/SLAM-Hive/slam_hive_results/mapping_results/2840/2048_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-8.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720470496.042007066]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720470496.044290680]: init begins[0m
[31m[ERROR] [1720470496.045628574]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9b2bba92-3d68-11ef-a5b9-0242ac110005/roslaunch-db993be76c56-119.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://db993be76c56:38575/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [156][0m
[1mROS_MASTER_URI=http://db993be76c56:11311/[0m
]2;roscore http://db993be76c56:11311/
[1msetting /run_id to 9b2bba92-3d68-11ef-a5b9-0242ac110005[0m
[0m[ INFO] [1720470497.197459819]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720470497.201239421]: 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] [1720470497.207316147]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720470497.207530334]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720470497.207554125]: ROW: 288 COL: 451 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1720470497.207766081]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720470497.208062054]: 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 [217][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720470506.195177460]: 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: 316833649.57 
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
[0m[ INFO] [1720470510.541621489]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720470510.744334206]: gyroscope bias initial calibration -0.0103696  0.0319467  0.0785183[0m
[0m[ INFO] [1720470510.772980646]: Initialization finish![0m
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time: 1403636861.151666, t: 0.008813 -0.081453 0.234123 q: -0.027773 0.841579 0.040502 0.537897 
time: 1403636861.351666, t: 0.018769 -0.084557 0.352964 q: -0.028566 0.814910 0.038724 0.577587 
time: 1403636861.551666, t: 0.023710 -0.089722 0.399239 q: -0.027080 0.801805 0.032402 0.596091 
time: 1403636861.751667, t: 0.021320 -0.093590 0.328415 q: -0.028664 0.813189 0.034007 0.580297 
time: 1403636861.951667, t: 0.014440 -0.089972 0.214974 q: -0.033292 0.830224 0.036917 0.555209 
time: 1403636862.151666, t: 0.004697 -0.082417 0.111770 q: -0.041751 0.848071 0.033294 0.527185 
time: 1403636862.351666, t: 0.001106 -0.081133 0.088580 q: -0.034978 0.855851 0.042983 0.514246 
time: 1403636862.551666, t: 0.006899 -0.081992 0.180420 q: -0.029871 0.852442 0.043352 0.520165 
time: 1403636862.751667, t: 0.019034 -0.084935 0.314821 q: -0.016450 0.838106 0.036408 0.544042 
time: 1403636862.951667, t: 0.024917 -0.083616 0.439730 q: -0.021965 0.830693 0.021429 0.555884 
wait for imu ... 
time: 1403636863.151666, t: 0.020824 -0.088371 0.459481 q: -0.013466 0.819531 0.028816 0.572152 
time: 1403636863.351666, t: 0.019472 -0.088478 0.360756 q: -0.001808 0.821508 0.034926 0.569123 
time: 1403636863.551666, t: 0.014376 -0.087725 0.224219 q: -0.004540 0.831210 0.028011 0.555234 
time: 1403636863.751667, t: 0.002518 -0.088340 0.110050 q: -0.023104 0.847933 0.021220 0.529175 
wait for imu ... 
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time: 1403636864.551666, t: 0.016990 -0.083090 0.452699 q: -0.023617 0.827184 0.017806 0.561152 
time: 1403636864.751667, t: 0.018221 -0.082114 0.446601 q: -0.013979 0.816989 0.022112 0.576060 
time: 1403636864.951667, t: 0.016815 -0.082414 0.342118 q: -0.007732 0.827440 0.024786 0.560954 
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time: 1403636867.951667, t: -0.076718 -0.089240 0.204250 q: -0.026992 0.945597 0.026639 0.323123 
time: 1403636868.151666, t: -0.077800 -0.086586 0.214181 q: -0.028771 0.937079 0.024596 0.347061 
wait for imu ... 
