311125 
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time: 1403636658.763556, t: 4.652142 -6.093927 -0.155925 q: 0.501123 0.407514 -0.715948 0.265005 
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wait for imu ... 
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wait for imu ... 
time: 1403636661.563555, t: 4.119565 -5.834176 -0.978883 q: 0.516626 0.392921 -0.708044 0.278181 
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time: 1403636665.163555, t: 5.081556 -6.671982 -1.344192 q: -0.489625 -0.425759 0.703389 -0.290241 
time: 1403636665.563555, t: 5.315197 -6.890438 -1.277556 q: -0.496478 -0.425806 0.698511 -0.290312 
time: 1403636665.963556, t: 5.537027 -7.117715 -1.201238 q: -0.499988 -0.409330 0.700349 -0.303269 
wait for imu ... 
time: 1403636666.363555, t: 5.758205 -7.357102 -1.208714 q: 0.502334 0.404239 -0.699623 0.307863 
wait for imu ... 
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time: 1403636667.163555, t: 6.260705 -7.508180 -1.137935 q: -0.478613 -0.416980 0.709774 -0.305415 
time: 1403636667.563555, t: 6.436261 -7.594108 -1.165881 q: -0.490713 -0.427241 0.699451 -0.295692 
wait for imu ... 
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time: 1403636669.963556, t: 7.060800 -8.879812 -1.470151 q: -0.497327 -0.381351 0.703705 -0.334718 
time: 1403636670.363555, t: 7.256439 -8.884052 -1.421469 q: -0.470616 -0.368793 0.707062 -0.377592 
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time: 1403636671.163555, t: 7.034367 -8.359337 -1.284866 q: -0.386498 -0.487281 0.618454 -0.480303 
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time: 1403636672.763556, t: 5.254721 -7.157712 -0.867020 q: 0.388121 0.623767 -0.532076 0.420917 
time: 1403636673.163555, t: 5.134776 -7.147511 -0.949788 q: 0.354343 0.660554 -0.507064 0.425436 
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time: 1403636673.963556, t: 5.241353 -7.349132 -0.957205 q: 0.350554 0.673061 -0.473587 0.447009 
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time: 1403636674.763556, t: 5.642199 -7.601832 -1.129659 q: 0.304619 0.673438 -0.467093 0.485297 
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time: 1403636675.563555, t: 6.000083 -8.070286 -1.231479 q: 0.320440 0.705692 -0.425784 0.466931 
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time: 1403636676.363555, t: 6.578997 -8.540907 -1.400933 q: 0.241853 0.763165 -0.308748 0.513576 
time: 1403636676.763556, t: 6.897997 -8.725298 -1.461564 q: 0.182004 0.781254 -0.258356 0.538302 
time: 1403636677.163555, t: 7.227744 -8.881805 -1.481220 q: 0.172950 0.784225 -0.241804 0.544620 
time: 1403636677.563555, t: 7.549759 -9.007594 -1.562325 q: 0.166179 0.772108 -0.206052 0.577734 
time: 1403636677.963556, t: 7.805972 -9.038523 -1.548363 q: 0.076918 0.799416 -0.159943 0.573965 
time: 1403636678.363555, t: 7.986122 -9.101163 -1.539941 q: 0.051368 0.812585 -0.082984 0.574614 
time: 1403636678.763556, t: 8.147334 -9.159028 -1.480867 q: 0.015978 0.817758 -0.000727 0.575340 
time: 1403636679.163555, t: 8.336399 -9.183505 -1.493433 q: -0.023657 0.811989 0.084656 0.577015 
time: 1403636679.563555, t: 8.431480 -9.121041 -1.514030 q: -0.111452 0.796841 0.146298 0.575517 
time: 1403636679.963556, t: 8.472665 -9.061184 -1.413263 q: -0.122372 0.784893 0.183447 0.579064 
wait for imu ... 
