/SLAM-Hive/slam_hive_results/mapping_results/2845/2053_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-13.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720471475.783495272]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720471475.785018682]: init begins[0m
[31m[ERROR] [1720471475.786217155]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e323e430-3d6a-11ef-be8d-0242ac110005/roslaunch-4de555b76080-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://4de555b76080:43379/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1720471476.891915077]: 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] [1720471476.896394217]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720471476.896595743]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720471476.896620825]: ROW: 384 COL: 601 [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] [1720471476.896786152]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720471476.897012291]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://4de555b76080:11311/[0m
]2;roscore http://4de555b76080:11311/
[1msetting /run_id to e323e430-3d6a-11ef-be8d-0242ac110005[0m
[0m[ INFO] [1720471476.938922592]: Connected to master at [localhost:11311][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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720471485.951062293]: 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: 316834629.32 
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
[0m[ INFO] [1720471492.347624348]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471492.764885308]: 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] [1720471493.560794524]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471493.968072222]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471494.359897534]: 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] [1720471495.545769390]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471495.945166192]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720471497.546837511]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471497.920670154]: 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!
[0m[ INFO] [1720471499.946610285]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471500.392230979]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471500.773736610]: 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!
[0m[ INFO] [1720471501.536951827]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471501.966874410]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471502.375071689]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471502.753108672]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471503.135999928]: 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] [1720471504.365728919]: 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] [1720471505.550311967]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471505.959416789]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471506.332848460]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471506.759409142]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471507.166175039]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471507.554115215]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471507.964063258]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471508.327823089]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471508.748084667]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471509.152757006]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471509.547651994]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471509.969964848]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471510.365079931]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471510.750269680]: 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!
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0708 20:45:15.660836   169 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 20:45:15.664714   169 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 20:45:15.669183   169 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 20:45:15.673302   169 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 20:45:15.674696   169 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[33m[ WARN] [1720471515.677460803]: gyroscope bias initial calibration 0.0182068 0.0309395 0.0944242[0m
[0m[ INFO] [1720471515.722291308]: Initialization finish![0m
time: 1403636886.451667, t: 0.092799 0.044207 -0.256778 q: -0.132033 0.785023 0.138672 0.589132 
time: 1403636886.851666, t: 0.095710 0.046672 -0.258349 q: -0.132499 0.785022 0.138991 0.588953 
time: 1403636887.251667, t: 0.097092 0.047869 -0.258166 q: -0.132611 0.785062 0.139028 0.588866 
time: 1403636887.651666, t: 0.097054 0.047859 -0.258005 q: -0.132563 0.785129 0.139020 0.588790 
time: 1403636888.051666, t: 0.097039 0.047858 -0.257704 q: -0.132693 0.785242 0.139005 0.588613 
time: 1403636888.451667, t: 0.096909 0.047815 -0.257378 q: -0.133038 0.785302 0.138916 0.588476 
time: 1403636888.851666, t: 0.096901 0.047950 -0.257180 q: -0.133080 0.785223 0.138963 0.588560 
time: 1403636889.251667, t: 0.098116 0.047820 -0.257564 q: -0.133351 0.785341 0.138590 0.588431 
time: 1403636889.651666, t: 0.097797 0.048202 -0.257060 q: -0.133472 0.785239 0.138724 0.588508 
time: 1403636890.051666, t: 0.096485 0.047355 -0.255789 q: -0.133390 0.785468 0.138547 0.588262 
time: 1403636890.451667, t: 0.095498 0.047073 -0.254571 q: -0.133860 0.785430 0.138110 0.588308 
time: 1403636890.851666, t: 0.094593 0.046745 -0.253287 q: -0.134682 0.785355 0.138517 0.588126 
time: 1403636891.251667, t: 0.093175 0.046306 -0.252162 q: -0.135980 0.785343 0.138905 0.587750 
time: 1403636891.651666, t: 0.091697 0.045954 -0.250322 q: -0.137133 0.785318 0.139052 0.587482 
time: 1403636892.051666, t: 0.089319 0.045267 -0.248064 q: -0.138938 0.785065 0.139453 0.587301 
time: 1403636892.451667, t: 0.087132 0.044627 -0.245656 q: -0.140854 0.784731 0.139872 0.587191 
time: 1403636892.851666, t: 0.084695 0.044061 -0.243293 q: -0.143430 0.784532 0.140528 0.586676 
time: 1403636893.251667, t: 0.081451 0.043276 -0.239960 q: -0.146744 0.783967 0.141353 0.586414 
time: 1403636893.651666, t: 0.077907 0.042266 -0.236837 q: -0.150434 0.783337 0.142359 0.586077 
wait for imu ... 
