/SLAM-Hive/slam_hive_results/mapping_results/2838/2046_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-6.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720470102.929962115]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720470102.931300415]: init begins[0m
[31m[ERROR] [1720470102.932342611]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b0d908dc-3d67-11ef-824e-0242ac110005/roslaunch-1dbebef036e9-117.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://1dbebef036e9:36307/[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] [1720470104.038820341]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720470104.039350189]: 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] [1720470104.045067193]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720470104.045313437]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720470104.045349675]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1720470104.045503223]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720470104.045771527]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://1dbebef036e9:11311/[0m
]2;roscore http://1dbebef036e9:11311/
[1msetting /run_id to b0d908dc-3d67-11ef-824e-0242ac110005[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720470113.082364636]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316833256.46 
wait for imu ... 
init first imu pose
averge acc 9.580116 -0.442934 -3.147281
init R0 
   0.314883    0.132273    0.939868
3.08149e-33   -0.990242    0.139362
    0.94913  -0.0438827    -0.31181
[33m[ WARN] [1720470117.484468552]: gyroscope bias initial calibration -0.00497937   0.0242216   0.0768006[0m
[0m[ INFO] [1720470117.528445687]: Initialization finish![0m
time: 1403636860.751667, t: 0.000671 -0.095356 0.102254 q: -0.031146 0.857590 0.023497 0.512852 
time: 1403636860.951667, t: -0.000660 -0.096372 0.138993 q: -0.026639 0.855987 0.036488 0.515019 
time: 1403636861.151666, t: 0.006413 -0.097877 0.251581 q: -0.026101 0.841112 0.037647 0.538918 
time: 1403636861.351666, t: 0.014753 -0.101782 0.373127 q: -0.027125 0.814790 0.036179 0.577990 
time: 1403636861.551666, t: 0.019530 -0.106908 0.420008 q: -0.025476 0.801854 0.029999 0.596223 
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time: 1403636862.351666, t: -0.000231 -0.096335 0.106812 q: -0.033086 0.855952 0.039808 0.514458 
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time: 1403636862.751667, t: 0.017422 -0.100787 0.332544 q: -0.014442 0.838175 0.033199 0.544199 
time: 1403636862.951667, t: 0.022839 -0.100327 0.457597 q: -0.019896 0.830705 0.018253 0.556058 
wait for imu ... 
wait for imu ... 
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time: 1403636863.351666, t: 0.018539 -0.103562 0.377675 q: 0.000649 0.821631 0.031684 0.569138 
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wait for imu ... 
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time: 1403636897.951667, t: 0.086491 -0.215438 0.052142 q: -0.103572 0.820552 0.163486 0.537810 
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time: 1403636898.551666, t: 0.112893 -0.233733 0.154054 q: -0.121809 0.805992 0.174071 0.552484 
time: 1403636898.751667, t: 0.133639 -0.226792 0.193450 q: -0.123404 0.806123 0.178808 0.550422 
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time: 1403636899.551666, t: 0.290009 -0.217591 0.284309 q: -0.087879 0.809729 0.088027 0.573470 
