/SLAM-Hive/slam_hive_results/mapping_results/2846/2054_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-14.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720471669.628775490]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720471669.630597541]: init begins[0m
[31m[ERROR] [1720471669.631704167]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/56ad2c22-3d6b-11ef-bf87-0242ac110005/roslaunch-a54e7ebffd4b-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://a54e7ebffd4b:43869/[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] [1720471670.790812672]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720471670.794793710]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://a54e7ebffd4b:11311/[0m
]2;roscore http://a54e7ebffd4b:11311/
[1msetting /run_id to 56ad2c22-3d6b-11ef-bf87-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720471670.825490440]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720471670.825870412]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720471670.825927788]: 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] [1720471670.826284345]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720471670.826852913]: 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 [229][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720471679.780120567]: 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: 316834823.15 
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] [1720471686.174593161]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720471686.593197415]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471686.976977260]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471687.371342860]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471687.779573616]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471688.160109495]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471688.593102648]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471688.965156737]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471689.372354217]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720471689.753905596]: 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!
wait for imu ... 
[0m[ INFO] [1720471691.353937675]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471691.772997473]: 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!
wait for imu ... 
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720471693.770256711]: 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] [1720471695.382017749]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471695.754084843]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471696.167990817]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471696.554650227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471696.983453428]: 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] [1720471698.162976928]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471698.568674215]: 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] [1720471699.374841565]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471699.785896658]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471700.189333797]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471700.578597969]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471700.987621653]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471701.358165736]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471701.784191123]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471702.177000632]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471702.582049328]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471702.980614405]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471703.359466359]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471703.777208305]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471704.191131825]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471704.578039518]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471705.006692939]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471705.380386346]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471705.805084674]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471706.178833894]: Not enough features or parallax; Move device around[0m
wait for imu ... 
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720471707.374141292]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471707.813938422]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471708.205262936]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471708.582121993]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471709.017267210]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720471709.374857334]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471709.805974091]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471710.165715009]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471710.588001434]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471711.005171024]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471711.379547131]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720471711.767025038]: 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!
[33m[ WARN] [1720471713.890389676]: gyroscope bias initial calibration -0.00238898    0.021126   0.0771211[0m
[0m[ INFO] [1720471713.938613506]: Initialization finish![0m
time: 1403636890.851666, t: 0.110959 0.086709 -0.143966 q: -0.136917 0.781519 0.145562 0.591011 
time: 1403636891.251667, t: 0.110571 0.085093 -0.143327 q: -0.136560 0.781804 0.145088 0.590832 
time: 1403636891.651666, t: 0.110601 0.084842 -0.143460 q: -0.135858 0.782110 0.144661 0.590694 
time: 1403636892.051666, t: 0.110599 0.084603 -0.143644 q: -0.135226 0.782312 0.144318 0.590656 
time: 1403636892.451667, t: 0.110820 0.084462 -0.143924 q: -0.134416 0.782470 0.143947 0.590721 
time: 1403636892.851666, t: 0.110920 0.084340 -0.144136 q: -0.133943 0.782823 0.143714 0.590419 
wait for imu ... 
time: 1403636893.251667, t: 0.111085 0.084235 -0.144449 q: -0.133380 0.782963 0.143429 0.590429 
time: 1403636893.651666, t: 0.111276 0.084125 -0.144735 q: -0.132776 0.783136 0.143202 0.590391 
time: 1403636894.051666, t: 0.111488 0.084027 -0.145005 q: -0.132408 0.783418 0.142822 0.590191 
wait for imu ... 