time: 1403636894.051666, t: 0.070702 0.038340 -0.231589 q: -0.153925 0.782932 0.142839 0.585596 
time: 1403636894.451667, t: 0.063028 0.034567 -0.225872 q: -0.158511 0.782171 0.143809 0.585151 
time: 1403636894.851666, t: 0.041375 0.021054 -0.205222 q: -0.162611 0.781389 0.144706 0.584850 
time: 1403636895.251667, t: 0.018900 0.005187 -0.174213 q: -0.167968 0.780128 0.146110 0.584670 
wait for imu ... 
time: 1403636895.651666, t: -0.007032 0.010300 -0.163297 q: -0.173192 0.778728 0.147760 0.584597 
time: 1403636896.051666, t: 0.017222 0.022777 -0.205234 q: -0.170429 0.778398 0.148530 0.585653 
time: 1403636896.451667, t: 0.021061 0.023296 -0.208541 q: -0.169126 0.779295 0.148505 0.584844 
time: 1403636896.851666, t: 0.023785 0.023567 -0.211239 q: -0.168218 0.780066 0.148202 0.584154 
time: 1403636897.251667, t: 0.024666 0.022611 -0.213864 q: -0.169312 0.779745 0.153381 0.582928 
time: 1403636897.651666, t: -0.001822 -0.017169 -0.217401 q: -0.138463 0.802870 0.149149 0.560341 
time: 1403636898.051666, t: -0.022153 -0.060657 -0.161521 q: -0.122663 0.812161 0.161357 0.547094 
time: 1403636898.451667, t: -0.004825 -0.074484 -0.106463 q: -0.136306 0.803770 0.170280 0.553516 
time: 1403636898.851666, t: 0.035275 -0.063605 -0.031415 q: -0.143324 0.803886 0.176468 0.549623 
time: 1403636899.251667, t: 0.113554 -0.036948 0.008764 q: -0.138211 0.804001 0.142883 0.560415 
time: 1403636899.651666, t: 0.194889 -0.075000 0.047378 q: -0.096128 0.815890 0.067371 0.566166 
time: 1403636900.051666, t: 0.280615 -0.131743 0.055206 q: -0.064402 0.815954 0.053837 0.571991 
time: 1403636900.451667, t: 0.365580 -0.201731 0.111872 q: -0.059993 0.817648 0.058104 0.569628 
time: 1403636900.851666, t: 0.502684 -0.275092 0.102718 q: -0.068876 0.829051 0.057688 0.551908 
time: 1403636901.251667, t: 0.570372 -0.374126 0.135599 q: -0.080364 0.822834 0.049223 0.560413 
time: 1403636901.651666, t: 0.704712 -0.543889 0.157094 q: -0.060387 0.819550 0.055598 0.567097 
time: 1403636902.051666, t: 0.856997 -0.716427 0.122738 q: -0.056186 0.817893 0.055191 0.569955 
time: 1403636902.451667, t: 1.004405 -0.903071 0.093327 q: -0.053675 0.819150 0.048687 0.568983 
time: 1403636902.851666, t: 1.132478 -1.083217 0.012759 q: -0.036062 0.817271 0.045568 0.573317 
time: 1403636903.251667, t: 1.231211 -1.237621 0.044121 q: -0.040998 0.818281 0.047683 0.571369 
time: 1403636903.651666, t: 1.301989 -1.378935 0.107333 q: -0.036604 0.822353 0.051322 0.565474 
time: 1403636904.051666, t: 1.399292 -1.514152 0.129310 q: -0.049076 0.823534 0.039499 0.563758 
time: 1403636904.451667, t: 1.518350 -1.674337 0.232218 q: -0.044853 0.820461 0.035077 0.568860 
time: 1403636904.851666, t: 1.646373 -1.867912 0.285507 q: -0.027615 0.820793 0.036530 0.569387 