optimize pose graph 
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time: 1403636899.951667, t: 0.371976 -0.268805 0.301118 q: -0.059884 0.818773 0.062550 0.567549 
time: 1403636900.151666, t: 0.422128 -0.301361 0.308039 q: -0.054031 0.809238 0.063627 0.581521 
time: 1403636900.551666, t: 0.490789 -0.377139 0.383844 q: -0.056822 0.817557 0.073533 0.568299 
time: 1403636900.751667, t: 0.526535 -0.413930 0.413479 q: -0.060863 0.825513 0.076913 0.555795 
time: 1403636900.951667, t: 0.574747 -0.453965 0.421879 q: -0.074857 0.823833 0.071077 0.557354 
time: 1403636901.151666, t: 0.630273 -0.505968 0.416616 q: -0.081582 0.820656 0.066341 0.561665 
time: 1403636901.351666, t: 0.698126 -0.570657 0.411877 q: -0.076246 0.818942 0.069578 0.564518 
time: 1403636901.551666, t: 0.774871 -0.645862 0.429447 q: -0.066255 0.817730 0.075479 0.566773 
time: 1403636901.751667, t: 0.855045 -0.722257 0.434459 q: -0.066029 0.814886 0.075466 0.570882 
optimize pose graph 
time: 1403636901.951667, t: 0.933578 -0.802480 0.415290 q: -0.064624 0.814753 0.076950 0.571034 
time: 1403636902.151666, t: 1.012745 -0.882522 0.393948 q: -0.063768 0.813521 0.079990 0.572468 
time: 1403636902.351666, t: 1.086547 -0.963897 0.391170 q: -0.066589 0.814353 0.077059 0.571364 
time: 1403636902.551666, t: 1.154229 -1.046678 0.346921 q: -0.060334 0.815143 0.075969 0.571079 
time: 1403636902.751667, t: 1.221623 -1.125202 0.302022 q: -0.050806 0.813994 0.076342 0.573589 
time: 1403636903.151666, t: 1.339702 -1.264529 0.303607 q: -0.058122 0.812630 0.077530 0.574669 
time: 1403636903.351666, t: 1.397597 -1.333964 0.347821 q: -0.058985 0.814934 0.081876 0.570702 
time: 1403636903.551666, t: 1.449916 -1.397151 0.377845 q: -0.057243 0.815214 0.086115 0.569853 
time: 1403636903.751667, t: 1.502498 -1.455037 0.380560 q: -0.062448 0.820452 0.084114 0.562035 
optimize pose graph 
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time: 1403636904.951667, t: 1.931640 -1.884460 0.547986 q: -0.054063 0.816256 0.076829 0.570000 
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time: 1403636908.551666, t: 3.761528 -2.443303 0.654384 q: -0.079448 0.813649 0.110589 0.565185 
wait for imu ... 
wait for imu ... 
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: 1403636981.951667, t: 5.569297 -5.644733 -1.472529 q: 0.194216 0.785202 -0.276766 0.518785 
time: 1403636982.151666, t: 5.666537 -5.701245 -1.460062 q: 0.185375 0.792569 -0.286105 0.505584 
time: 1403636982.351666, t: 5.787035 -5.772495 -1.463700 q: 0.176268 0.786801 -0.292971 0.513850 
time: 1403636982.551666, t: 5.921685 -5.866106 -1.464466 q: 0.178937 0.771031 -0.288649 0.538679 
time: 1403636982.751667, t: 6.059152 -5.974977 -1.450374 q: 0.177199 0.772895 -0.285708 0.538149 
time: 1403636982.951667, t: 6.193328 -6.091636 -1.441451 q: 0.179801 0.778259 -0.281278 0.531853 
time: 1403636983.151666, t: 6.330961 -6.216039 -1.452668 q: 0.186085 0.773110 -0.276201 0.539802 
time: 1403636983.351666, t: 6.473734 -6.340777 -1.483717 q: 0.193292 0.771009 -0.272107 0.542348 
time: 1403636983.551666, t: 6.612869 -6.459024 -1.520111 q: 0.195507 0.771289 -0.272815 0.540798 
time: 1403636983.751667, t: 6.752049 -6.562141 -1.530428 q: 0.196132 0.777570 -0.276358 0.529664 
time: 1403636983.951667, t: 6.892934 -6.656792 -1.510639 q: 0.196850 0.781367 -0.279720 0.521989 