time: 1403636868.351666, t: -0.091044 -0.081866 0.216430 q: -0.033641 0.936622 0.022078 0.348024 
time: 1403636868.551666, t: -0.106795 -0.069141 0.220216 q: -0.029892 0.932564 0.015984 0.359409 
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time: 1403636868.951667, t: -0.132741 -0.050800 0.230544 q: -0.022643 0.933948 0.020799 0.356084 
time: 1403636869.151666, t: -0.134296 -0.042919 0.232756 q: -0.033325 0.930398 0.024171 0.364231 
time: 1403636869.351666, t: -0.131971 -0.039935 0.230123 q: -0.035315 0.930455 0.028254 0.363604 
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time: 1403636871.351666, t: 0.017387 -0.491568 0.205581 q: 0.001015 0.929161 -0.042438 0.367231 
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time: 1403636874.751667, t: 0.002677 -0.220775 0.181783 q: -0.032629 0.934282 -0.007345 0.354964 
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: 1403636901.751667, t: 0.843673 -0.686658 0.404064 q: -0.065521 0.814986 0.078804 0.570346 
optimize pose graph 
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time: 1403636902.151666, t: 0.998410 -0.844371 0.366731 q: -0.062921 0.813650 0.083432 0.571887 
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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: 1403636919.151666, t: 9.065897 -3.849966 0.451280 q: -0.001943 0.810422 -0.055120 0.583245 
time: 1403636919.351666, t: 9.105036 -3.864751 0.537718 q: 0.006511 0.808472 -0.062302 0.585192 
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time: 1403636919.751667, t: 9.143138 -3.940098 0.646047 q: 0.040961 0.807211 -0.054529 0.586310 
time: 1403636919.951667, t: 9.147771 -3.978451 0.655582 q: 0.036594 0.805182 -0.058244 0.589024 
time: 1403636920.151666, t: 9.139144 -4.017973 0.639098 q: 0.024715 0.802770 -0.064059 0.592322 
wait for imu ... 
time: 1403636920.351666, t: 9.114472 -4.066760 0.606608 q: 0.032112 0.802855 -0.056135 0.592657 
time: 1403636920.551666, t: 9.072236 -4.117019 0.577139 q: 0.041979 0.807656 -0.047697 0.586220 
time: 1403636920.751667, t: 9.016950 -4.159164 0.577857 q: 0.042110 0.815967 -0.047811 0.574577 
time: 1403636920.951667, t: 8.963206 -4.194985 0.608777 q: 0.041314 0.820434 -0.049769 0.568070 
time: 1403636921.151666, t: 8.916955 -4.225491 0.640211 q: 0.041475 0.819937 -0.050818 0.568683 
time: 1403636921.351666, t: 8.874651 -4.248210 0.650238 q: 0.040677 0.810288 -0.052034 0.582299 
wait for imu ... 
time: 1403636921.551666, t: 8.829788 -4.267235 0.637278 q: 0.028365 0.807927 -0.061092 0.585421 
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time: 1403636928.951667, t: 10.538193 -6.698467 -0.150610 q: 0.201257 0.773949 -0.282972 0.529552 
time: 1403636929.151666, t: 10.643855 -6.815756 -0.101120 q: 0.193075 0.757321 -0.287832 0.553479 
time: 1403636929.351666, t: 10.733284 -6.926445 -0.046628 q: 0.181807 0.755523 -0.294013 0.556495 
time: 1403636929.551666, t: 10.803685 -7.043067 -0.010815 q: 0.188683 0.760453 -0.286657 0.551305 
time: 1403636929.751667, t: 10.860019 -7.154663 0.000236 q: 0.200163 0.764400 -0.276500 0.546969 
time: 1403636929.951667, t: 10.910513 -7.251939 -0.008647 q: 0.198007 0.763522 -0.276829 0.548811 
time: 1403636930.151666, t: 10.951047 -7.333194 0.002766 q: 0.190471 0.761993 -0.282474 0.550723 
time: 1403636930.351666, t: 10.991704 -7.426236 0.043018 q: 0.186838 0.763643 -0.285095 0.548327 
time: 1403636930.551666, t: 11.019245 -7.512828 0.081559 q: 0.197143 0.763973 -0.278639 0.547576 
time: 1403636930.751667, t: 11.037890 -7.592344 0.096841 q: 0.189624 0.761811 -0.283299 0.550844 
time: 1403636930.951667, t: 11.044080 -7.670990 0.088443 q: 0.178379 0.756522 -0.295728 0.555338 
time: 1403636931.151666, t: 11.029040 -7.758879 0.071372 q: 0.192096 0.747476 -0.309046 0.555760 
time: 1403636931.351666, t: 10.990350 -7.848201 0.075345 q: 0.219186 0.740358 -0.306586 0.556626 
time: 1403636931.551666, t: 10.932070 -7.920481 0.104419 q: 0.240599 0.743508 -0.300454 0.546841 
wait for imu ... 