time: 1403636905.251667, t: 1.777058 -2.053658 0.302885 q: -0.013101 0.820781 0.034567 0.570045 
time: 1403636905.651666, t: 1.917293 -2.199149 0.374531 q: -0.010373 0.824810 0.046678 0.563384 
time: 1403636906.051666, t: 2.064705 -2.291520 0.363187 q: -0.021436 0.829637 0.051792 0.555482 
time: 1403636906.451667, t: 2.235236 -2.341761 0.351095 q: -0.035754 0.819514 0.044673 0.570195 
time: 1403636906.851666, t: 2.400315 -2.390664 0.358518 q: -0.030585 0.822402 0.046902 0.566144 
time: 1403636907.251667, t: 2.581072 -2.453382 0.357065 q: -0.026194 0.827952 0.055828 0.557397 
time: 1403636907.651666, t: 2.805077 -2.506902 0.367278 q: -0.044727 0.831082 0.045641 0.552467 
time: 1403636908.051666, t: 3.067610 -2.589372 0.417852 q: -0.037267 0.824132 0.051537 0.562815 
time: 1403636908.451667, t: 3.356907 -2.696072 0.419367 q: -0.035837 0.820691 0.062263 0.566838 
time: 1403636908.851666, t: 3.641865 -2.796964 0.409635 q: -0.042364 0.827561 0.064931 0.555997 
time: 1403636909.251667, t: 3.948832 -2.887894 0.477406 q: -0.046573 0.830475 0.061424 0.551697 
time: 1403636909.651666, t: 4.289187 -2.984837 0.477857 q: -0.044445 0.824228 0.056698 0.561656 
time: 1403636910.051666, t: 4.633265 -3.092136 0.393733 q: -0.012725 0.807771 0.075117 0.584552 
time: 1403636910.451667, t: 4.907160 -3.143191 0.330344 q: -0.032660 0.820426 0.065309 0.567071 
time: 1403636910.851666, t: 5.184942 -3.177843 0.300770 q: -0.036137 0.821378 0.066930 0.565290 
time: 1403636911.251667, t: 5.456819 -3.217338 0.248087 q: -0.042180 0.815183 0.064196 0.574087 
time: 1403636911.651666, t: 5.671365 -3.257384 0.285447 q: -0.034338 0.819856 0.067675 0.567519 
time: 1403636912.051666, t: 5.890737 -3.307774 0.278073 q: -0.046215 0.824120 0.055466 0.561795 
time: 1403636912.451667, t: 6.110064 -3.373539 0.268566 q: -0.039795 0.821110 0.056847 0.566536 
time: 1403636912.851666, t: 6.342462 -3.459520 0.236184 q: -0.051413 0.821042 0.044365 0.566814 
time: 1403636913.251667, t: 6.553471 -3.584405 0.152088 q: -0.034511 0.811631 0.056044 0.580450 
time: 1403636913.651666, t: 6.745071 -3.726881 0.138238 q: -0.037435 0.818870 0.052899 0.570308 
time: 1403636914.051666, t: 6.935014 -3.885738 0.117610 q: -0.033056 0.817645 0.055729 0.572065 
time: 1403636914.451667, t: 7.110365 -4.052881 0.118396 q: -0.030574 0.817500 0.056312 0.572353 
time: 1403636914.851666, t: 7.267689 -4.213285 0.160934 q: -0.025811 0.815873 0.057088 0.574827 
time: 1403636915.251667, t: 7.388289 -4.344384 0.160737 q: -0.022250 0.825131 0.055079 0.561810 
time: 1403636915.651666, t: 7.541390 -4.452029 0.122311 q: -0.037664 0.821686 0.044879 0.566920 
time: 1403636916.051666, t: 7.717588 -4.586086 0.180595 q: -0.032940 0.816793 0.050745 0.573750 
