/SLAM-Hive/slam_hive_results/mapping_results/2844/2052_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-12.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720471278.485348577]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720471278.486339416]: init begins[0m
[31m[ERROR] [1720471278.487381261]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/6d8844dc-3d6a-11ef-9cb6-0242ac110005/roslaunch-22c7e3f86424-117.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://22c7e3f86424:44475/[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] [1720471279.591962569]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720471279.592433907]: 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] [1720471279.598372845]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720471279.598584912]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720471279.598611930]: 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] [1720471279.598784175]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720471279.599040232]: 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://22c7e3f86424:11311/[0m
]2;roscore http://22c7e3f86424:11311/
[1msetting /run_id to 6d8844dc-3d6a-11ef-9cb6-0242ac110005[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] [1720471288.613978087]: 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: 316834431.98 
init first imu pose
averge acc 9.704770 -0.367023 -3.127050
init R0 
 0.308595  0.110881  0.944709
        0 -0.993182   0.11657
 0.951193 -0.035973 -0.306492
wait for imu ... 
[0m[ INFO] [1720471295.027009030]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720471295.407200646]: 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] [1720471296.195259905]: 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] [1720471297.024691403]: 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] [1720471297.841331132]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471298.223121180]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471298.619982645]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720471300.215724227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471300.590229162]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720471302.602953233]: 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] [1720471304.202543237]: 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] [1720471305.414513913]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471305.801501929]: 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] [1720471307.033445146]: 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] [1720471308.195146765]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471308.633313357]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471309.036166157]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471309.428547822]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471309.833430169]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471310.226804801]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471310.609415276]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471310.994510357]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471311.426639699]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471311.829565679]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471312.220704181]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471312.601629501]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471313.022312580]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471313.400268634]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
wait for imu ... 
wait for imu ... 
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720471318.350455016]: gyroscope bias initial calibration -0.0224315  0.0137316  0.0613084[0m
[0m[ INFO] [1720471318.395932495]: Initialization finish![0m
time: 1403636886.051666, t: 0.097221 0.044136 -0.255478 q: -0.133056 0.781666 0.136814 0.593782 
time: 1403636886.451667, t: 0.094544 0.044867 -0.252093 q: -0.133575 0.782347 0.139005 0.592257 
time: 1403636886.851666, t: 0.096513 0.046912 -0.253437 q: -0.133272 0.783322 0.139346 0.590955 
time: 1403636887.251667, t: 0.095924 0.046654 -0.253617 q: -0.133106 0.783627 0.139309 0.590597 
time: 1403636887.651666, t: 0.095971 0.046693 -0.253766 q: -0.132874 0.783855 0.139272 0.590356 
time: 1403636888.051666, t: 0.096018 0.046701 -0.253627 q: -0.132747 0.784105 0.139232 0.590061 
wait for imu ... 
time: 1403636888.451667, t: 0.095793 0.046575 -0.253703 q: -0.132824 0.784253 0.139123 0.589872 
time: 1403636888.851666, t: 0.095832 0.046776 -0.253716 q: -0.132573 0.784250 0.139164 0.589924 
time: 1403636889.251667, t: 0.097024 0.047375 -0.253374 q: -0.132490 0.784528 0.138896 0.589636 
time: 1403636889.651666, t: 0.097232 0.047604 -0.252175 q: -0.132115 0.784526 0.139003 0.589697 
time: 1403636890.051666, t: 0.096889 0.047313 -0.251416 q: -0.131417 0.784880 0.138764 0.589438 
time: 1403636890.451667, t: 0.096293 0.046798 -0.251144 q: -0.130797 0.785129 0.138169 0.589384 
time: 1403636890.851666, t: 0.096544 0.046423 -0.251284 q: -0.130069 0.785352 0.138230 0.589234 
time: 1403636891.251667, t: 0.096499 0.046162 -0.251578 q: -0.129376 0.785745 0.138182 0.588874 
time: 1403636891.651666, t: 0.096582 0.045610 -0.252176 q: -0.128208 0.786139 0.137784 0.588696 
time: 1403636892.051666, t: 0.097360 0.045282 -0.253268 q: -0.126565 0.786533 0.137309 0.588637 
wait for imu ... 