time: 1403636894.451667, t: 0.111612 0.083923 -0.145225 q: -0.131819 0.783625 0.142421 0.590145 
time: 1403636894.851666, t: 0.111869 0.083822 -0.145573 q: -0.131260 0.783738 0.142172 0.590180 
time: 1403636895.251667, t: 0.112105 0.083687 -0.145789 q: -0.130549 0.783827 0.141943 0.590274 
time: 1403636895.651666, t: 0.112131 0.083552 -0.145849 q: -0.130001 0.783918 0.141759 0.590319 
time: 1403636896.051666, t: 0.112327 0.083347 -0.145936 q: -0.129545 0.784225 0.141695 0.590027 
time: 1403636896.451667, t: 0.112630 0.083181 -0.146127 q: -0.128984 0.784683 0.141807 0.589514 
time: 1403636896.851666, t: 0.113044 0.083215 -0.146610 q: -0.128934 0.784853 0.141702 0.589324 
time: 1403636897.251667, t: 0.111181 0.082183 -0.147276 q: -0.131083 0.784262 0.147029 0.588330 
time: 1403636897.651666, t: 0.081215 0.042154 -0.146015 q: -0.101058 0.806335 0.141715 0.565269 
time: 1403636898.051666, t: 0.054508 -0.002927 -0.082231 q: -0.085468 0.815570 0.153630 0.551307 
time: 1403636898.451667, t: 0.064485 -0.016603 -0.023536 q: -0.097867 0.808192 0.162632 0.557493 
time: 1403636898.851666, t: 0.109652 0.004956 0.048913 q: -0.105741 0.808413 0.169698 0.553615 
time: 1403636899.251667, t: 0.186254 0.028422 0.085691 q: -0.102948 0.806601 0.138836 0.565262 
time: 1403636899.651666, t: 0.250993 -0.007767 0.118516 q: -0.063295 0.814773 0.064898 0.572649 
time: 1403636900.051666, t: 0.329117 -0.073431 0.132997 q: -0.037057 0.813674 0.055068 0.577520 
time: 1403636900.451667, t: 0.392444 -0.136946 0.189978 q: -0.037852 0.814986 0.063566 0.574738 
time: 1403636900.851666, t: 0.459156 -0.200820 0.249115 q: -0.050838 0.826085 0.069956 0.556871 
time: 1403636901.251667, t: 0.582923 -0.291720 0.238574 q: -0.068087 0.819670 0.064257 0.565134 
time: 1403636901.651666, t: 0.733580 -0.437312 0.261944 q: -0.054832 0.815747 0.075628 0.570816 
time: 1403636902.051666, t: 0.890979 -0.596928 0.232960 q: -0.055565 0.813832 0.078501 0.573086 
time: 1403636902.451667, t: 1.046639 -0.750841 0.211240 q: -0.057675 0.815028 0.075635 0.571561 
time: 1403636902.851666, t: 1.203371 -0.911496 0.133127 q: -0.045151 0.812578 0.075834 0.576131 
time: 1403636903.251667, t: 1.353396 -1.066842 0.168221 q: -0.053253 0.813140 0.080266 0.574043 
time: 1403636903.651666, t: 1.467807 -1.215272 0.222263 q: -0.053038 0.816294 0.086864 0.568599 
time: 1403636904.051666, t: 1.585672 -1.329307 0.236546 q: -0.068896 0.817570 0.077288 0.566444 
time: 1403636904.451667, t: 1.728676 -1.463650 0.331671 q: -0.068158 0.814327 0.074740 0.571524 
time: 1403636904.851666, t: 1.881204 -1.632218 0.376691 q: -0.053400 0.814396 0.077428 0.572637 
time: 1403636905.251667, t: 2.043897 -1.796503 0.380416 q: -0.041192 0.814414 0.076697 0.573717 
time: 1403636905.651666, t: 2.201595 -1.917976 0.442901 q: -0.039891 0.817800 0.090121 0.567001 
time: 1403636906.051666, t: 2.363662 -1.984373 0.426757 q: -0.052298 0.822349 0.096853 0.558236 
time: 1403636906.451667, t: 2.545138 -2.009723 0.411734 q: -0.069345 0.812455 0.090522 0.571764 
time: 1403636906.851666, t: 2.729673 -2.049633 0.419568 q: -0.065072 0.815227 0.093742 0.567788 
time: 1403636907.251667, t: 2.915082 -2.091782 0.418422 q: -0.061425 0.820254 0.103739 0.559150 
time: 1403636907.651666, t: 3.123980 -2.109061 0.427606 q: -0.080282 0.823842 0.094209 0.553140 
time: 1403636908.051666, t: 3.401751 -2.151076 0.482491 q: -0.074185 0.816585 0.100199 0.563601 
time: 1403636908.451667, t: 3.692952 -2.212322 0.487672 q: -0.073544 0.812448 0.111058 0.567614 
time: 1403636908.851666, t: 3.958880 -2.263895 0.479934 q: -0.080250 0.819103 0.114739 0.556296 
time: 1403636909.251667, t: 4.237866 -2.306337 0.545040 q: -0.084867 0.822228 0.111927 0.551553 
time: 1403636909.651666, t: 4.577820 -2.363233 0.543132 q: -0.083892 0.816352 0.106957 0.561331 
time: 1403636910.051666, t: 4.912081 -2.433238 0.459686 q: -0.054003 0.798926 0.124157 0.585991 
time: 1403636910.451667, t: 5.196973 -2.453814 0.401576 q: -0.072587 0.812445 0.115149 0.566926 
time: 1403636910.851666, t: 5.464204 -2.451650 0.379185 q: -0.075203 0.813556 0.116334 0.564746 
time: 1403636911.251667, t: 5.725433 -2.447415 0.330724 q: -0.081304 0.807645 0.112867 0.573027 
time: 1403636911.651666, t: 5.948699 -2.461703 0.364219 q: -0.072917 0.812243 0.116507 0.566895 
wait for imu ... 
