/SLAM-Hive/slam_hive_results/mapping_results/2847/2055_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-15.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720471863.248321107]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720471863.249386243]: init begins[0m
[31m[ERROR] [1720471863.250478044]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ca156c1a-3d6b-11ef-b243-0242ac110005/roslaunch-93315f447be5-117.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://93315f447be5:46659/[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] [1720471864.513625947]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720471864.514986165]: 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] [1720471864.540413612]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720471864.540845498]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720471864.540924237]: ROW: 240 COL: 376 [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] [1720471864.541331541]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720471864.541922688]: 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://93315f447be5:11311/[0m
]2;roscore http://93315f447be5:11311/
[1msetting /run_id to ca156c1a-3d6b-11ef-b243-0242ac110005[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] [1720471873.403605096]: 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: 316835016.77 
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] [1720471879.773717688]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720471880.197737623]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471880.581545324]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471880.983888855]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471881.380967413]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471881.799432889]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471882.185305546]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471882.591021505]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720471882.975726935]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471883.383644922]: 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!
wait for imu ... 
[0m[ INFO] [1720471884.973529277]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471885.382932586]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471885.800867541]: 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] [1720471886.988746286]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471887.381467258]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471887.800097303]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471888.187391853]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471888.609172718]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471889.003309877]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471889.386149515]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471889.799205869]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471890.184007360]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471890.584297719]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471891.013489112]: Not enough features or parallax; Move device around[0m
wait for imu ... 
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720471891.800051467]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471892.200947541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471892.587013139]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471892.991397971]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471893.395153153]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471893.799916033]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471894.200365405]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471894.602342802]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471894.989607573]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471895.398686299]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471895.788948674]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471896.194349698]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471896.592191045]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471896.992705835]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471897.403249396]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471897.782043596]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720471898.577489938]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471898.988024990]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471899.396511347]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471899.790789544]: Not enough features or parallax; Move device around[0m
wait for imu ... 
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720471900.582622221]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471901.028694159]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471901.425769800]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720471901.785884420]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471902.209848781]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471902.594280973]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720471902.996050656]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720471903.383385719]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471903.814520304]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471904.217101021]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720471904.989778991]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471905.399969393]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471905.812658846]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471906.206963798]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471906.610138957]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471907.004742883]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471907.408434135]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471907.810359317]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471908.231014153]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471908.613261801]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471908.990385334]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471909.380776297]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471909.821226046]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471910.209726832]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471910.579666357]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471910.982277676]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471911.397881707]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471911.783450577]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471912.191114073]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471912.607046638]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471913.015927980]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471913.389243273]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471913.808593307]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471914.209410393]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471914.589659961]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471914.987416368]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471915.412125391]: 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] [1720471916.229558071]: 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] [1720471917.399638504]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471917.824734022]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720471918.230752796]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
wait for imu ... 
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720471919.027107027]: gyroscope bias initial calibration -0.00434851   0.0177371   0.0747731[0m
[0m[ INFO] [1720471919.060392594]: Initialization finish![0m
time: 1403636902.051666, t: 0.607125 -1.016934 0.376369 q: 0.065935 0.810395 -0.095678 0.574246 
wait for imu ... 
time: 1403636902.451667, t: 0.673599 -1.238018 0.347115 q: 0.064521 0.810989 -0.098895 0.573022 
time: 1403636902.851666, t: 0.722273 -1.436964 0.258182 q: 0.078330 0.808550 -0.098368 0.574834 
time: 1403636903.251667, t: 0.790693 -1.634823 0.294688 q: 0.070254 0.810371 -0.094404 0.573978 
time: 1403636903.651666, t: 0.840241 -1.807479 0.355313 q: 0.069778 0.815068 -0.089012 0.568219 
time: 1403636904.051666, t: 0.903340 -1.952457 0.377400 q: 0.054034 0.814431 -0.098913 0.569209 
time: 1403636904.451667, t: 0.973615 -2.117283 0.476993 q: 0.056301 0.810873 -0.101314 0.573629 
time: 1403636904.851666, t: 1.034028 -2.322917 0.524768 q: 0.071043 0.811631 -0.098951 0.571328 
wait for imu ... 