time: 1403636892.451667, t: 0.098584 0.045314 -0.253789 q: -0.125186 0.786754 0.136929 0.588725 
time: 1403636892.851666, t: 0.101609 0.045638 -0.255464 q: -0.121895 0.787660 0.136057 0.588406 
time: 1403636893.251667, t: 0.105074 0.046095 -0.257504 q: -0.118776 0.788228 0.135218 0.588477 
time: 1403636893.651666, t: 0.108757 0.046527 -0.259993 q: -0.115195 0.788843 0.134266 0.588583 
wait for imu ... 
time: 1403636894.051666, t: 0.111542 0.046707 -0.261547 q: -0.112772 0.789397 0.133439 0.588498 
time: 1403636894.451667, t: 0.118683 0.047608 -0.265042 q: -0.107400 0.790244 0.131847 0.588725 
time: 1403636894.851666, t: 0.137515 0.050484 -0.264932 q: -0.100360 0.790902 0.129921 0.589510 
time: 1403636895.251667, t: 0.147943 0.027574 -0.245162 q: -0.088570 0.791972 0.126348 0.590738 
wait for imu ... 
time: 1403636895.651666, t: 0.167363 0.029567 -0.247792 q: -0.079103 0.792388 0.123676 0.592088 
time: 1403636896.051666, t: 0.167133 0.039049 -0.261435 q: -0.082679 0.791212 0.125934 0.592696 
time: 1403636896.451667, t: 0.203144 0.040201 -0.297046 q: -0.082996 0.791366 0.125825 0.592470 
time: 1403636896.851666, t: 0.202139 0.040345 -0.296568 q: -0.084110 0.791581 0.126023 0.591983 
time: 1403636897.251667, t: 0.197716 0.039174 -0.295969 q: -0.087368 0.791208 0.131612 0.590792 
time: 1403636897.651666, t: 0.159965 0.000349 -0.292408 q: -0.059129 0.812288 0.124616 0.566712 
time: 1403636898.051666, t: 0.123793 -0.048248 -0.222017 q: -0.043537 0.821949 0.135085 0.551595 
time: 1403636898.451667, t: 0.140067 -0.058181 -0.156268 q: -0.056686 0.815528 0.144796 0.557436 
time: 1403636898.851666, t: 0.184030 -0.044302 -0.074679 q: -0.064725 0.816253 0.151412 0.553730 
time: 1403636899.651666, t: 0.352993 -0.059631 0.003525 q: -0.023143 0.817218 0.048103 0.573852 
time: 1403636900.051666, t: 0.431585 -0.132411 0.023472 q: 0.001628 0.814988 0.039540 0.578126 
time: 1403636900.451667, t: 0.493066 -0.211502 0.091158 q: -0.001103 0.816607 0.049124 0.575099 
time: 1403636900.851666, t: 0.559307 -0.289605 0.161931 q: -0.016752 0.828273 0.056765 0.557189 
time: 1403636901.251667, t: 0.670143 -0.397533 0.157963 q: -0.036097 0.821877 0.053404 0.566006 
time: 1403636901.651666, t: 0.818142 -0.547141 0.197574 q: -0.024623 0.818298 0.066587 0.570393 
time: 1403636902.051666, t: 0.986918 -0.713852 0.178723 q: -0.027973 0.816457 0.071341 0.572299 
time: 1403636902.451667, t: 1.154473 -0.883780 0.151870 q: -0.034696 0.817041 0.071237 0.571109 
time: 1403636902.851666, t: 1.303574 -1.045236 0.065227 q: -0.026256 0.813981 0.073996 0.575560 
time: 1403636903.251667, t: 1.434821 -1.186649 0.091281 q: -0.038409 0.814532 0.080925 0.573161 
time: 1403636903.651666, t: 1.548808 -1.317412 0.150585 q: -0.039925 0.817942 0.088665 0.567023 
time: 1403636904.051666, t: 1.673920 -1.420898 0.166850 q: -0.057977 0.819425 0.080814 0.564492 
time: 1403636904.451667, t: 1.824800 -1.546117 0.264603 q: -0.058957 0.816165 0.079706 0.569250 
time: 1403636904.851666, t: 1.987031 -1.711196 0.316003 q: -0.045833 0.816040 0.083572 0.570083 
time: 1403636905.251667, t: 2.147451 -1.873091 0.331230 q: -0.034968 0.815811 0.083739 0.571155 
time: 1403636905.651666, t: 2.299034 -1.987314 0.397995 q: -0.034749 0.818991 0.097788 0.564344 
wait for imu ... 