time: 1403636912.051666, t: 6.154104 -2.480637 0.350103 q: -0.084612 0.817302 0.104712 0.560261 
time: 1403636912.451667, t: 6.384466 -2.516619 0.339341 q: -0.078690 0.814372 0.105949 0.565138 
time: 1403636912.851666, t: 6.634336 -2.568740 0.312789 q: -0.090439 0.815149 0.093575 0.564443 
time: 1403636913.251667, t: 6.877018 -2.668693 0.232997 q: -0.074322 0.805106 0.104351 0.579129 
wait for imu ... 
time: 1403636913.651666, t: 7.087153 -2.791084 0.221386 q: -0.076581 0.812439 0.101518 0.569010 
time: 1403636914.051666, t: 7.277928 -2.921085 0.204686 q: -0.072476 0.810859 0.104139 0.571324 
time: 1403636914.451667, t: 7.467922 -3.062012 0.201798 q: -0.070201 0.810416 0.104643 0.572143 
time: 1403636914.851666, t: 7.647342 -3.200660 0.241218 q: -0.065714 0.808621 0.105092 0.575125 
wait for imu ... 
time: 1403636915.651666, t: 7.972242 -3.413769 0.196978 q: -0.077000 0.815062 0.092881 0.566673 
wait for imu ... 
time: 1403636916.051666, t: 8.151230 -3.528592 0.255958 q: -0.072600 0.809818 0.098285 0.573815 
time: 1403636916.451667, t: 8.311821 -3.653145 0.310908 q: -0.060397 0.809882 0.105095 0.573933 
time: 1403636916.851666, t: 8.467730 -3.768422 0.330780 q: -0.031644 0.812969 0.068603 0.577385 
time: 1403636917.251667, t: 8.595496 -3.815753 0.266538 q: -0.025538 0.814134 0.048300 0.578102 
time: 1403636917.651666, t: 8.695631 -3.865637 0.142228 q: 0.013825 0.812537 -0.007173 0.582702 
time: 1403636918.051666, t: 8.770513 -3.891462 0.100814 q: 0.033158 0.811743 -0.030279 0.582287 
time: 1403636918.451667, t: 8.821428 -3.883842 0.081534 q: 0.039545 0.824097 -0.025431 0.564494 
time: 1403636918.851666, t: 8.904694 -3.832531 0.171138 q: 0.013494 0.821163 -0.032341 0.569617 
time: 1403636919.251667, t: 9.000065 -3.808514 0.332854 q: 0.005223 0.808947 -0.061722 0.584610 
time: 1403636919.651666, t: 9.057986 -3.871790 0.462325 q: 0.040764 0.806845 -0.056791 0.586613 
time: 1403636920.051666, t: 9.067041 -3.940878 0.484862 q: 0.032648 0.803415 -0.062061 0.591275 
time: 1403636920.451667, t: 9.017146 -4.033176 0.419679 q: 0.040010 0.804265 -0.050557 0.590763 
time: 1403636920.851666, t: 8.922611 -4.119948 0.419585 q: 0.040879 0.819170 -0.048526 0.570031 
time: 1403636921.251667, t: 8.833225 -4.176221 0.476693 q: 0.041084 0.815675 -0.050082 0.574873 
time: 1403636921.651666, t: 8.744283 -4.212907 0.446891 q: 0.022646 0.813459 -0.064232 0.577621 
time: 1403636922.051666, t: 8.661339 -4.277252 0.364781 q: 0.040463 0.819055 -0.060357 0.569095 
time: 1403636922.451667, t: 8.607971 -4.338595 0.318354 q: 0.058170 0.822591 -0.073176 0.560897 
time: 1403636922.851666, t: 8.584444 -4.381571 0.256330 q: 0.074539 0.805216 -0.106137 0.578624 
time: 1403636923.251667, t: 8.538166 -4.417375 0.221225 q: 0.080495 0.799866 -0.135587 0.579095 
time: 1403636923.651666, t: 8.465058 -4.471020 0.142396 q: 0.103094 0.821424 -0.154813 0.539135 
time: 1403636924.051666, t: 8.486456 -4.530855 0.145702 q: 0.109600 0.822661 -0.153392 0.536365 
time: 1403636924.451667, t: 8.618018 -4.591246 0.124361 q: 0.098874 0.815549 -0.155307 0.548620 
time: 1403636924.851666, t: 8.797971 -4.680689 0.141806 q: 0.074157 0.794232 -0.164588 0.580178 
time: 1403636925.251667, t: 8.908686 -4.841023 0.064591 q: 0.113184 0.799596 -0.168600 0.565164 
time: 1403636925.651666, t: 9.019807 -5.006578 -0.056126 q: 0.123367 0.824030 -0.176977 0.523865 
time: 1403636926.051666, t: 9.256776 -5.168301 -0.052045 q: 0.132161 0.802749 -0.172080 0.555442 
time: 1403636926.451667, t: 9.515791 -5.306826 -0.092573 q: 0.108553 0.782219 -0.182012 0.585851 
time: 1403636926.851666, t: 9.678616 -5.440949 -0.138284 q: 0.111809 0.794231 -0.184403 0.568059 
time: 1403636927.251667, t: 9.782272 -5.610641 -0.148482 q: 0.147994 0.779130 -0.248611 0.556100 
time: 1403636927.651666, t: 9.859527 -5.807414 -0.231543 q: 0.187096 0.788340 -0.288463 0.510200 
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wait for imu ... 