time: 1403636916.451667, t: 7.860149 -4.726041 0.233804 q: -0.020996 0.817136 0.057657 0.573169 
time: 1403636916.851666, t: 7.983180 -4.840324 0.252677 q: 0.007935 0.817857 0.021216 0.574975 
time: 1403636917.251667, t: 8.108491 -4.930794 0.193341 q: 0.013747 0.817708 0.001099 0.575468 
time: 1403636917.651666, t: 8.192777 -4.991388 0.072956 q: 0.053290 0.812566 -0.053813 0.577928 
time: 1403636918.051666, t: 8.261766 -5.022859 0.034523 q: 0.072152 0.810339 -0.076419 0.576460 
time: 1403636918.451667, t: 8.312928 -5.018161 0.014646 q: 0.075981 0.822818 -0.071510 0.558644 
time: 1403636918.851666, t: 8.406698 -4.971395 0.105901 q: 0.048606 0.819598 -0.077245 0.565623 
time: 1403636919.251667, t: 8.508977 -4.952765 0.270024 q: 0.039711 0.805755 -0.105060 0.581502 
time: 1403636919.651666, t: 8.552927 -5.018287 0.400027 q: 0.073890 0.803807 -0.099157 0.581895 
time: 1403636920.051666, t: 8.559573 -5.088052 0.421117 q: 0.063566 0.800256 -0.102779 0.587356 
time: 1403636920.451667, t: 8.505964 -5.174479 0.356594 q: 0.068976 0.801682 -0.090277 0.586855 
time: 1403636920.851666, t: 8.397907 -5.249627 0.358519 q: 0.069365 0.816549 -0.089345 0.566086 
time: 1403636921.251667, t: 8.302162 -5.296810 0.416910 q: 0.069309 0.812897 -0.090345 0.571168 
time: 1403636921.651666, t: 8.209290 -5.326037 0.387421 q: 0.050475 0.809969 -0.103932 0.574978 
time: 1403636922.051666, t: 8.119224 -5.380959 0.304175 q: 0.067837 0.815747 -0.100300 0.565592 
time: 1403636922.451667, t: 8.058943 -5.436988 0.258969 q: 0.085275 0.818661 -0.113407 0.556473 
time: 1403636922.851666, t: 8.033042 -5.477784 0.199772 q: 0.102552 0.799768 -0.145533 0.573301 
time: 1403636923.251667, t: 7.984832 -5.506501 0.165887 q: 0.108743 0.792944 -0.174874 0.573441 
time: 1403636923.651666, t: 7.910643 -5.549948 0.088761 q: 0.129482 0.813454 -0.195109 0.532408 
time: 1403636924.051666, t: 7.929142 -5.609924 0.090597 q: 0.135738 0.814734 -0.193611 0.529432 
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time: 1403636986.851666, t: 8.633147 -8.111842 -1.705709 q: 0.184028 0.766445 -0.285004 0.545407 
time: 1403636987.251667, t: 8.887388 -8.028702 -1.598831 q: 0.194514 0.763193 -0.283235 0.547247 
time: 1403636987.651666, t: 9.114768 -7.938719 -1.556810 q: 0.200590 0.757422 -0.268952 0.560125 
optimize pose graph 
time: 1403636988.051666, t: 9.255116 -7.793477 -1.511496 q: 0.178985 0.761660 -0.274152 0.559178 
time: 1403636988.451667, t: 9.316548 -7.650120 -1.467739 q: 0.169162 0.750565 -0.282676 0.572827 
time: 1403636988.851666, t: 9.255195 -7.525342 -1.385789 q: 0.172650 0.742402 -0.279677 0.583791 
time: 1403636989.251667, t: 9.046154 -7.397139 -1.365359 q: 0.173616 0.738533 -0.281563 0.587493 