time: 1403636905.251667, t: 1.100053 -2.531691 0.535372 q: 0.083105 0.811627 -0.099889 0.569541 
time: 1403636905.651666, t: 1.192876 -2.711022 0.602833 q: 0.082995 0.818016 -0.087650 0.562386 
wait for imu ... 
time: 1403636906.051666, t: 1.299246 -2.831622 0.593122 q: 0.069267 0.823977 -0.082421 0.556301 
time: 1403636906.451667, t: 1.453580 -2.928164 0.582335 q: 0.055602 0.813124 -0.086396 0.572952 
time: 1403636906.851666, t: 1.605817 -3.036280 0.592419 q: 0.059119 0.816573 -0.083957 0.568035 
time: 1403636907.251667, t: 1.767273 -3.152123 0.590885 q: 0.060813 0.823791 -0.075181 0.558585 
time: 1403636907.651666, t: 1.953384 -3.252178 0.598431 q: 0.040595 0.825582 -0.084890 0.556381 
time: 1403636908.051666, t: 2.183964 -3.407557 0.651996 q: 0.048510 0.819975 -0.077267 0.565082 
wait for imu ... 
time: 1403636908.451667, t: 2.422762 -3.583641 0.651013 q: 0.049579 0.818428 -0.065449 0.568712 
time: 1403636908.851666, t: 2.655161 -3.743161 0.636981 q: 0.040244 0.825810 -0.063061 0.558965 
time: 1403636909.251667, t: 2.922092 -3.915050 0.704809 q: 0.034492 0.828499 -0.066437 0.554965 
time: 1403636909.651666, t: 3.217664 -4.103197 0.704349 q: 0.037250 0.821925 -0.069831 0.564070 
time: 1403636910.051666, t: 3.518310 -4.305695 0.620490 q: 0.071503 0.808896 -0.048951 0.581532 
time: 1403636910.451667, t: 3.772138 -4.430970 0.551956 q: 0.048942 0.820221 -0.060400 0.566740 
time: 1403636910.851666, t: 4.039859 -4.557062 0.520061 q: 0.044927 0.821677 -0.058799 0.565130 
time: 1403636911.251667, t: 4.270109 -4.664609 0.459558 q: 0.039578 0.815182 -0.060171 0.574710 
time: 1403636911.651666, t: 4.477393 -4.766395 0.494258 q: 0.045830 0.820615 -0.057026 0.566780 
time: 1403636912.051666, t: 4.669216 -4.863955 0.484667 q: 0.032689 0.823131 -0.069309 0.562658 
time: 1403636912.451667, t: 4.859449 -4.978359 0.481006 q: 0.039048 0.820594 -0.067136 0.566210 
time: 1403636912.851666, t: 5.060641 -5.125181 0.450097 q: 0.027193 0.818801 -0.079351 0.567916 
time: 1403636913.251667, t: 5.241925 -5.322974 0.371530 q: 0.045725 0.811327 -0.066571 0.578988 
wait for imu ... 