time: 1403636680.363555, t: 8.417358 -8.994329 -1.265094 q: -0.088273 0.778473 0.200434 0.588229 
time: 1403636680.763556, t: 8.246888 -8.835429 -1.205651 q: -0.089288 0.791132 0.187096 0.575441 
time: 1403636681.163555, t: 8.047762 -8.606752 -1.222782 q: -0.115643 0.817645 0.164624 0.539428 
time: 1403636681.563555, t: 7.907657 -8.369390 -1.228151 q: -0.116181 0.794581 0.169430 0.571347 
time: 1403636681.963556, t: 7.741336 -8.122521 -1.220028 q: -0.116661 0.791239 0.176943 0.573604 
time: 1403636682.363555, t: 7.532850 -7.877946 -1.163925 q: -0.124213 0.802856 0.175088 0.556181 
time: 1403636682.763556, t: 7.336753 -7.635289 -1.151517 q: -0.119998 0.792585 0.170711 0.572946 
time: 1403636683.163555, t: 7.126956 -7.398462 -1.115616 q: -0.111811 0.790556 0.172371 0.576895 
wait for imu ... 
time: 1403636683.563555, t: 6.893051 -7.152482 -1.138167 q: -0.122753 0.793072 0.172049 0.571286 
time: 1403636683.963556, t: 6.670742 -6.914161 -1.184005 q: -0.127213 0.801055 0.175571 0.557944 
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time: 1403636687.963556, t: 4.409206 -5.375342 -1.266312 q: -0.135151 0.792298 0.178263 0.567644 
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time: 1403636693.963556, t: 4.258122 -6.046120 -0.589361 q: -0.156733 0.793233 0.219363 0.545982 
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time: 1403636695.963556, t: 4.758861 -6.169638 -0.589426 q: -0.146400 0.789263 0.208624 0.558665 
time: 1403636696.363555, t: 4.825369 -6.183019 -0.646271 q: -0.139040 0.788522 0.209583 0.561227 
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time: 1403636697.163555, t: 4.851565 -6.195206 -0.699371 q: -0.116467 0.781647 0.220956 0.571526 
time: 1403636697.563555, t: 4.761604 -6.116365 -0.638628 q: -0.132407 0.793123 0.205838 0.557723 
time: 1403636697.963556, t: 4.644294 -5.990385 -0.556528 q: -0.093260 0.805922 0.148842 0.565366 
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time: 1403636698.763556, t: 4.417583 -5.656513 -0.631930 q: -0.016960 0.820624 0.029878 0.570435 
time: 1403636699.163555, t: 4.332234 -5.475699 -0.714513 q: 0.036868 0.817373 -0.075448 0.569955 
time: 1403636699.563555, t: 4.270625 -5.329871 -0.707554 q: 0.086026 0.804913 -0.184263 0.557460 
time: 1403636699.963556, t: 4.221571 -5.273988 -0.731350 q: 0.141413 0.783856 -0.242359 0.553926 
time: 1403636700.363555, t: 4.151392 -5.278837 -0.819247 q: 0.145547 0.779819 -0.257973 0.551496 
wait for imu ... 
time: 1403636700.763556, t: 4.059878 -5.354663 -0.967589 q: 0.183427 0.762340 -0.283433 0.552139 
wait for imu ... 
time: 1403636701.163555, t: 3.941053 -5.412450 -1.055064 q: 0.189391 0.772160 -0.296801 0.528970 
time: 1403636701.563555, t: 3.877354 -5.517627 -1.026341 q: 0.188037 0.771130 -0.283350 0.538250 
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wait for imu ... 
time: 1403636702.363555, t: 3.750892 -5.727236 -1.080801 q: 0.238437 0.737987 -0.360863 0.517977 
time: 1403636702.763556, t: 3.705340 -5.839958 -1.218580 q: 0.255582 0.738923 -0.374999 0.498043 
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wait for imu ... 
time: 1403636703.563555, t: 3.753511 -6.125429 -1.404203 q: 0.254024 0.728540 -0.370536 0.517111 
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time: 1403636704.763556, t: 3.795287 -6.655123 -1.491104 q: 0.241956 0.752780 -0.363034 0.492935 
time: 1403636705.163555, t: 3.885698 -6.890449 -1.553031 q: 0.241348 0.756259 -0.357865 0.491687 
time: 1403636705.563555, t: 4.062007 -7.160346 -1.595819 q: 0.246519 0.750685 -0.353145 0.500988 
time: 1403636705.963556, t: 4.306782 -7.440893 -1.659403 q: 0.239857 0.737673 -0.357955 0.519784 
wait for imu ... 