time: 1403636984.151666, t: 7.046723 -6.751222 -1.475957 q: 0.197637 0.781521 -0.282955 0.519712 
time: 1403636984.351666, t: 7.216013 -6.848742 -1.462026 q: 0.202721 0.773732 -0.283109 0.529238 
time: 1403636984.551666, t: 7.397324 -6.947086 -1.477033 q: 0.206514 0.769890 -0.282626 0.533615 
time: 1403636984.751667, t: 7.582726 -7.036760 -1.490358 q: 0.205843 0.768616 -0.282002 0.536034 
time: 1403636984.951667, t: 7.767699 -7.117529 -1.484911 q: 0.198032 0.766364 -0.286639 0.539729 
time: 1403636985.151666, t: 7.941644 -7.189422 -1.468805 q: 0.199827 0.768217 -0.285877 0.536829 
time: 1403636985.351666, t: 8.116080 -7.255676 -1.486998 q: 0.203718 0.768604 -0.283113 0.536278 
time: 1403636985.551666, t: 8.297935 -7.312957 -1.505183 q: 0.198861 0.774961 -0.266772 0.537328 
time: 1403636985.751667, t: 8.478195 -7.358225 -1.494487 q: 0.198146 0.777316 -0.249981 0.542243 
optimize pose graph 
time: 1403636985.951667, t: 8.661160 -7.386138 -1.468437 q: 0.200766 0.760657 -0.236751 0.570126 
time: 1403636986.151666, t: 8.828506 -7.384462 -1.474426 q: 0.200465 0.759985 -0.232896 0.572709 
time: 1403636986.351666, t: 8.975648 -7.351059 -1.504234 q: 0.192928 0.776834 -0.238414 0.549970 
time: 1403636986.551666, t: 9.124802 -7.301670 -1.537924 q: 0.177924 0.778780 -0.248408 0.547848 
time: 1403636986.751667, t: 9.267322 -7.243529 -1.540974 q: 0.167810 0.777226 -0.254564 0.550415 
time: 1403636986.951667, t: 9.398963 -7.190473 -1.506898 q: 0.164999 0.775081 -0.257094 0.553107 
time: 1403636987.151666, t: 9.519529 -7.142369 -1.446571 q: 0.173594 0.774264 -0.254191 0.552963 
time: 1403636987.351666, t: 9.629427 -7.093426 -1.401400 q: 0.176639 0.771521 -0.255056 0.555428 
time: 1403636987.551666, t: 9.732690 -7.036501 -1.377893 q: 0.179639 0.768013 -0.245398 0.563618 
time: 1403636987.751667, t: 9.817214 -6.971454 -1.368296 q: 0.179317 0.766283 -0.238234 0.569122 
optimize pose graph 
time: 1403636987.951667, t: 9.882505 -6.893724 -1.342424 q: 0.168221 0.768211 -0.240232 0.569071 
time: 1403636988.151666, t: 9.929721 -6.811347 -1.311212 q: 0.151009 0.772899 -0.251144 0.562805 
time: 1403636988.351666, t: 9.958519 -6.738275 -1.295398 q: 0.145957 0.765714 -0.256140 0.571639 
time: 1403636988.551666, t: 9.960276 -6.675543 -1.261936 q: 0.150080 0.757007 -0.253325 0.583304 
time: 1403636988.751667, t: 9.925404 -6.613759 -1.215615 q: 0.151652 0.754513 -0.252012 0.586687 
time: 1403636988.951667, t: 9.856776 -6.555318 -1.189782 q: 0.150353 0.749173 -0.252742 0.593512 
time: 1403636989.151666, t: 9.749336 -6.499358 -1.183764 q: 0.149635 0.745930 -0.254586 0.596979 
time: 1403636989.351666, t: 9.602480 -6.447033 -1.175987 q: 0.159944 0.757309 -0.250965 0.581306 
time: 1403636989.551666, t: 9.425590 -6.395658 -1.141499 q: 0.165188 0.772756 -0.250581 0.559259 
time: 1403636989.751667, t: 9.247102 -6.345461 -1.100091 q: 0.173229 0.778165 -0.245928 0.551335 
optimize pose graph 
time: 1403636989.951667, t: 9.070639 -6.292105 -1.081388 q: 0.173135 0.774443 -0.246164 0.556476 
time: 1403636990.151666, t: 8.892228 -6.233227 -1.066473 q: 0.174867 0.767605 -0.244403 0.566102 
time: 1403636990.351666, t: 8.704257 -6.167319 -1.027270 q: 0.175765 0.772671 -0.241989 0.559935 
time: 1403636990.551666, t: 8.511020 -6.091546 -0.985412 q: 0.171752 0.778246 -0.240944 0.553877 
time: 1403636990.751667, t: 8.317608 -6.012513 -0.967922 q: 0.169699 0.782528 -0.238738 0.549414 