time: 1403636931.751667, t: 10.871668 -7.964649 0.133193 q: 0.246568 0.745964 -0.299898 0.541113 
time: 1403636931.951667, t: 10.813349 -7.984920 0.134627 q: 0.229070 0.749684 -0.313954 0.535663 
time: 1403636932.151666, t: 10.753096 -7.998909 0.116757 q: 0.226658 0.745087 -0.316958 0.541303 
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time: 1403636932.551666, t: 10.612078 -7.969137 0.117680 q: 0.255702 0.738745 -0.313019 0.539343 
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time: 1403636932.951667, t: 10.457537 -7.836383 0.220452 q: 0.268489 0.721494 -0.362082 0.525602 
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wait for imu ... 
time: 1403636940.751667, t: 7.179207 -5.721557 -0.173998 q: -0.387344 -0.581845 0.582925 -0.414269 
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time: 1403636941.751667, t: 6.464868 -5.302161 -0.059297 q: 0.396431 0.589651 -0.564101 0.420646 
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time: 1403636943.151666, t: 5.492087 -4.763436 -0.027533 q: 0.396918 0.580458 -0.573613 0.420109 
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wait for imu ... 
time: 1403636943.551666, t: 5.209584 -4.625538 -0.025353 q: 0.405501 0.575637 -0.574487 0.417344 
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wait for imu ... 
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time: 1403636958.351666, t: 8.948951 -7.569041 -1.240955 q: 0.181247 0.769514 -0.282088 0.543529 
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: 5.642280 -5.556612 -1.478133 q: 0.186306 0.789368 -0.265642 0.521174 
time: 1403636982.151666, t: 5.748770 -5.615166 -1.466020 q: 0.177659 0.796896 -0.274811 0.507811 
time: 1403636982.351666, t: 5.878533 -5.686810 -1.467783 q: 0.168472 0.791277 -0.281680 0.515902 
time: 1403636982.551666, t: 6.018793 -5.775129 -1.466470 q: 0.170848 0.775469 -0.277546 0.540765 
time: 1403636982.751667, t: 6.163878 -5.879378 -1.449049 q: 0.169141 0.777325 -0.274519 0.540182 
time: 1403636982.951667, t: 6.300577 -5.989144 -1.436038 q: 0.171756 0.782643 -0.269990 0.533924 
time: 1403636983.151666, t: 6.445548 -6.107545 -1.446071 q: 0.177965 0.777417 -0.265084 0.541924 
time: 1403636983.351666, t: 6.591978 -6.227769 -1.479853 q: 0.185069 0.775300 -0.260980 0.544562 
time: 1403636983.551666, t: 6.739249 -6.345062 -1.517513 q: 0.187264 0.775651 -0.261689 0.542970 
time: 1403636983.751667, t: 6.883598 -6.451845 -1.532937 q: 0.187773 0.782023 -0.265013 0.531930 
time: 1403636983.951667, t: 7.035835 -6.548665 -1.515999 q: 0.188552 0.785931 -0.268275 0.524203 
time: 1403636984.151666, t: 7.199100 -6.643429 -1.483099 q: 0.189370 0.786057 -0.271538 0.522035 
time: 1403636984.351666, t: 7.371308 -6.733100 -1.465667 q: 0.194438 0.778245 -0.271724 0.531690 
time: 1403636984.551666, t: 7.560249 -6.825272 -1.477514 q: 0.198308 0.774355 -0.271384 0.536096 
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time: 1403636984.951667, t: 7.950234 -6.985683 -1.476593 q: 0.190075 0.770808 -0.275591 0.542011 
time: 1403636985.151666, t: 8.130450 -7.052419 -1.458953 q: 0.191934 0.772721 -0.274728 0.539061 
time: 1403636985.351666, t: 8.314327 -7.117870 -1.477474 q: 0.195719 0.773191 -0.271875 0.538474 
time: 1403636985.551666, t: 8.505559 -7.171624 -1.493991 q: 0.190757 0.779409 -0.255323 0.539391 