time: 1403636706.363555, t: 4.532865 -7.727541 -1.678886 q: 0.244754 0.738583 -0.348065 0.522916 
time: 1403636706.763556, t: 4.754194 -8.008939 -1.726962 q: 0.248378 0.749809 -0.345132 0.506931 
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time: 1403636708.763556, t: 6.342995 -9.400497 -1.690076 q: 0.250081 0.730627 -0.352281 0.528717 
time: 1403636709.163555, t: 6.519000 -9.604902 -1.756059 q: 0.275358 0.724795 -0.348437 0.526727 
time: 1403636709.563555, t: 6.737983 -9.731322 -1.759887 q: 0.272717 0.733661 -0.355052 0.511180 
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time: 1403636711.563555, t: 8.095209 -9.786913 -2.040247 q: 0.197547 0.756173 -0.243921 0.574178 
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wait for imu ... 
time: 1403636712.363555, t: 8.314385 -9.433032 -1.899572 q: 0.181642 0.766434 -0.241360 0.566861 
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wait for imu ... 
time: 1403636717.163555, t: 6.666555 -7.522554 -1.180746 q: 0.023029 0.813478 -0.034549 0.580111 
time: 1403636717.563555, t: 6.491519 -7.470879 -1.153692 q: 0.022170 0.814142 0.008406 0.580182 
time: 1403636717.963556, t: 6.307777 -7.367664 -1.191209 q: 0.012491 0.814591 0.025537 0.579339 
time: 1403636718.363555, t: 6.095593 -7.150242 -1.177528 q: -0.044203 0.813756 0.069453 0.575346 
time: 1403636718.763556, t: 5.871834 -6.935372 -1.251263 q: -0.097659 0.811796 0.098710 0.567192 
time: 1403636719.163555, t: 5.718724 -6.772523 -1.313242 q: -0.085975 0.802694 0.125019 0.576768 
time: 1403636719.563555, t: 5.542994 -6.613538 -1.351340 q: -0.091081 0.797340 0.115440 0.585343 
time: 1403636719.963556, t: 5.369909 -6.504502 -1.381863 q: -0.086516 0.809167 0.104828 0.571642 
time: 1403636720.363555, t: 5.206693 -6.421395 -1.422941 q: -0.085744 0.810846 0.102707 0.569761 
time: 1403636720.763556, t: 5.088885 -6.380856 -1.462699 q: -0.089874 0.811095 0.103478 0.568630 
time: 1403636721.563555, t: 4.878474 -6.376903 -1.469007 q: -0.030523 0.812096 0.022033 0.582309 
time: 1403636721.963556, t: 4.753882 -6.399955 -1.490758 q: -0.010288 0.813084 0.010178 0.581967 
time: 1403636722.363555, t: 4.616613 -6.400367 -1.495036 q: -0.013372 0.814254 0.014777 0.580167 
time: 1403636722.763556, t: 4.462568 -6.391084 -1.513379 q: -0.001118 0.814652 0.005362 0.579925 
time: 1403636723.163555, t: 4.314170 -6.365208 -1.502374 q: -0.005089 0.814682 0.000658 0.579886 
time: 1403636723.563555, t: 4.156942 -6.322315 -1.503720 q: 0.014032 0.807373 -0.013371 0.589723 
time: 1403636723.963556, t: 4.002200 -6.259659 -1.475809 q: 0.023179 0.816514 -0.043066 0.575250 
time: 1403636724.363555, t: 3.841729 -6.208051 -1.508458 q: 0.057977 0.818325 -0.088299 0.564965 
time: 1403636724.763556, t: 3.715097 -6.148129 -1.502256 q: 0.086719 0.807273 -0.122580 0.570758 
time: 1403636725.163555, t: 3.617626 -6.072379 -1.371698 q: 0.072871 0.809279 -0.129835 0.568243 
time: 1403636725.563555, t: 3.562969 -6.027824 -1.240686 q: 0.079009 0.811058 -0.123189 0.566363 
time: 1403636725.963556, t: 3.518793 -6.001778 -1.207344 q: 0.076552 0.811074 -0.123566 0.566595 
time: 1403636726.363555, t: 3.469056 -5.997744 -1.223756 q: 0.077329 0.808238 -0.116926 0.571927 
time: 1403636726.763556, t: 3.404329 -5.980840 -1.168734 q: 0.055245 0.802327 -0.126217 0.580765 
time: 1403636727.163555, t: 3.312304 -6.004246 -1.032993 q: 0.071710 0.805653 -0.100227 0.579427 
time: 1403636727.563555, t: 3.231110 -5.998193 -0.948548 q: 0.075441 0.806588 -0.095082 0.578518 
time: 1403636728.363555, t: 3.014810 -5.853198 -0.736605 q: 0.074866 0.805100 -0.097832 0.580205 
time: 1403636728.763556, t: 2.868322 -5.745734 -0.723298 q: 0.056157 0.806522 -0.090177 0.581582 
time: 1403636729.163555, t: 2.701032 -5.641876 -0.679899 q: 0.040726 0.806642 -0.044200 0.587976 
time: 1403636729.563555, t: 2.509325 -5.520146 -0.683069 q: 0.031533 0.808620 -0.038636 0.586214 
time: 1403636729.963556, t: 2.299807 -5.383114 -0.640922 q: 0.030070 0.815225 -0.041189 0.576894 
time: 1403636730.363555, t: 2.082224 -5.230197 -0.648879 q: 0.026096 0.817557 -0.041909 0.573727 
wait for imu ... 