time: 1403636913.651666, t: 5.384522 -5.523417 0.358861 q: 0.041668 0.817937 -0.071216 0.569361 
time: 1403636914.051666, t: 5.514240 -5.731550 0.339020 q: 0.046837 0.817057 -0.068830 0.570515 
time: 1403636914.451667, t: 5.628955 -5.941600 0.333808 q: 0.050074 0.816788 -0.068886 0.570618 
time: 1403636914.851666, t: 5.731884 -6.137980 0.366712 q: 0.055999 0.815122 -0.068497 0.572493 
time: 1403636915.251667, t: 5.805942 -6.289202 0.359844 q: 0.057999 0.823895 -0.072284 0.559113 
time: 1403636915.651666, t: 5.914604 -6.438605 0.318441 q: 0.043897 0.818790 -0.082390 0.566453 
time: 1403636916.051666, t: 6.041162 -6.620338 0.375479 q: 0.049937 0.814818 -0.076479 0.572476 
time: 1403636916.451667, t: 6.135894 -6.787758 0.425978 q: 0.062168 0.816296 -0.070204 0.569972 
time: 1403636916.851666, t: 6.227802 -6.932710 0.443290 q: 0.091539 0.811644 -0.106866 0.566952 
time: 1403636917.651666, t: 6.393238 -7.136406 0.258896 q: 0.137912 0.795047 -0.181234 0.562170 
time: 1403636918.051666, t: 6.443226 -7.188911 0.221086 q: 0.157486 0.789141 -0.204064 0.557506 
time: 1403636918.451667, t: 6.482053 -7.200423 0.203593 q: 0.161251 0.801622 -0.203123 0.538648 
time: 1403636918.851666, t: 6.578076 -7.186177 0.297563 q: 0.138049 0.796865 -0.210117 0.549363 
time: 1403636919.251667, t: 6.680648 -7.211049 0.464006 q: 0.134356 0.778085 -0.236949 0.566027 
time: 1403636919.651666, t: 6.702527 -7.291828 0.599496 q: 0.170063 0.776690 -0.232061 0.560338 
time: 1403636920.051666, t: 6.670452 -7.355471 0.626745 q: 0.164034 0.771737 -0.237241 0.566773 
time: 1403636920.451667, t: 6.581697 -7.415113 0.561078 q: 0.171288 0.774812 -0.226549 0.564803 
time: 1403636920.851666, t: 6.456540 -7.447234 0.561217 q: 0.167624 0.789576 -0.227956 0.544525 
wait for imu ... 
time: 1403636921.251667, t: 6.351997 -7.461413 0.618328 q: 0.168413 0.785785 -0.228464 0.549530 
time: 1403636921.651666, t: 6.257940 -7.461832 0.590083 q: 0.150678 0.780585 -0.241535 0.556457 
time: 1403636922.051666, t: 6.156111 -7.486897 0.508435 q: 0.166067 0.786864 -0.238859 0.544255 
time: 1403636922.451667, t: 6.076897 -7.516766 0.463279 q: 0.181850 0.787315 -0.252221 0.532400 
time: 1403636922.851666, t: 6.039699 -7.546303 0.400836 q: 0.201814 0.763083 -0.280488 0.546170 
time: 1403636923.251667, t: 5.988913 -7.560123 0.364966 q: 0.207850 0.751342 -0.308026 0.545347 
time: 1403636923.651666, t: 5.905821 -7.571715 0.280046 q: 0.221358 0.767879 -0.331525 0.501451 
time: 1403636924.051666, t: 5.899112 -7.632899 0.278502 q: 0.227037 0.769293 -0.330195 0.497607 
time: 1403636924.451667, t: 5.992805 -7.747858 0.255810 q: 0.219198 0.761830 -0.330334 0.512296 
time: 1403636924.851666, t: 6.119470 -7.909212 0.273031 q: 0.201981 0.739005 -0.334792 0.548625 
time: 1403636925.251667, t: 6.152930 -8.105641 0.202323 q: 0.236902 0.743249 -0.339989 0.525229 
time: 1403636925.651666, t: 6.179633 -8.308312 0.086823 q: 0.237957 0.765078 -0.353909 0.482474 
time: 1403636926.051666, t: 6.318626 -8.562165 0.091911 q: 0.253786 0.745338 -0.344712 0.511114 
time: 1403636926.451667, t: 6.492947 -8.797067 0.049510 q: 0.237935 0.723105 -0.350162 0.545795 
time: 1403636927.651666, t: 6.587255 -9.403950 -0.092338 q: 0.298371 0.704798 -0.455874 0.454327 
time: 1403636928.451667, t: 6.719410 -10.034756 -0.166926 q: 0.314559 0.677864 -0.448444 0.490358 
wait for imu ... 