time: 1403636985.751667, t: 8.701737 -7.213411 -1.483306 q: 0.190027 0.781557 -0.238550 0.544199 
time: 1403636985.951667, t: 8.897388 -7.235852 -1.457887 q: 0.192318 0.764708 -0.225683 0.572104 
time: 1403636986.151666, t: 9.079208 -7.233300 -1.462885 q: 0.191924 0.763994 -0.221981 0.574633 
time: 1403636986.351666, t: 9.240464 -7.198232 -1.494661 q: 0.184740 0.780858 -0.227380 0.551752 
time: 1403636986.551666, t: 9.383706 -7.139563 -1.525643 q: 0.169737 0.782842 -0.237403 0.549535 
time: 1403636986.751667, t: 9.525521 -7.077642 -1.525105 q: 0.159477 0.781342 -0.243603 0.552023 
time: 1403636986.951667, t: 9.651431 -7.018317 -1.488960 q: 0.156550 0.779193 -0.246164 0.554756 
time: 1403636987.151666, t: 9.768839 -6.967171 -1.426201 q: 0.165045 0.778338 -0.243266 0.554772 
time: 1403636987.351666, t: 9.870211 -6.913713 -1.378686 q: 0.167976 0.775554 -0.244192 0.557379 
time: 1403636987.551666, t: 9.964147 -6.856400 -1.353970 q: 0.170759 0.771866 -0.234562 0.565725 
time: 1403636987.751667, t: 10.043839 -6.785737 -1.346467 q: 0.170575 0.769886 -0.227512 0.571330 
time: 1403636987.951667, t: 10.105719 -6.704914 -1.322773 q: 0.159625 0.771735 -0.229524 0.571196 
time: 1403636988.151666, t: 10.149134 -6.619718 -1.292643 q: 0.142551 0.776524 -0.240380 0.564719 
time: 1403636988.351666, t: 10.178860 -6.545799 -1.276726 q: 0.137386 0.769379 -0.245542 0.573490 
time: 1403636988.551666, t: 10.177829 -6.483285 -1.244103 q: 0.141319 0.760595 -0.242833 0.585282 
time: 1403636988.751667, t: 10.141193 -6.424173 -1.198381 q: 0.142804 0.758063 -0.241548 0.588730 
wait for imu ... 
time: 1403636988.951667, t: 10.070348 -6.368397 -1.172172 q: 0.141425 0.752676 -0.242301 0.595624 
time: 1403636989.151666, t: 9.961828 -6.314961 -1.164018 q: 0.140757 0.749415 -0.244199 0.599108 
time: 1403636989.351666, t: 9.810623 -6.266946 -1.157041 q: 0.151288 0.760704 -0.240319 0.583685 
time: 1403636989.551666, t: 9.629228 -6.224040 -1.121770 q: 0.156765 0.776174 -0.239679 0.561723 
time: 1403636989.751667, t: 9.447154 -6.180669 -1.082037 q: 0.164886 0.781555 -0.234812 0.553939 
time: 1403636989.951667, t: 9.268079 -6.132909 -1.064319 q: 0.164697 0.777872 -0.234985 0.559081 
time: 1403636990.151666, t: 9.087042 -6.081187 -1.050117 q: 0.166219 0.771039 -0.233232 0.568747 
time: 1403636990.351666, t: 8.896688 -6.021096 -1.012689 q: 0.167210 0.776079 -0.230609 0.562638 
time: 1403636990.551666, t: 8.702219 -5.952918 -0.971897 q: 0.163289 0.781616 -0.229518 0.556538 
time: 1403636990.751667, t: 8.508901 -5.881768 -0.953419 q: 0.161292 0.785885 -0.227315 0.551995 
time: 1403636990.951667, t: 8.322193 -5.803057 -0.961770 q: 0.161314 0.786966 -0.225503 0.551190 
time: 1403636991.151666, t: 8.141089 -5.726448 -0.988849 q: 0.162150 0.785859 -0.225302 0.552605 
time: 1403636991.351666, t: 7.964132 -5.645818 -1.004317 q: 0.162506 0.786458 -0.226960 0.550966 
time: 1403636991.551666, t: 7.799773 -5.564542 -0.983988 q: 0.163079 0.786535 -0.229632 0.549578 
time: 1403636991.751667, t: 7.648015 -5.481454 -0.932679 q: 0.153856 0.784130 -0.241882 0.550419 
time: 1403636991.951667, t: 7.489908 -5.407484 -0.878031 q: 0.149840 0.781967 -0.250801 0.550613 
time: 1403636992.151666, t: 7.334145 -5.350323 -0.846872 q: 0.164490 0.779127 -0.245582 0.552805 
time: 1403636992.351666, t: 7.177110 -5.292305 -0.839089 q: 0.172544 0.777021 -0.244017 0.554006 
wait for imu ... 