time: 1403636989.651666, t: 8.705738 -7.267110 -1.301418 q: 0.188927 0.766188 -0.276836 0.548292 
time: 1403636990.051666, t: 8.348896 -7.134291 -1.257232 q: 0.194321 0.760324 -0.273442 0.556216 
time: 1403636990.451667, t: 7.978190 -6.973681 -1.186957 q: 0.194396 0.766456 -0.269268 0.549773 
time: 1403636990.851666, t: 7.609845 -6.786372 -1.152085 q: 0.189998 0.773867 -0.265631 0.542652 
time: 1403636991.251667, t: 7.268071 -6.590106 -1.196544 q: 0.191376 0.773774 -0.265775 0.542229 
time: 1403636991.651666, t: 6.951896 -6.382258 -1.162829 q: 0.188558 0.772259 -0.274529 0.541013 
time: 1403636992.051666, t: 6.656347 -6.203413 -1.061434 q: 0.185212 0.767400 -0.288774 0.541667 
time: 1403636992.451667, t: 6.371125 -6.060326 -1.037572 q: 0.201918 0.766407 -0.285546 0.538807 
time: 1403636992.851666, t: 6.113908 -5.914079 -0.994324 q: 0.208118 0.769798 -0.290110 0.529088 
time: 1403636993.251667, t: 5.935454 -5.769576 -0.980801 q: 0.199004 0.762881 -0.285890 0.544681 
time: 1403636993.651666, t: 5.757295 -5.609189 -0.895985 q: 0.156080 0.781201 -0.229171 0.559326 
time: 1403636994.051666, t: 5.560786 -5.449800 -0.829452 q: 0.141311 0.787042 -0.197018 0.567256 
time: 1403636994.451667, t: 5.339100 -5.259735 -0.833736 q: 0.147114 0.772148 -0.189288 0.588486 
time: 1403636994.851666, t: 5.046145 -5.009516 -0.818180 q: 0.120609 0.786194 -0.211806 0.567882 
time: 1403636995.251667, t: 4.716721 -4.777625 -0.794609 q: 0.133739 0.779199 -0.202231 0.577984 
time: 1403636995.651666, t: 4.352011 -4.544633 -0.697919 q: 0.132853 0.788099 -0.198451 0.567333 
time: 1403636996.051666, t: 3.971695 -4.316471 -0.626898 q: 0.119638 0.790535 -0.209745 0.562804 
time: 1403636996.451667, t: 3.605802 -4.139437 -0.565930 q: 0.126505 0.796467 -0.193339 0.558800 
time: 1403636996.851666, t: 3.276175 -3.971171 -0.461227 q: 0.087055 0.811069 -0.133073 0.562921 
time: 1403636997.251667, t: 2.984458 -3.818435 -0.484778 q: 0.037211 0.821798 -0.067958 0.564486 
time: 1403636997.651666, t: 2.750892 -3.693381 -0.490272 q: 0.030825 0.824182 -0.054564 0.562847 
optimize pose graph 
time: 1403636998.051666, t: 2.609714 -3.595787 -0.378724 q: 0.038927 0.825613 -0.060397 0.559643 
time: 1403636998.851666, t: 2.545787 -3.462424 -0.109374 q: 0.051795 0.806853 -0.063959 0.584991 
time: 1403636999.251667, t: 2.473686 -3.362967 -0.006458 q: 0.062389 0.809132 -0.059690 0.581249 
time: 1403636999.651666, t: 2.396285 -3.228672 0.012657 q: 0.051877 0.806482 -0.069077 0.584913 
time: 1403637000.051666, t: 2.267270 -3.072760 -0.005997 q: 0.059334 0.805908 -0.065787 0.585376 
time: 1403637000.451667, t: 2.106024 -2.882586 0.024826 q: 0.056906 0.809187 -0.067398 0.580892 
time: 1403637000.851666, t: 1.930819 -2.670700 0.063968 q: 0.055388 0.807299 -0.069750 0.583383 