time: 1403636930.851666, t: 10.999407 -7.530182 -0.094875 q: 0.180862 0.759997 -0.286637 0.554556 
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time: 1403636934.451667, t: 9.929389 -7.149996 -0.077834 q: 0.319327 0.661661 -0.472270 0.487028 
wait for imu ... 
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time: 1403636949.651666, t: 4.768678 -4.411083 -1.109405 q: 0.367354 0.606876 -0.539424 0.453624 
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time: 1403636952.451667, t: 5.806781 -5.332436 -1.148772 q: 0.376971 0.610497 -0.534291 0.446900 
time: 1403636952.851666, t: 5.985532 -5.479542 -1.226856 q: 0.377583 0.618750 -0.533034 0.436410 
time: 1403636953.251667, t: 6.163924 -5.604922 -1.316208 q: 0.354474 0.617766 -0.550865 0.435043 
time: 1403636953.651666, t: 6.295269 -5.770515 -1.381576 q: 0.371336 0.625791 -0.536299 0.427643 
time: 1403636954.051666, t: 6.457421 -5.940369 -1.335295 q: 0.371304 0.632165 -0.531963 0.423693 
wait for imu ... 
time: 1403636954.451667, t: 6.668897 -6.141218 -1.293596 q: 0.366098 0.631827 -0.537557 0.421662 
time: 1403636954.851666, t: 6.926768 -6.379743 -1.277793 q: 0.379778 0.619637 -0.539466 0.425200 
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time: 1403636956.451667, t: 8.110488 -7.146789 -1.380113 q: 0.394898 0.589027 -0.567190 0.418806 
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wait for imu ... 
time: 1403636957.651666, t: 8.697828 -7.399446 -1.387159 q: 0.285889 0.702496 -0.415405 0.502201 
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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: 1403636990.851666, t: 8.493802 -5.779512 -1.151012 q: 0.162453 0.786240 -0.225981 0.551695 
time: 1403636991.251667, t: 8.141070 -5.622496 -1.196704 q: 0.163864 0.786230 -0.226078 0.551253 
time: 1403636991.651666, t: 7.813267 -5.453868 -1.159786 q: 0.161073 0.785251 -0.234846 0.549803 
time: 1403636992.051666, t: 7.506538 -5.310923 -1.054907 q: 0.157651 0.781151 -0.249313 0.550266 
time: 1403636992.451667, t: 7.200059 -5.201708 -1.031961 q: 0.174372 0.779973 -0.246109 0.548331 
time: 1403636992.851666, t: 6.923041 -5.081472 -0.993126 q: 0.181128 0.783527 -0.250474 0.539019 
time: 1403636993.251667, t: 6.717603 -4.956015 -0.986238 q: 0.171274 0.776337 -0.246561 0.554233 
time: 1403636993.651666, t: 6.514575 -4.808010 -0.901837 q: 0.127827 0.791718 -0.189040 0.566663 
time: 1403636994.051666, t: 6.298924 -4.666103 -0.836186 q: 0.112775 0.795914 -0.156665 0.573811 
time: 1403636994.451667, t: 6.067624 -4.502833 -0.848899 q: 0.117499 0.780604 -0.149706 0.595349 
time: 1403636994.851666, t: 5.763454 -4.292418 -0.835333 q: 0.091976 0.795823 -0.171547 0.573391 
time: 1403636995.251667, t: 5.437465 -4.115569 -0.814788 q: 0.104435 0.788442 -0.162268 0.584057 
time: 1403636995.651666, t: 5.061447 -3.930556 -0.722247 q: 0.104063 0.797154 -0.157873 0.573404 
time: 1403636996.051666, t: 4.666973 -3.749774 -0.656201 q: 0.091086 0.800148 -0.168926 0.568270 
time: 1403636996.451667, t: 4.290976 -3.611777 -0.603571 q: 0.098238 0.805157 -0.152141 0.564734 
wait for imu ... 