time: 1403636990.951667, t: 8.128584 -5.930698 -0.977265 q: 0.169571 0.783655 -0.236769 0.548700 
time: 1403636991.151666, t: 7.954211 -5.848696 -1.001382 q: 0.170478 0.782581 -0.236645 0.550003 
time: 1403636991.351666, t: 7.785147 -5.764248 -1.014270 q: 0.170833 0.783196 -0.238328 0.548288 
time: 1403636991.551666, t: 7.624151 -5.676347 -0.991250 q: 0.171416 0.783261 -0.240997 0.546845 
time: 1403636991.751667, t: 7.472888 -5.590494 -0.941482 q: 0.162102 0.780705 -0.253133 0.547856 
time: 1403636991.951667, t: 7.320187 -5.512150 -0.886540 q: 0.158126 0.778411 -0.262101 0.548066 
time: 1403636992.151666, t: 7.166706 -5.445728 -0.858271 q: 0.172923 0.775564 -0.256955 0.550065 
time: 1403636992.351666, t: 7.019069 -5.383601 -0.852865 q: 0.181077 0.773436 -0.255461 0.551132 
time: 1403636992.551666, t: 6.882284 -5.326608 -0.851779 q: 0.183637 0.778844 -0.258505 0.541160 
time: 1403636992.751667, t: 6.752703 -5.264461 -0.823174 q: 0.185721 0.780342 -0.261444 0.536862 
time: 1403636992.951667, t: 6.633310 -5.201792 -0.802018 q: 0.191664 0.779882 -0.261283 0.535518 
time: 1403636993.151666, t: 6.526065 -5.133416 -0.800952 q: 0.186300 0.772907 -0.263433 0.546360 
time: 1403636993.351666, t: 6.429466 -5.059744 -0.783865 q: 0.169214 0.775465 -0.246703 0.556021 
time: 1403636993.551666, t: 6.324938 -4.979118 -0.739673 q: 0.147041 0.783523 -0.215160 0.564072 
time: 1403636993.751667, t: 6.217653 -4.900634 -0.685670 q: 0.127123 0.793534 -0.188455 0.564472 
time: 1403636993.951667, t: 6.112249 -4.826285 -0.652266 q: 0.119290 0.796765 -0.173318 0.566477 
time: 1403636994.151666, t: 6.004713 -4.748011 -0.637640 q: 0.122013 0.788611 -0.163595 0.580036 
time: 1403636994.351666, t: 5.887085 -4.658868 -0.640192 q: 0.124317 0.780240 -0.159981 0.591757 
time: 1403636994.551666, t: 5.751957 -4.557231 -0.652367 q: 0.121709 0.780477 -0.162870 0.591199 
time: 1403636994.751667, t: 5.601072 -4.443882 -0.645233 q: 0.108869 0.790612 -0.173960 0.576904 
time: 1403636994.951667, t: 5.438270 -4.332174 -0.622187 q: 0.095939 0.794203 -0.185140 0.570755 
time: 1403636995.151666, t: 5.273461 -4.235482 -0.611966 q: 0.107761 0.788448 -0.176448 0.579313 
time: 1403636995.351666, t: 5.100615 -4.144042 -0.590077 q: 0.114837 0.786923 -0.168577 0.582362 
time: 1403636995.551666, t: 4.914995 -4.047161 -0.541388 q: 0.113237 0.794034 -0.166797 0.573469 
time: 1403636995.751667, t: 4.727719 -3.948989 -0.483599 q: 0.109716 0.795294 -0.169025 0.571752 
time: 1403636995.951667, t: 4.536777 -3.853916 -0.451189 q: 0.096404 0.796733 -0.179818 0.568849 
optimize pose graph 
time: 1403636996.151666, t: 4.348586 -3.772934 -0.438062 q: 0.103468 0.799722 -0.175833 0.564643 
time: 1403636996.351666, t: 4.165411 -3.702267 -0.413922 q: 0.108873 0.801947 -0.168828 0.562605 
time: 1403636996.551666, t: 3.992627 -3.632796 -0.356333 q: 0.100598 0.805498 -0.150574 0.564253 
time: 1403636996.751667, t: 3.828971 -3.563801 -0.296819 q: 0.079398 0.812473 -0.119941 0.564976 
time: 1403636996.951667, t: 3.669968 -3.493576 -0.287143 q: 0.049327 0.818633 -0.083041 0.566137 
time: 1403636997.151666, t: 3.517045 -3.424979 -0.298487 q: 0.023673 0.822886 -0.047620 0.565712 
time: 1403636997.351666, t: 3.375639 -3.363288 -0.323449 q: 0.011152 0.824838 -0.028704 0.564529 
time: 1403636997.551666, t: 3.254766 -3.311612 -0.326515 q: 0.009094 0.825150 -0.022265 0.564402 