time: 1403636928.851666, t: 6.795543 -10.338135 -0.197791 q: 0.311934 0.693590 -0.447262 0.470730 
time: 1403636929.251667, t: 6.882719 -10.636105 -0.108598 q: 0.306559 0.673086 -0.449552 0.500880 
time: 1403636929.651666, t: 6.922437 -10.921277 -0.047948 q: 0.312959 0.683020 -0.440833 0.491128 
time: 1403636930.051666, t: 6.930841 -11.151557 -0.046679 q: 0.311422 0.681826 -0.439860 0.494624 
wait for imu ... 
time: 1403636930.451667, t: 6.925669 -11.365380 0.026904 q: 0.309412 0.683928 -0.441998 0.491064 
time: 1403636930.851666, t: 6.885197 -11.526229 0.060048 q: 0.301385 0.678063 -0.447204 0.499406 
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wait for imu ... 
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wait for imu ... 
time: 1403636954.051666, t: 3.489500 -8.259313 -1.205654 q: -0.456368 -0.499503 0.658393 -0.329763 
wait for imu ... 
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time: 1403636956.051666, t: 4.266333 -9.778609 -1.290279 q: -0.471590 -0.448079 0.684188 -0.329720 
wait for imu ... 
time: 1403636956.451667, t: 4.457735 -10.041137 -1.264340 q: -0.478506 -0.449589 0.683266 -0.319450 
wait for imu ... 
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wait for imu ... 
time: 1403636962.451667, t: 6.167521 -10.975609 -1.248946 q: 0.094215 0.804592 -0.125287 0.572763 
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time: 1403636964.851666, t: 6.256877 -9.734538 -0.820239 q: 0.050146 0.808976 -0.014031 0.585531 
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time: 1403636965.651666, t: 6.037802 -8.941311 -0.600423 q: -0.039271 0.828430 0.049876 0.556484 
wait for imu ... 
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wait for imu ... 
time: 1403636972.851666, t: 2.753168 -4.830099 -0.611260 q: -0.024551 0.815943 0.024972 0.577071 
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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: 1403636992.051666, t: 4.797865 -8.254140 -0.904402 q: 0.273745 0.708228 -0.413804 0.502238 
time: 1403636992.451667, t: 4.568180 -8.016981 -0.887817 q: 0.289850 0.707694 -0.410314 0.496788 
time: 1403636992.851666, t: 4.385355 -7.806734 -0.836771 q: 0.294490 0.710239 -0.415375 0.486106 
time: 1403636993.251667, t: 4.262242 -7.622273 -0.827519 q: 0.288181 0.704086 -0.409973 0.503126 
time: 1403636993.651666, t: 4.142378 -7.416050 -0.749349 q: 0.248327 0.731725 -0.356992 0.524851 
time: 1403636994.051666, t: 4.018911 -7.230372 -0.686422 q: 0.235000 0.743050 -0.326096 0.535082 
time: 1403636994.451667, t: 3.864332 -6.989473 -0.695346 q: 0.243997 0.729793 -0.315619 0.555205 
time: 1403636994.851666, t: 3.680889 -6.670078 -0.684014 q: 0.214283 0.739957 -0.340092 0.539337 
time: 1403636995.251667, t: 3.449167 -6.350252 -0.664006 q: 0.228783 0.734726 -0.329371 0.547130 
time: 1403636995.651666, t: 3.184435 -6.020659 -0.571075 q: 0.226054 0.744177 -0.326988 0.536824 
time: 1403636996.451667, t: 2.643998 -5.429479 -0.449427 q: 0.218329 0.753399 -0.322986 0.529530 
time: 1403636996.851666, t: 2.402864 -5.167964 -0.354927 q: 0.180125 0.777896 -0.265768 0.540186 
time: 1403636997.251667, t: 2.194682 -4.940812 -0.391871 q: 0.131149 0.799378 -0.203151 0.550023 
time: 1403636997.651666, t: 2.027202 -4.760937 -0.403385 q: 0.124292 0.803964 -0.190162 0.549573 
time: 1403636998.051666, t: 1.928818 -4.628666 -0.283666 q: 0.131492 0.804441 -0.195991 0.545135 
time: 1403636998.451667, t: 1.899525 -4.537246 -0.156648 q: 0.131532 0.801618 -0.203817 0.546413 
time: 1403636998.851666, t: 1.888884 -4.462274 -0.023321 q: 0.148047 0.785250 -0.195888 0.568412 
wait for imu ... 