time: 1403636906.051666, t: 2.458646 -2.052660 0.384852 q: -0.047933 0.823457 0.104972 0.555519 
time: 1403636906.451667, t: 2.646974 -2.077201 0.371892 q: -0.065957 0.813652 0.099317 0.568996 
time: 1403636906.851666, t: 2.833606 -2.108729 0.379166 q: -0.062384 0.816201 0.102957 0.565088 
time: 1403636907.251667, t: 3.026575 -2.147525 0.376230 q: -0.059177 0.820972 0.113331 0.556470 
time: 1403636907.651666, t: 3.237797 -2.160857 0.386724 q: -0.078229 0.824728 0.103941 0.550364 
time: 1403636908.051666, t: 3.524113 -2.203565 0.440428 q: -0.072682 0.817237 0.110187 0.560982 
time: 1403636908.451667, t: 3.826162 -2.264409 0.442705 q: -0.072361 0.812921 0.121054 0.565039 
time: 1403636908.851666, t: 4.109645 -2.319898 0.434530 q: -0.079108 0.819469 0.124704 0.553770 
time: 1403636909.251667, t: 4.415654 -2.361167 0.506231 q: -0.083740 0.822519 0.121925 0.549168 
time: 1403636909.651666, t: 4.772589 -2.412883 0.509101 q: -0.083150 0.816481 0.117241 0.559195 
time: 1403636910.051666, t: 5.120928 -2.472286 0.429120 q: -0.053694 0.798589 0.134695 0.584149 
time: 1403636910.451667, t: 5.405057 -2.487966 0.370549 q: -0.072568 0.812097 0.125981 0.565121 
time: 1403636910.851666, t: 5.679168 -2.480675 0.350314 q: -0.075546 0.813145 0.127291 0.562926 
time: 1403636911.251667, t: 5.931241 -2.482754 0.301627 q: -0.082662 0.807150 0.124292 0.571163 
time: 1403636911.651666, t: 6.151300 -2.492158 0.339661 q: -0.074768 0.811597 0.128390 0.565010 
time: 1403636912.051666, t: 6.362329 -2.501346 0.331020 q: -0.086816 0.816716 0.116956 0.558354 
time: 1403636912.451667, t: 6.595092 -2.526955 0.322689 q: -0.081235 0.813637 0.118432 0.563355 
time: 1403636912.851666, t: 6.839584 -2.576751 0.290930 q: -0.093207 0.814462 0.106149 0.562758 
time: 1403636913.251667, t: 7.084650 -2.675798 0.211822 q: -0.077570 0.804215 0.117156 0.577491 
time: 1403636913.651666, t: 7.307990 -2.793116 0.195639 q: -0.079643 0.811689 0.114508 0.567191 
time: 1403636914.051666, t: 7.510037 -2.920409 0.175828 q: -0.075353 0.810227 0.117379 0.569277 
time: 1403636914.451667, t: 7.704920 -3.058702 0.177300 q: -0.072613 0.809972 0.117798 0.569908 
time: 1403636914.851666, t: 7.878132 -3.192554 0.223940 q: -0.067683 0.808211 0.118266 0.572911 
time: 1403636915.251667, t: 8.031351 -3.310311 0.223787 q: -0.062817 0.817615 0.116665 0.560311 
time: 1403636915.651666, t: 8.198037 -3.395880 0.188142 q: -0.078500 0.814918 0.106071 0.564354 
time: 1403636916.051666, t: 8.379969 -3.497808 0.248343 q: -0.074234 0.809528 0.111497 0.571596 
time: 1403636916.451667, t: 8.546101 -3.616795 0.301045 q: -0.062108 0.809376 0.118193 0.571912 
time: 1403636916.851666, t: 8.712130 -3.729309 0.321024 q: -0.033280 0.812678 0.081692 0.575998 