time: 1403636730.763556, t: 1.928167 -5.086568 -0.634626 q: 0.024508 0.828737 -0.041273 0.557576 
time: 1403636731.163555, t: 1.851070 -4.966985 -0.555873 q: 0.001978 0.817170 -0.059264 0.573339 
time: 1403636731.563555, t: 1.809015 -4.922387 -0.554118 q: 0.017465 0.813243 -0.050592 0.579457 
time: 1403636731.963556, t: 1.761081 -4.922090 -0.620575 q: 0.020568 0.812840 -0.046961 0.580227 
time: 1403636732.363555, t: 1.707656 -4.941223 -0.719878 q: 0.023929 0.810304 -0.041147 0.584073 
time: 1403636732.763556, t: 1.606964 -4.926938 -0.720589 q: 0.042004 0.800490 -0.025659 0.597322 
time: 1403636733.163555, t: 1.434114 -4.841621 -0.693046 q: 0.033776 0.807648 -0.028678 0.587998 
time: 1403636733.563555, t: 1.231418 -4.715955 -0.606111 q: 0.024477 0.815275 -0.031915 0.577675 
time: 1403636733.963556, t: 1.029313 -4.572609 -0.554207 q: 0.027382 0.817636 -0.028398 0.574382 
time: 1403636734.363555, t: 0.840864 -4.419892 -0.529879 q: 0.022063 0.813652 -0.031719 0.580066 
time: 1403636734.763556, t: 0.652880 -4.262363 -0.465680 q: 0.018557 0.820531 -0.028539 0.570587 
time: 1403636735.163555, t: 0.493651 -4.120010 -0.469266 q: 0.013933 0.820985 -0.028690 0.570059 
time: 1403636735.563555, t: 0.389089 -3.985893 -0.408206 q: 0.015844 0.820225 -0.038450 0.570527 
time: 1403636735.963556, t: 0.303519 -3.872186 -0.311376 q: 0.022291 0.818623 -0.043669 0.572235 
time: 1403636736.363555, t: 0.243393 -3.767773 -0.215878 q: 0.002043 0.814129 -0.009732 0.580598 
wait for imu ... 
time: 1403636736.763556, t: 0.171706 -3.662633 -0.169756 q: 0.006760 0.812411 0.017335 0.582788 
time: 1403636737.163555, t: 0.076779 -3.526035 -0.192542 q: -0.011715 0.811987 0.016303 0.583331 
time: 1403636737.563555, t: -0.031547 -3.373740 -0.229002 q: -0.021756 0.819094 0.020780 0.572870 
time: 1403636737.963556, t: -0.132563 -3.244974 -0.161520 q: -0.036083 0.822175 0.010941 0.567984 
time: 1403636738.363555, t: -0.190273 -3.176154 -0.022674 q: -0.025180 0.820301 0.010271 0.571286 
time: 1403636738.763556, t: -0.213235 -3.145009 0.016777 q: -0.002321 0.821404 -0.030587 0.569521 
wait for imu ... 