time: 1403636997.751667, t: 3.156215 -3.261503 -0.298436 q: 0.012460 0.826488 -0.023161 0.562339 
time: 1403636997.951667, t: 3.075199 -3.212482 -0.241337 q: 0.015922 0.827217 -0.026639 0.561024 
optimize pose graph 
time: 1403636998.151666, t: 3.018126 -3.171616 -0.159696 q: 0.018112 0.826805 -0.030848 0.561351 
time: 1403636998.351666, t: 2.981900 -3.132725 -0.093225 q: 0.018066 0.826368 -0.035154 0.561742 
time: 1403636998.551666, t: 2.954368 -3.096344 -0.041434 q: 0.018939 0.824639 -0.037472 0.564100 
time: 1403636998.751667, t: 2.932731 -3.062884 0.032998 q: 0.023462 0.811491 -0.035643 0.582805 
time: 1403636998.951667, t: 2.909101 -3.029951 0.109151 q: 0.033770 0.808006 -0.030632 0.587407 
time: 1403636999.151666, t: 2.867964 -2.984351 0.164108 q: 0.039384 0.809163 -0.028012 0.585594 
time: 1403636999.351666, t: 2.824566 -2.925651 0.195942 q: 0.036339 0.812775 -0.031368 0.580597 
time: 1403636999.551666, t: 2.777443 -2.860957 0.204147 q: 0.030479 0.810845 -0.036261 0.583341 
time: 1403636999.751667, t: 2.721162 -2.791585 0.198323 q: 0.028743 0.807782 -0.038357 0.587530 
time: 1403636999.951667, t: 2.657725 -2.720205 0.184787 q: 0.032209 0.807642 -0.037391 0.587605 
time: 1403637000.151666, t: 2.578491 -2.641797 0.184015 q: 0.036597 0.809209 -0.034113 0.585386 
time: 1403637000.351666, t: 2.493660 -2.557776 0.204023 q: 0.034103 0.811837 -0.035344 0.581816 
time: 1403637000.551666, t: 2.406100 -2.466335 0.211344 q: 0.035482 0.811316 -0.034694 0.582498 
time: 1403637000.751667, t: 2.316053 -2.371108 0.228164 q: 0.033503 0.810468 -0.036053 0.583712 
time: 1403637000.951667, t: 2.219278 -2.273258 0.260520 q: 0.032926 0.810167 -0.038229 0.584024 
time: 1403637001.151666, t: 2.118164 -2.172846 0.274353 q: 0.032542 0.809420 -0.039632 0.584987 
time: 1403637001.351666, t: 2.009747 -2.074261 0.288187 q: 0.029528 0.809413 -0.042676 0.584942 
time: 1403637001.551666, t: 1.898093 -1.978920 0.329392 q: 0.028391 0.814198 -0.045437 0.578110 
time: 1403637001.751667, t: 1.781527 -1.883199 0.360414 q: 0.029434 0.814773 -0.046963 0.577125 
time: 1403637001.951667, t: 1.662622 -1.792121 0.367400 q: 0.029904 0.815687 -0.047941 0.575728 
time: 1403637002.151666, t: 1.546749 -1.705127 0.353360 q: 0.030286 0.816827 -0.048228 0.574064 
optimize pose graph 
time: 1403637002.351666, t: 1.435368 -1.622656 0.329259 q: 0.032165 0.817239 -0.046964 0.573480 
time: 1403637002.551666, t: 1.330990 -1.540307 0.327013 q: 0.037765 0.817208 -0.042753 0.573513 
time: 1403637002.751667, t: 1.220434 -1.450608 0.355782 q: 0.039005 0.817323 -0.043398 0.573217 
time: 1403637002.951667, t: 1.114032 -1.359533 0.371011 q: 0.036095 0.816267 -0.047999 0.574544 
time: 1403637003.151666, t: 1.009239 -1.266100 0.360993 q: 0.036528 0.816527 -0.050804 0.573906 
time: 1403637003.351666, t: 0.914204 -1.175359 0.339284 q: 0.035834 0.814707 -0.054311 0.576211 
time: 1403637003.551666, t: 0.817219 -1.085386 0.340775 q: 0.035615 0.812828 -0.056607 0.578651 
time: 1403637003.751667, t: 0.716615 -0.995860 0.364684 q: 0.035247 0.813185 -0.058012 0.578033 
time: 1403637003.951667, t: 0.613323 -0.910543 0.373568 q: 0.035080 0.816827 -0.055163 0.573167 
time: 1403637004.151666, t: 0.521079 -0.828366 0.357737 q: 0.037021 0.820525 -0.050000 0.568215 
optimize pose graph 
time: 1403637004.351666, t: 0.431000 -0.745053 0.343024 q: 0.033397 0.821493 -0.049822 0.567056 
time: 1403637004.551666, t: 0.340808 -0.668280 0.369852 q: 0.032633 0.814033 -0.052891 0.577484 