time: 1403636992.551666, t: 7.034068 -5.238340 -0.836178 q: 0.175234 0.782473 -0.247004 0.544076 
time: 1403636992.751667, t: 6.902610 -5.182377 -0.808942 q: 0.177322 0.784049 -0.249867 0.539806 
time: 1403636992.951667, t: 6.777966 -5.121951 -0.791228 q: 0.183281 0.783556 -0.249715 0.538601 
time: 1403636993.151666, t: 6.666365 -5.055950 -0.790486 q: 0.177778 0.776613 -0.251984 0.549338 
time: 1403636993.351666, t: 6.565188 -4.981583 -0.775856 q: 0.160610 0.778851 -0.235277 0.558785 
time: 1403636993.551666, t: 6.456932 -4.900317 -0.730433 q: 0.138385 0.786441 -0.203644 0.566471 
time: 1403636993.751667, t: 6.339021 -4.821199 -0.674701 q: 0.118448 0.796010 -0.176782 0.566645 
time: 1403636993.951667, t: 6.225530 -4.747809 -0.639953 q: 0.110550 0.798979 -0.161704 0.568562 
time: 1403636994.151666, t: 6.116198 -4.674745 -0.626070 q: 0.113028 0.790656 -0.152230 0.582163 
time: 1403636994.351666, t: 5.994576 -4.593033 -0.629071 q: 0.115067 0.782207 -0.148846 0.593933 
time: 1403636994.551666, t: 5.855028 -4.494883 -0.641761 q: 0.112520 0.782438 -0.151907 0.593342 
time: 1403636994.751667, t: 5.699479 -4.388320 -0.636247 q: 0.099863 0.792705 -0.162957 0.578870 
time: 1403636994.951667, t: 5.535635 -4.282601 -0.615420 q: 0.087093 0.796442 -0.174182 0.572499 
time: 1403636995.351666, t: 5.187988 -4.104906 -0.587698 q: 0.105977 0.788845 -0.157928 0.584424 
time: 1403636995.551666, t: 4.994741 -4.010936 -0.540248 q: 0.104610 0.795888 -0.156079 0.575550 
time: 1403636995.751667, t: 4.799165 -3.916162 -0.482409 q: 0.101176 0.797130 -0.158336 0.573827 
time: 1403636995.951667, t: 4.603735 -3.825075 -0.448598 q: 0.087991 0.798696 -0.169152 0.570727 
time: 1403636996.151666, t: 4.409794 -3.748581 -0.434184 q: 0.095159 0.801612 -0.165135 0.566651 
time: 1403636996.351666, t: 4.220890 -3.683197 -0.409193 q: 0.100621 0.803725 -0.158175 0.564697 
time: 1403636996.551666, t: 4.046576 -3.621211 -0.349848 q: 0.092350 0.807026 -0.139865 0.566232 
time: 1403636996.751667, t: 3.878529 -3.558497 -0.290283 q: 0.071198 0.813548 -0.109120 0.566712 
time: 1403636996.951667, t: 3.712613 -3.492882 -0.280922 q: 0.041196 0.819165 -0.072122 0.567512 
time: 1403636997.151666, t: 3.557451 -3.428309 -0.295758 q: 0.015681 0.822900 -0.036628 0.566788 
time: 1403636997.351666, t: 3.405978 -3.367868 -0.320205 q: 0.003212 0.824558 -0.017681 0.565491 
time: 1403636997.551666, t: 3.277703 -3.318860 -0.320851 q: 0.001168 0.824778 -0.011237 0.565343 
time: 1403636997.751667, t: 3.177488 -3.274883 -0.292101 q: 0.004552 0.826144 -0.012088 0.563311 
optimize pose graph 
time: 1403636997.951667, t: 3.103908 -3.231400 -0.235925 q: 0.008139 0.826962 -0.015693 0.561980 
time: 1403636998.151666, t: 3.048330 -3.192309 -0.154513 q: 0.010418 0.826638 -0.020030 0.562281 
time: 1403636998.351666, t: 3.029938 -3.158764 -0.090194 q: 0.010532 0.826308 -0.024587 0.562583 
time: 1403636998.551666, t: 3.005868 -3.124129 -0.042551 q: 0.011435 0.824603 -0.026986 0.564952 
wait for imu ... 