time: 1403636739.163555, t: -0.190331 -3.173970 -0.036599 q: 0.049724 0.807382 -0.126062 0.574256 
time: 1403636739.563555, t: -0.165184 -3.271387 -0.126899 q: 0.134932 0.791379 -0.201996 0.560991 
time: 1403636739.963556, t: -0.128411 -3.359799 -0.159822 q: 0.149814 0.782871 -0.235627 0.556012 
time: 1403636740.763556, t: -0.077244 -3.530520 -0.379432 q: 0.143474 0.786908 -0.221066 0.557961 
time: 1403636741.163555, t: -0.094237 -3.600328 -0.499475 q: 0.166397 0.783163 -0.209471 0.561328 
time: 1403636741.563555, t: -0.127624 -3.618023 -0.676809 q: 0.152006 0.787147 -0.247280 0.544193 
time: 1403636741.963556, t: -0.150398 -3.642831 -0.776768 q: 0.167972 0.787163 -0.233066 0.545747 
time: 1403636742.363555, t: -0.142503 -3.673076 -0.875538 q: 0.152202 0.793330 -0.229571 0.542918 
wait for imu ... 
time: 1403636742.763556, t: -0.107862 -3.715120 -0.913307 q: 0.150612 0.783743 -0.221502 0.560357 
time: 1403636743.163555, t: -0.076906 -3.756465 -1.039384 q: 0.147228 0.794331 -0.237362 0.539465 
time: 1403636743.563555, t: -0.013999 -3.834993 -1.118855 q: 0.150582 0.796437 -0.249929 0.529668 
time: 1403636743.963556, t: 0.103146 -3.956919 -1.225784 q: 0.172657 0.776411 -0.251656 0.551403 
time: 1403636744.363555, t: 0.236066 -4.074598 -1.438416 q: 0.183443 0.763339 -0.275035 0.554993 
time: 1403636744.763556, t: 0.330975 -4.181273 -1.729661 q: 0.177181 0.756166 -0.280047 0.564264 
time: 1403636745.163555, t: 0.363893 -4.282788 -1.968923 q: 0.176460 0.773774 -0.272027 0.544184 
time: 1403636745.563555, t: 0.400502 -4.391124 -2.092529 q: 0.178774 0.768477 -0.255864 0.558585 
time: 1403636745.963556, t: 0.427730 -4.464278 -2.092701 q: 0.201910 0.764034 -0.267269 0.551409 
time: 1403636746.363555, t: 0.461209 -4.465155 -1.993463 q: 0.222213 0.750093 -0.271389 0.560651 
time: 1403636746.763556, t: 0.503168 -4.383940 -1.968741 q: 0.179262 0.777770 -0.292081 0.526904 
time: 1403636747.163555, t: 0.571610 -4.347261 -1.957052 q: 0.181534 0.772466 -0.280907 0.539845 
time: 1403636747.563555, t: 0.674415 -4.344293 -1.848169 q: 0.198060 0.769072 -0.276596 0.541106 
time: 1403636747.963556, t: 0.795831 -4.302900 -1.719123 q: 0.188981 0.761612 -0.295132 0.545097 
time: 1403636748.363555, t: 0.919641 -4.281205 -1.602428 q: 0.195650 0.762203 -0.297386 0.540674 
time: 1403636748.763556, t: 1.015827 -4.283643 -1.496545 q: 0.193425 0.757777 -0.299341 0.546585 
time: 1403636749.163555, t: 1.092108 -4.304451 -1.418323 q: 0.184302 0.748229 -0.317547 0.552586 
time: 1403636749.563555, t: 1.088805 -4.361195 -1.322602 q: 0.217488 0.754754 -0.299490 0.541619 
time: 1403636749.963556, t: 1.099509 -4.387198 -1.239661 q: 0.217325 0.745757 -0.290615 0.558713 
time: 1403636750.363555, t: 1.073358 -4.354305 -1.191706 q: 0.204911 0.756202 -0.284872 0.552284 
time: 1403636750.763556, t: 1.036251 -4.299101 -1.012543 q: 0.196810 0.763952 -0.275300 0.549412 
time: 1403636751.163555, t: 0.995633 -4.217383 -0.755841 q: 0.197593 0.770151 -0.273194 0.541469 
time: 1403636751.563555, t: 0.976852 -4.121704 -0.557051 q: 0.179385 0.765036 -0.288309 0.547192 
time: 1403636751.963556, t: 0.956897 -4.077022 -0.388964 q: 0.167264 0.782276 -0.274907 0.533379 
time: 1403636752.363555, t: 0.957598 -4.083841 -0.238189 q: 0.168378 0.775315 -0.245572 0.556983 
time: 1403636752.763556, t: 0.970578 -4.102190 -0.072799 q: 0.122461 0.795541 -0.178097 0.566038 
time: 1403636753.163555, t: 0.972425 -4.111962 -0.016871 q: 0.079443 0.812926 -0.086014 0.570475 
time: 1403636753.563555, t: 0.976530 -4.062333 -0.028299 q: 0.027928 0.815539 -0.020533 0.577663 
time: 1403636753.963556, t: 0.967920 -3.982783 -0.010973 q: 0.019634 0.812886 -0.019053 0.581780 
wait for imu ... 