time: 1403637004.751667, t: 0.254291 -0.591280 0.423683 q: 0.020241 0.812228 -0.068315 0.578972 
time: 1403637004.951667, t: 0.173589 -0.526194 0.435805 q: 0.016171 0.817127 -0.077054 0.571056 
time: 1403637005.151666, t: 0.094904 -0.478803 0.406125 q: 0.032665 0.818565 -0.069146 0.569300 
time: 1403637005.351666, t: 0.024464 -0.441210 0.363580 q: 0.038671 0.821106 -0.065395 0.565697 
time: 1403637005.551666, t: -0.033726 -0.410184 0.318330 q: 0.040502 0.817198 -0.059203 0.571876 
time: 1403637005.751667, t: -0.092837 -0.370657 0.302621 q: 0.029353 0.822723 -0.062862 0.564192 
time: 1403637005.951667, t: -0.138209 -0.341021 0.323867 q: 0.033754 0.820149 -0.057844 0.568217 
time: 1403637006.151666, t: -0.177291 -0.314105 0.338445 q: 0.032870 0.816574 -0.058560 0.573322 
optimize pose graph 
time: 1403637006.351666, t: -0.212648 -0.287145 0.343309 q: 0.028170 0.824777 -0.061774 0.561367 
time: 1403637006.551666, t: -0.237893 -0.263841 0.340548 q: 0.017928 0.828230 -0.067139 0.556063 
time: 1403637006.751667, t: -0.247511 -0.252023 0.335061 q: 0.013767 0.818962 -0.047008 0.571754 
time: 1403637006.951667, t: -0.251886 -0.246689 0.317590 q: -0.006967 0.818796 -0.013082 0.573893 
time: 1403637007.151666, t: -0.253881 -0.247742 0.299137 q: -0.022835 0.817283 0.025098 0.575236 
time: 1403637007.351666, t: -0.258990 -0.249856 0.280966 q: -0.028016 0.808603 0.047352 0.585777 
time: 1403637007.551666, t: -0.274744 -0.247810 0.258835 q: -0.030225 0.810459 0.053808 0.582535 
time: 1403637007.751667, t: -0.297578 -0.239484 0.231151 q: -0.030008 0.825070 0.052689 0.561767 
time: 1403637007.951667, t: -0.312606 -0.223498 0.212675 q: -0.036413 0.816908 0.043633 0.573962 
time: 1403637008.151666, t: -0.329462 -0.207693 0.195999 q: -0.032044 0.820473 0.040087 0.569377 
time: 1403637008.351666, t: -0.342995 -0.191946 0.186630 q: -0.023129 0.832199 0.040394 0.552521 
optimize pose graph 
time: 1403637008.551666, t: -0.339590 -0.169949 0.194645 q: -0.026789 0.820307 0.033222 0.570329 
time: 1403637008.751667, t: -0.330997 -0.148613 0.196782 q: -0.038280 0.816747 0.020724 0.575351 
time: 1403637008.951667, t: -0.318419 -0.141890 0.182722 q: -0.052960 0.823846 0.008068 0.564277 
time: 1403637009.151666, t: -0.300025 -0.156286 0.154891 q: -0.031680 0.821922 0.020106 0.568362 
time: 1403637009.351666, t: -0.275417 -0.178638 0.119782 q: -0.001552 0.820526 0.039684 0.570228 
time: 1403637009.551666, t: -0.264611 -0.192565 0.106816 q: -0.057455 0.800310 0.047764 0.594913 
time: 1403637009.751667, t: -0.277449 -0.204106 0.101884 q: -0.067976 0.792149 0.022950 0.606097 
time: 1403637009.951667, t: -0.281608 -0.204585 0.104279 q: -0.070123 0.790387 0.022837 0.608153 
time: 1403637010.151666, t: -0.282879 -0.205262 0.104555 q: -0.069639 0.790686 0.023585 0.607791 
time: 1403637010.351666, t: -0.282896 -0.205505 0.104582 q: -0.069390 0.790829 0.023651 0.607631 
optimize pose graph 
time: 1403637010.551666, t: -0.283106 -0.205640 0.104709 q: -0.069348 0.791005 0.023581 0.607410 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720470267.789404206]: Shutdown request received.[0m
[33m[ WARN] [1720470267.789447836]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720470267.790596321]: Shutdown request received.[0m
[33m[ WARN] [1720470267.790617704]: Reason given for shutdown: [user request][0m
killed