time: 1403636998.751667, t: 2.989812 -3.093618 0.029356 q: 0.015770 0.811400 -0.025487 0.583723 
time: 1403636998.951667, t: 2.976124 -3.064250 0.102778 q: 0.026097 0.807912 -0.020585 0.588365 
time: 1403636999.151666, t: 2.932367 -3.017135 0.156461 q: 0.031852 0.808948 -0.018098 0.586737 
time: 1403636999.351666, t: 2.891297 -2.963216 0.186852 q: 0.028852 0.812599 -0.021464 0.581713 
time: 1403636999.551666, t: 2.846654 -2.901597 0.197862 q: 0.022959 0.810818 -0.026482 0.584248 
time: 1403636999.751667, t: 2.788145 -2.833402 0.194452 q: 0.021204 0.807797 -0.028632 0.588384 
time: 1403636999.951667, t: 2.727398 -2.764170 0.179289 q: 0.024795 0.807623 -0.027765 0.588523 
time: 1403637000.151666, t: 2.641162 -2.688855 0.179842 q: 0.029141 0.809159 -0.024461 0.586356 
wait for imu ... 
wait for imu ... 
time: 1403637000.351666, t: 2.549484 -2.599987 0.202943 q: 0.026863 0.811794 -0.025757 0.582756 
wait for imu ... 
time: 1403637000.551666, t: 2.456754 -2.508276 0.211213 q: 0.028243 0.811273 -0.025125 0.583444 
time: 1403637000.751667, t: 2.364007 -2.413912 0.225818 q: 0.026279 0.810421 -0.026530 0.584657 
time: 1403637000.951667, t: 2.263026 -2.318108 0.258920 q: 0.025683 0.810169 -0.028705 0.584930 
time: 1403637001.151666, t: 2.165870 -2.220201 0.271568 q: 0.025378 0.809426 -0.030234 0.585893 
time: 1403637001.351666, t: 2.054073 -2.124350 0.283616 q: 0.022442 0.809409 -0.033301 0.585871 
time: 1403637001.551666, t: 1.941425 -2.027741 0.322692 q: 0.021478 0.814171 -0.036098 0.579103 
time: 1403637001.751667, t: 1.819766 -1.932453 0.353286 q: 0.022569 0.814697 -0.037629 0.578224 
wait for imu ... 
time: 1403637001.951667, t: 1.697042 -1.844113 0.357948 q: 0.023114 0.815579 -0.038568 0.576896 
time: 1403637002.151666, t: 1.572004 -1.758328 0.347131 q: 0.023444 0.816704 -0.038753 0.575277 
time: 1403637002.351666, t: 1.456384 -1.675942 0.323736 q: 0.025342 0.817073 -0.037453 0.574758 
wait for imu ... 
time: 1403637002.551666, t: 1.348486 -1.597545 0.320322 q: 0.030860 0.816985 -0.033128 0.574879 
wait for imu ... 
time: 1403637002.751667, t: 1.239160 -1.513629 0.345490 q: 0.031970 0.817107 -0.033683 0.574612 
time: 1403637002.951667, t: 1.130656 -1.424333 0.361843 q: 0.029059 0.816155 -0.038356 0.575827 
time: 1403637003.151666, t: 1.026193 -1.333212 0.352614 q: 0.029454 0.816453 -0.041079 0.575195 
time: 1403637003.351666, t: 0.925967 -1.247354 0.331774 q: 0.028677 0.814688 -0.044637 0.577467 
time: 1403637003.551666, t: 0.829947 -1.159036 0.333288 q: 0.028440 0.812860 -0.046978 0.579864 
time: 1403637003.751667, t: 0.727089 -1.070926 0.357364 q: 0.028137 0.813267 -0.048392 0.579192 
optimize pose graph 
wait for imu ... 
time: 1403637003.951667, t: 0.616232 -0.984165 0.367060 q: 0.028025 0.816863 -0.045448 0.574356 
time: 1403637004.151666, t: 0.515534 -0.900077 0.350669 q: 0.030128 0.820522 -0.040193 0.569404 
wait for imu ... 