time: 1403636754.363555, t: 0.932794 -3.871878 0.013605 q: 0.031576 0.804601 -0.023851 0.592495 
time: 1403636754.763556, t: 0.857251 -3.714061 0.059722 q: 0.009386 0.808828 0.008355 0.587911 
time: 1403636755.163555, t: 0.740773 -3.518747 0.036820 q: -0.017143 0.808891 0.041970 0.586208 
time: 1403636755.563555, t: 0.599217 -3.301498 0.069417 q: -0.018269 0.822728 0.045675 0.566302 
time: 1403636755.963556, t: 0.482840 -3.055469 0.076913 q: -0.020739 0.814912 0.038657 0.577923 
wait for imu ... 
time: 1403636756.363555, t: 0.375568 -2.797438 0.113151 q: -0.021585 0.810992 0.039807 0.583302 
time: 1403636756.763556, t: 0.249796 -2.531644 0.112848 q: -0.024747 0.808356 0.042799 0.586615 
wait for imu ... 
time: 1403636757.163555, t: 0.076189 -2.284918 0.148357 q: -0.029801 0.808761 0.043619 0.585760 
time: 1403636757.563555, t: -0.118678 -2.050258 0.136000 q: -0.025970 0.815378 0.054234 0.575797 
time: 1403636757.963556, t: -0.294375 -1.778009 0.200180 q: -0.045747 0.829155 0.072981 0.552344 
time: 1403636758.363555, t: -0.413350 -1.496873 0.287786 q: -0.058898 0.808954 0.073151 0.580321 
wait for imu ... 
time: 1403636758.763556, t: -0.511136 -1.249603 0.272831 q: -0.074892 0.827998 0.059621 0.552500 
time: 1403636759.163555, t: -0.510113 -1.089206 0.232532 q: -0.081015 0.809002 0.055364 0.579557 
wait for imu ... 
time: 1403636759.563555, t: -0.574932 -1.011647 0.126314 q: -0.069934 0.806667 0.066107 0.583119 
time: 1403636759.963556, t: -0.622881 -1.001736 0.073951 q: -0.059587 0.812444 0.076003 0.574985 
time: 1403636760.363555, t: -0.664840 -0.997623 0.035616 q: -0.061563 0.809426 0.072976 0.579409 
time: 1403636760.763556, t: -0.710090 -0.993958 -0.018988 q: -0.050441 0.817298 0.082655 0.568021 
time: 1403636761.163555, t: -0.750573 -0.955687 -0.068682 q: -0.054074 0.824966 0.082655 0.556485 
time: 1403636761.563555, t: -0.715765 -0.892474 -0.098217 q: -0.055952 0.814028 0.081514 0.572350 
wait for imu ... 
time: 1403636761.963556, t: -0.691087 -0.834353 -0.080251 q: -0.072777 0.810400 0.066655 0.577506 
time: 1403636762.363555, t: -0.702272 -0.794236 -0.059372 q: -0.039392 0.824926 0.086299 0.557223 
time: 1403636762.763556, t: -0.658275 -0.726496 -0.131260 q: -0.083717 0.811940 0.054990 0.575083 
time: 1403636763.163555, t: -0.688947 -0.758950 -0.159429 q: -0.056507 0.796299 0.019503 0.601942 
wait for imu ... 
time: 1403636763.563555, t: -0.697458 -0.755897 -0.181779 q: -0.059053 0.805334 0.013933 0.589708 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720465866.463726485]: Shutdown request received.[0m
[33m[ WARN] [1720465866.463783496]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720465866.464813517]: Shutdown request received.[0m
[33m[ WARN] [1720465866.464838973]: Reason given for shutdown: [user request][0m
killed