time: 1403637000.051666, t: 1.742301 -4.006805 0.077605 q: 0.155228 0.783871 -0.197381 0.567884 
time: 1403637000.451667, t: 1.643314 -3.774690 0.110231 q: 0.151979 0.786832 -0.199407 0.563945 
wait for imu ... 
time: 1403637000.851666, t: 1.539815 -3.519358 0.149798 q: 0.150738 0.784639 -0.201182 0.566697 
time: 1403637001.251667, t: 1.436039 -3.266409 0.178919 q: 0.149397 0.783486 -0.204497 0.567460 
time: 1403637001.651666, t: 1.306553 -3.007478 0.254013 q: 0.144157 0.788143 -0.211155 0.559878 
time: 1403637002.051666, t: 1.168738 -2.757925 0.273439 q: 0.146991 0.789757 -0.211811 0.556609 
time: 1403637002.451667, t: 1.034374 -2.517118 0.235291 q: 0.150191 0.790795 -0.209660 0.555094 
time: 1403637002.851666, t: 0.905572 -2.280754 0.272055 q: 0.153783 0.790341 -0.209295 0.554894 
time: 1403637003.251667, t: 0.783801 -2.034790 0.252485 q: 0.153306 0.788239 -0.216007 0.555443 
time: 1403637003.651666, t: 0.669397 -1.781567 0.255563 q: 0.152091 0.783805 -0.221154 0.560008 
time: 1403637004.051666, t: 0.558478 -1.551561 0.272550 q: 0.151722 0.791614 -0.216942 0.550695 
time: 1403637004.451667, t: 0.464413 -1.339594 0.258267 q: 0.146729 0.791017 -0.216583 0.553041 
time: 1403637004.851666, t: 0.383573 -1.140568 0.334824 q: 0.132875 0.780714 -0.237900 0.562346 
time: 1403637005.251667, t: 0.280001 -0.993737 0.273096 q: 0.151948 0.787795 -0.231369 0.550236 
time: 1403637005.651666, t: 0.187061 -0.872210 0.199008 q: 0.151211 0.789895 -0.224222 0.550388 
time: 1403637006.051666, t: 0.113428 -0.762573 0.228479 q: 0.149794 0.788999 -0.221571 0.553126 
time: 1403637006.451667, t: 0.045255 -0.674268 0.236448 q: 0.136404 0.799174 -0.229902 0.538386 
time: 1403637006.851666, t: 0.047315 -0.660228 0.223748 q: 0.120740 0.793824 -0.196278 0.562798 
time: 1403637007.251667, t: 0.050872 -0.656679 0.184728 q: 0.090709 0.804715 -0.126791 0.572826 
time: 1403637007.651666, t: 0.027944 -0.648037 0.141034 q: 0.085218 0.811797 -0.112388 0.566650 
time: 1403637008.051666, t: 0.008563 -0.605351 0.100771 q: 0.081025 0.804257 -0.124351 0.575450 
time: 1403637008.451667, t: -0.003219 -0.562829 0.085551 q: 0.089914 0.817768 -0.129958 0.553428 
time: 1403637008.851666, t: 0.019951 -0.522843 0.082755 q: 0.066056 0.806140 -0.154611 0.567336 
time: 1403637009.251667, t: 0.044458 -0.569180 0.036712 q: 0.098056 0.809865 -0.137228 0.561847 
time: 1403637009.651666, t: 0.057875 -0.602811 0.003250 q: 0.054240 0.774988 -0.122378 0.617636 
time: 1403637010.451667, t: 0.029268 -0.605842 -0.002237 q: 0.055127 0.778761 -0.136623 0.609776 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720472028.067017839]: Shutdown request received.[0m
[33m[ WARN] [1720472028.067075007]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720472028.067951077]: Shutdown request received.[0m
[33m[ WARN] [1720472028.067995730]: Reason given for shutdown: [user request][0m
killed