time: 1403636917.251667, t: 8.816304 -3.786276 0.260198 q: -0.027233 0.813931 0.061256 0.577081 
time: 1403636917.651666, t: 8.920237 -3.843261 0.140951 q: 0.012201 0.812727 0.005817 0.582488 
time: 1403636918.051666, t: 8.990954 -3.865725 0.102754 q: 0.031339 0.812173 -0.016999 0.582326 
time: 1403636918.451667, t: 9.036850 -3.852244 0.081459 q: 0.036456 0.824578 -0.011079 0.564464 
time: 1403636918.851666, t: 9.119938 -3.789690 0.170695 q: 0.009080 0.822038 -0.017040 0.569105 
time: 1403636919.251667, t: 9.219596 -3.752021 0.330627 q: -0.002013 0.810617 -0.044912 0.583848 
time: 1403636919.651666, t: 9.278576 -3.810558 0.456621 q: 0.031843 0.808411 -0.038919 0.586467 
time: 1403636920.051666, t: 9.289979 -3.883695 0.477907 q: 0.023017 0.805046 -0.043942 0.591134 
time: 1403636920.451667, t: 9.245395 -3.979492 0.413684 q: 0.028772 0.805587 -0.031476 0.590941 
time: 1403636920.851666, t: 9.147580 -4.069954 0.416396 q: 0.030271 0.820412 -0.029162 0.570226 
time: 1403636921.251667, t: 9.058543 -4.131344 0.476318 q: 0.029754 0.816985 -0.030351 0.575090 
time: 1403636922.051666, t: 8.889790 -4.242085 0.366069 q: 0.028738 0.820775 -0.040144 0.569114 
time: 1403636922.451667, t: 8.839595 -4.305765 0.321413 q: 0.046550 0.824679 -0.052856 0.561199 
time: 1403636922.851666, t: 8.818123 -4.350557 0.262899 q: 0.062730 0.808104 -0.086405 0.579281 
time: 1403636923.251667, t: 8.773085 -4.389323 0.230582 q: 0.068864 0.803435 -0.116187 0.579871 
time: 1403636923.651666, t: 8.700000 -4.444194 0.153023 q: 0.092522 0.825268 -0.135019 0.540502 
time: 1403636924.051666, t: 8.731171 -4.502013 0.155123 q: 0.098258 0.826618 -0.132994 0.537923 
time: 1403636924.451667, t: 8.868557 -4.558532 0.132165 q: 0.086360 0.819691 -0.134444 0.550067 
time: 1403636924.851666, t: 9.054129 -4.642670 0.151355 q: 0.060761 0.798730 -0.144297 0.580963 
time: 1403636925.251667, t: 9.174700 -4.800414 0.074941 q: 0.099982 0.804192 -0.148025 0.566892 
time: 1403636925.651666, t: 9.292689 -4.963001 -0.044631 q: 0.111082 0.828846 -0.155897 0.525711 
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optimize pose graph 
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time: 1403636988.451667, t: 10.420242 -6.330317 -1.416406 q: 0.119257 0.772047 -0.217151 0.585292 
time: 1403636988.851666, t: 10.338742 -6.224770 -1.335405 q: 0.121481 0.763764 -0.214764 0.596475 
time: 1403636989.251667, t: 10.118058 -6.131417 -1.317056 q: 0.122096 0.760065 -0.216970 0.600264 
time: 1403636989.651666, t: 9.760246 -6.065476 -1.254132 q: 0.140573 0.787250 -0.209864 0.562525 
optimize pose graph 
time: 1403636990.051666, t: 9.386060 -5.997146 -1.210330 q: 0.145182 0.781153 -0.206953 0.570870 