time: 1403636996.851666, t: 3.947101 -3.474615 -0.501539 q: 0.058724 0.816656 -0.091103 0.566855 
time: 1403636997.251667, t: 3.648513 -3.357520 -0.526654 q: 0.008826 0.824077 -0.025516 0.565834 
time: 1403636997.651666, t: 3.395289 -3.260889 -0.534066 q: 0.002370 0.825688 -0.012012 0.563995 
time: 1403636998.051666, t: 3.221246 -3.182509 -0.416522 q: 0.010376 0.827382 -0.017625 0.561267 
wait for imu ... 
time: 1403636998.451667, t: 3.203026 -3.120144 -0.285762 q: 0.010473 0.826501 -0.026215 0.562227 
time: 1403636998.851666, t: 3.191704 -3.071813 -0.158316 q: 0.021935 0.808918 -0.022051 0.587098 
time: 1403636999.251667, t: 3.120768 -2.991165 -0.062819 q: 0.032599 0.810999 -0.017637 0.583873 
time: 1403636999.651666, t: 3.021192 -2.868424 -0.041989 q: 0.021768 0.808827 -0.026907 0.587027 
wait for imu ... 
time: 1403637000.051666, t: 2.866533 -2.723817 -0.056412 q: 0.029182 0.808032 -0.023569 0.587944 
time: 1403637000.451667, t: 2.680774 -2.548674 -0.024684 q: 0.026963 0.811348 -0.024949 0.583408 
time: 1403637001.251667, t: 2.257718 -2.152006 0.042442 q: 0.023905 0.808947 -0.030812 0.586587 
time: 1403637001.651666, t: 2.010920 -1.954840 0.111014 q: 0.020426 0.814780 -0.036351 0.578269 
time: 1403637002.051666, t: 1.753937 -1.770226 0.132501 q: 0.023826 0.816428 -0.036647 0.575790 
time: 1403637002.451667, t: 1.523646 -1.617708 0.097328 q: 0.027001 0.816996 -0.034154 0.574997 
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time: 1403637003.251667, t: 1.103686 -1.280596 0.121017 q: 0.029899 0.815996 -0.040800 0.575840 
time: 1403637003.651666, t: 0.890853 -1.094683 0.126648 q: 0.027663 0.812805 -0.046591 0.580010 
time: 1403637004.051666, t: 0.680831 -0.926277 0.147815 q: 0.029273 0.819491 -0.040667 0.570897 
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time: 1403637005.651666, t: 0.040575 -0.436738 0.062598 q: 0.028764 0.819411 -0.048334 0.570440 
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time: 1403637006.451667, t: -0.137652 -0.326225 0.094685 q: 0.016815 0.829759 -0.052140 0.555427 
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time: 1403637007.251667, t: -0.153750 -0.314264 0.053417 q: -0.035334 0.812970 0.049850 0.579090 
time: 1403637007.651666, t: -0.168302 -0.316805 0.003552 q: -0.039209 0.816905 0.065420 0.571708 
time: 1403637008.051666, t: -0.207365 -0.285507 -0.041236 q: -0.045128 0.812131 0.052101 0.579390 
time: 1403637008.451667, t: -0.233158 -0.251831 -0.057863 q: -0.031691 0.826590 0.049609 0.559718 
time: 1403637008.851666, t: -0.224376 -0.208399 -0.059527 q: -0.058005 0.820552 0.023056 0.568153 
time: 1403637009.251667, t: -0.179645 -0.242113 -0.106849 q: -0.025694 0.820440 0.040817 0.569694 
time: 1403637009.651666, t: -0.162163 -0.278163 -0.137809 q: -0.080932 0.782939 0.047798 0.614957 
time: 1403637010.051666, t: -0.157518 -0.269940 -0.146415 q: -0.077822 0.789814 0.034335 0.607420 
time: 1403637010.451667, t: -0.174135 -0.284009 -0.145967 q: -0.077925 0.789931 0.034678 0.607235 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720471834.442927179]: Shutdown request received.[0m
[33m[ WARN] [1720471834.442982463]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720471834.444008650]: Shutdown request received.[0m
[33m[ WARN] [1720471834.444038140]: Reason given for shutdown: [user request][0m
killed