time: 1403637004.351666, t: 0.426356 -0.820353 0.335906 q: 0.026439 0.821500 -0.039906 0.568195 
time: 1403637004.551666, t: 0.351745 -0.744853 0.359622 q: 0.025770 0.814138 -0.043181 0.578490 
time: 1403637004.751667, t: 0.267429 -0.668735 0.410989 q: 0.013302 0.812487 -0.058618 0.579872 
time: 1403637004.951667, t: 0.188296 -0.607517 0.421846 q: 0.009216 0.817484 -0.067312 0.571930 
time: 1403637005.151666, t: 0.110526 -0.559908 0.390190 q: 0.025740 0.818809 -0.059495 0.570394 
time: 1403637005.351666, t: 0.043042 -0.520937 0.350139 q: 0.031809 0.821374 -0.055817 0.566761 
time: 1403637005.551666, t: -0.012705 -0.490653 0.305609 q: 0.033575 0.817438 -0.049595 0.572895 
time: 1403637005.751667, t: -0.072791 -0.446316 0.292422 q: 0.022611 0.823052 -0.053175 0.565019 
time: 1403637005.951667, t: -0.117219 -0.421819 0.310706 q: 0.026787 0.820400 -0.048027 0.569140 
time: 1403637006.151666, t: -0.150301 -0.404125 0.325636 q: 0.025639 0.816806 -0.048641 0.574287 
time: 1403637006.351666, t: -0.188442 -0.378763 0.328336 q: 0.020959 0.825016 -0.051663 0.562352 
wait for imu ... 
time: 1403637006.551666, t: -0.216187 -0.357302 0.323812 q: 0.010676 0.828512 -0.056873 0.556974 
time: 1403637006.751667, t: -0.221398 -0.346258 0.317568 q: 0.006500 0.819009 -0.036912 0.572555 
time: 1403637006.951667, t: -0.224242 -0.341210 0.302557 q: -0.014203 0.818471 -0.003097 0.574364 
time: 1403637007.151666, t: -0.224282 -0.343372 0.284203 q: -0.030063 0.816501 0.035000 0.575497 
time: 1403637007.351666, t: -0.227992 -0.346241 0.265834 q: -0.035328 0.807548 0.057047 0.585973 
time: 1403637007.551666, t: -0.244805 -0.343953 0.242456 q: -0.037513 0.809304 0.063544 0.582736 
time: 1403637007.751667, t: -0.268477 -0.335685 0.215029 q: -0.037069 0.823945 0.062613 0.561979 
time: 1403637007.951667, t: -0.283929 -0.319677 0.195776 q: -0.043588 0.815869 0.053348 0.574118 
wait for imu ... 
time: 1403637008.151666, t: -0.300706 -0.304334 0.177899 q: -0.039133 0.819468 0.049707 0.569623 
time: 1403637008.351666, t: -0.314680 -0.288534 0.169211 q: -0.029913 0.831208 0.050017 0.552899 
time: 1403637008.551666, t: -0.311947 -0.265774 0.177221 q: -0.033671 0.819385 0.042566 0.570669 
time: 1403637008.751667, t: -0.303115 -0.244733 0.179957 q: -0.045191 0.815964 0.029998 0.575552 
time: 1403637008.951667, t: -0.291400 -0.237903 0.166562 q: -0.059728 0.823214 0.017384 0.564312 
time: 1403637009.151666, t: -0.272472 -0.252599 0.139254 q: -0.038500 0.821155 0.029380 0.568646 
time: 1403637009.351666, t: -0.245892 -0.273914 0.104775 q: -0.008327 0.819626 0.048875 0.570749 
time: 1403637009.551666, t: -0.235295 -0.286272 0.091797 q: -0.064204 0.799330 0.056630 0.594762 
time: 1403637009.751667, t: -0.244835 -0.296110 0.085337 q: -0.074764 0.791517 0.031701 0.605728 
time: 1403637009.951667, t: -0.247792 -0.296505 0.086617 q: -0.077082 0.789700 0.031588 0.607811 
time: 1403637010.151666, t: -0.250395 -0.297951 0.086917 q: -0.076784 0.789815 0.032346 0.607660 
time: 1403637010.351666, t: -0.246940 -0.296745 0.086491 q: -0.076575 0.790017 0.032406 0.607421 

Done.
time: 1403637010.551666, t: -0.246235 -0.296315 0.086439 q: -0.076575 0.790142 0.032337 0.607261 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720470660.927717281]: Shutdown request received.[0m
[33m[ WARN] [1720470660.927760473]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720470660.928731103]: Shutdown request received.[0m
[33m[ WARN] [1720470660.928766030]: Reason given for shutdown: [user request][0m
killed