time: 1403636990.451667, t: 8.990661 -5.899367 -1.140827 q: 0.145808 0.786909 -0.202259 0.564452 
time: 1403636990.851666, t: 8.595704 -5.778110 -1.104908 q: 0.141990 0.794020 -0.198024 0.556919 
time: 1403636991.251667, t: 8.226184 -5.645180 -1.147821 q: 0.143361 0.793978 -0.198178 0.556572 
time: 1403636991.651666, t: 7.882263 -5.502194 -1.110073 q: 0.140550 0.793346 -0.206999 0.554977 
time: 1403636992.051666, t: 7.566082 -5.378494 -1.007898 q: 0.137199 0.789805 -0.221657 0.555205 
time: 1403636992.451667, t: 7.249615 -5.284024 -0.989917 q: 0.154094 0.788514 -0.218506 0.553856 
time: 1403636992.851666, t: 6.976986 -5.184687 -0.942946 q: 0.161202 0.792322 -0.222744 0.544633 
time: 1403636993.251667, t: 6.765567 -5.070124 -0.933854 q: 0.150845 0.784985 -0.219060 0.559516 
time: 1403636993.651666, t: 6.548406 -4.934584 -0.844948 q: 0.106911 0.798283 -0.160932 0.570452 
time: 1403636994.051666, t: 6.320360 -4.806569 -0.776976 q: 0.091577 0.801297 -0.128287 0.577131 
time: 1403636994.451667, t: 6.062715 -4.657235 -0.784698 q: 0.095426 0.785782 -0.121593 0.598879 
time: 1403636994.851666, t: 5.733034 -4.464449 -0.769559 q: 0.070692 0.801753 -0.142699 0.576049 
time: 1403636995.251667, t: 5.377743 -4.296284 -0.743623 q: 0.082850 0.794030 -0.133728 0.587171 
time: 1403636995.651666, t: 4.981365 -4.132864 -0.646259 q: 0.082807 0.802593 -0.129148 0.576463 
time: 1403636996.051666, t: 4.567940 -3.974256 -0.574779 q: 0.069997 0.806013 -0.140129 0.570795 
time: 1403636996.451667, t: 4.174339 -3.863767 -0.515055 q: 0.077115 0.810468 -0.123100 0.567486 
time: 1403636996.851666, t: 3.813179 -3.753882 -0.411678 q: 0.037384 0.819717 -0.061638 0.568214 
time: 1403636997.251667, t: 3.489643 -3.648316 -0.434808 q: -0.012422 0.824656 0.004194 0.565483 
time: 1403636997.651666, t: 3.245229 -3.569553 -0.441396 q: -0.018675 0.825833 0.017702 0.563327 
optimize pose graph 
time: 1403636998.051666, t: 3.086926 -3.495860 -0.325526 q: -0.010307 0.827769 0.011945 0.560847 
time: 1403636998.451667, t: 3.020328 -3.426393 -0.192609 q: -0.010277 0.827087 0.003362 0.561970 
time: 1403636998.851666, t: 3.001367 -3.370869 -0.052797 q: 0.000423 0.809423 0.006623 0.587189 
time: 1403636999.251667, t: 2.915670 -3.287033 0.051283 q: 0.011280 0.811369 0.011053 0.584321 
time: 1403636999.651666, t: 2.810754 -3.166040 0.077016 q: 0.000428 0.809588 0.001508 0.586997 
optimize pose graph 
time: 1403637000.051666, t: 2.657086 -3.035010 0.057289 q: 0.007814 0.808696 0.004800 0.588156 
time: 1403637000.451667, t: 2.461964 -2.875843 0.087869 q: 0.005745 0.812096 0.003510 0.583485 
time: 1403637000.851666, t: 2.248309 -2.695069 0.130879 q: 0.004056 0.810444 0.001088 0.585801 