time: 1403637001.251667, t: 1.738050 -2.447955 0.095420 q: 0.054057 0.806606 -0.073447 0.584013 
time: 1403637001.651666, t: 1.512840 -2.226066 0.164007 q: 0.050184 0.812113 -0.079409 0.575888 
optimize pose graph 
time: 1403637002.051666, t: 1.280556 -2.024947 0.180270 q: 0.053431 0.813736 -0.079763 0.573251 
time: 1403637002.451667, t: 1.070210 -1.841205 0.141898 q: 0.056797 0.814429 -0.077472 0.572256 
time: 1403637002.851666, t: 0.871134 -1.652352 0.178414 q: 0.060451 0.813952 -0.077251 0.572591 
time: 1403637003.251667, t: 0.671134 -1.450495 0.159437 q: 0.059896 0.813005 -0.084149 0.573022 
time: 1403637003.651666, t: 0.480818 -1.244593 0.166124 q: 0.057957 0.809490 -0.089949 0.577301 
time: 1403637004.051666, t: 0.290395 -1.051712 0.185187 q: 0.059188 0.816469 -0.084595 0.568084 
time: 1403637004.451667, t: 0.122000 -0.867898 0.168973 q: 0.053978 0.815811 -0.084472 0.569564 
time: 1403637004.851666, t: -0.034355 -0.703866 0.249194 q: 0.038685 0.809094 -0.107136 0.576535 
time: 1403637005.251667, t: -0.181986 -0.598961 0.194008 q: 0.059362 0.815093 -0.099566 0.567614 
time: 1403637005.651666, t: -0.297202 -0.519014 0.114499 q: 0.058640 0.816056 -0.092297 0.567534 
time: 1403637006.051666, t: -0.394806 -0.441002 0.137080 q: 0.056822 0.814681 -0.090097 0.570042 
time: 1403637006.451667, t: -0.451772 -0.391989 0.141904 q: 0.046211 0.826177 -0.096852 0.553096 
time: 1403637006.851666, t: -0.453120 -0.374110 0.129970 q: 0.026964 0.815437 -0.064715 0.574585 
time: 1403637007.251667, t: -0.463937 -0.369388 0.093351 q: -0.004260 0.814774 0.005557 0.579736 
time: 1403637007.651666, t: -0.486600 -0.368988 0.045093 q: -0.008508 0.819394 0.020842 0.572789 
time: 1403637008.051666, t: -0.519967 -0.335454 0.004782 q: -0.013956 0.813907 0.007684 0.580777 
time: 1403637008.451667, t: -0.541736 -0.298531 -0.010991 q: -0.001504 0.828228 0.004329 0.560373 
time: 1403637008.851666, t: -0.525522 -0.254903 -0.011759 q: -0.027231 0.820759 -0.021936 0.570204 
time: 1403637009.251667, t: -0.485278 -0.287594 -0.060027 q: 0.005346 0.821705 -0.004240 0.569872 
time: 1403637009.651666, t: -0.469139 -0.320359 -0.093100 q: -0.047217 0.784741 0.004761 0.618004 
time: 1403637010.051666, t: -0.477123 -0.323203 -0.100128 q: -0.045056 0.790717 -0.008993 0.610455 
time: 1403637010.451667, t: -0.481891 -0.324217 -0.099619 q: -0.044695 0.790938 -0.008852 0.610197 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720471640.585396901]: Shutdown request received.[0m
[33m[ WARN] [1720471640.585449743]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720471640.586451677]: Shutdown request received.[0m
[33m[ WARN] [1720471640.586471857]: Reason given for shutdown: [user request][0m
killed