time: 1403637001.251667, t: 2.020895 -2.510266 0.160613 q: 0.002694 0.810042 -0.002531 0.586361 
time: 1403637001.651666, t: 1.760397 -2.328188 0.229606 q: -0.000410 0.816088 -0.007918 0.577873 
optimize pose graph 
time: 1403637002.051666, t: 1.494397 -2.163349 0.246100 q: 0.003135 0.817743 -0.008226 0.575517 
time: 1403637002.451667, t: 1.259917 -2.020469 0.203250 q: 0.006555 0.818224 -0.005952 0.574832 
time: 1403637002.851666, t: 1.027593 -1.862123 0.240981 q: 0.010252 0.817739 -0.005882 0.575468 
time: 1403637003.251667, t: 0.790402 -1.694720 0.223628 q: 0.009617 0.817412 -0.012803 0.575830 
time: 1403637003.651666, t: 0.571366 -1.528027 0.226161 q: 0.007242 0.814414 -0.018776 0.579936 
optimize pose graph 
time: 1403637004.051666, t: 0.355941 -1.378137 0.243453 q: 0.009156 0.820869 -0.012649 0.570903 
time: 1403637004.451667, t: 0.156641 -1.227095 0.226646 q: 0.003790 0.820164 -0.012502 0.571979 
time: 1403637004.851666, t: -0.020341 -1.090842 0.306760 q: -0.012040 0.815468 -0.035623 0.577579 
time: 1403637005.251667, t: -0.178828 -1.014278 0.251240 q: 0.009332 0.820767 -0.027538 0.570522 
time: 1403637005.651666, t: -0.309191 -0.956510 0.172661 q: 0.008547 0.821032 -0.020148 0.570462 
time: 1403637006.051666, t: -0.420213 -0.897228 0.197784 q: 0.006502 0.819458 -0.017987 0.572819 
time: 1403637006.451667, t: -0.493747 -0.854559 0.204847 q: -0.002610 0.831493 -0.023629 0.555026 
time: 1403637006.851666, t: -0.505082 -0.834764 0.193500 q: -0.023770 0.818004 0.007523 0.574672 
time: 1403637007.251667, t: -0.511181 -0.836445 0.157220 q: -0.055504 0.811172 0.077586 0.576974 
time: 1403637007.651666, t: -0.538809 -0.836572 0.110127 q: -0.059192 0.814482 0.093351 0.569563 
time: 1403637008.051666, t: -0.576556 -0.810115 0.069204 q: -0.065440 0.810193 0.079946 0.576987 
time: 1403637008.451667, t: -0.603171 -0.779016 0.053748 q: -0.051357 0.824734 0.077980 0.557760 
time: 1403637008.851666, t: -0.593171 -0.736001 0.052489 q: -0.077985 0.819626 0.051323 0.565240 
time: 1403637009.251667, t: -0.548678 -0.762511 0.003768 q: -0.045661 0.818940 0.069220 0.567857 
time: 1403637009.651666, t: -0.528744 -0.792587 -0.028053 q: -0.102347 0.781298 0.074791 0.611150 
time: 1403637010.051666, t: -0.533401 -0.794772 -0.034440 q: -0.099500 0.788515 0.061620 0.603777 
time: 1403637010.451667, t: -0.543404 -0.800970 -0.033424 q: -0.099144 0.788785 0.061885 0.603456 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720471443.272536684]: Shutdown request received.[0m
[33m[ WARN] [1720471443.272592092]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720471443.273515645]: Shutdown request received.[0m
[33m[ WARN] [1720471443.273546232]: Reason given for shutdown: [user request][0m
killed
