/SLAM-Hive/slam_hive_results/mapping_results/2848/2056_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-16.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720472056.968715491]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720472056.970376354]: init begins[0m
[31m[ERROR] [1720472056.971443925]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/3d8c6234-3d6c-11ef-8669-0242ac110005/roslaunch-9e6d0470d1b4-118.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://9e6d0470d1b4:46825/[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
[1mROS_MASTER_URI=http://9e6d0470d1b4:11311/[0m
]2;roscore http://9e6d0470d1b4:11311/
[1msetting /run_id to 3d8c6234-3d6c-11ef-8669-0242ac110005[0m
[0m[ INFO] [1720472058.124090549]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720472058.126589989]: 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] [1720472058.132500679]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720472058.132703082]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720472058.132725891]: ROW: 192 COL: 300 [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] [1720472058.132919431]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720472058.133206585]: 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 [218][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720472067.122272237]: 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: 316835210.50 
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] [1720472073.507315471]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720472073.949864946]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472074.314336808]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472074.707709192]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472075.118270570]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472075.517478386]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472075.907717870]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472076.308665071]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472076.707548729]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472077.136530304]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472077.507572957]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472077.943984325]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472078.330024176]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472078.707292513]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472079.107082028]: 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] [1720472080.310364588]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472080.707332197]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472081.122930676]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472081.509414332]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472081.908619690]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720472082.309995491]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472082.722424919]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472083.106051252]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472083.529085565]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720472083.900468471]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472084.322827168]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720472084.700219141]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472085.133961478]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472085.508332195]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472085.922202308]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472086.310691218]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472086.711877830]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472087.108624732]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472087.522666231]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472087.921461305]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472088.323783523]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472088.703036877]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472089.122173334]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472089.508334478]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472089.914330290]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472090.315752890]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472090.712444439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472091.108869960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472091.522261023]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472091.912125342]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472092.310623881]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472092.709446432]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472093.121166818]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472093.512010093]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472094.309918187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472094.717157477]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472095.118441060]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472095.508828088]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472096.318515854]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720472097.110501527]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472097.499911804]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720472098.301372151]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472098.709037854]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472099.109586070]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472099.509740206]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472099.911009885]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472100.309797576]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472100.699319840]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472101.118254571]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472101.512289585]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472101.918074318]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472102.318126428]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472102.710284238]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472103.109877459]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472103.513144471]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472103.909101020]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720472104.301154362]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472104.708910009]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472105.102196678]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472105.520324772]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472105.910513687]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472106.308000317]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472106.717937195]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472107.119793732]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720472107.500578105]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472107.911434594]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720472108.302031497]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720472109.123540454]: 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] [1720472109.936731295]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472110.335890615]: 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] [1720472111.131503625]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472111.528840913]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472111.932371791]: 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!
wait for imu ... 
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720472113.533892845]: gyroscope bias initial calibration -0.00523529   0.0176396   0.0732915[0m
[0m[ INFO] [1720472113.558981228]: Initialization finish![0m
time: 1403636902.851666, t: 1.042886 -1.777099 0.006148 q: 0.082351 0.806219 -0.113230 0.574811 
time: 1403636903.251667, t: 1.186017 -2.069936 0.053636 q: 0.076225 0.807380 -0.111195 0.574424 
time: 1403636903.651666, t: 0.968752 -2.259885 0.161734 q: 0.074026 0.812077 -0.103225 0.569557 
time: 1403636904.051666, t: 0.886562 -2.151029 0.205027 q: 0.059106 0.811832 -0.111685 0.570054 
wait for imu ... 
time: 1403636904.451667, t: 0.920620 -2.290940 0.316188 q: 0.061604 0.808327 -0.113587 0.574378 
time: 1403636904.851666, t: 0.988527 -2.533341 0.379515 q: 0.076076 0.809753 -0.110325 0.571263 
time: 1403636905.251667, t: 1.086389 -2.817931 0.401515 q: 0.088235 0.810251 -0.110610 0.568747 
time: 1403636905.651666, t: 1.175347 -3.017834 0.482940 q: 0.088430 0.816860 -0.098211 0.561493 
time: 1403636906.451667, t: 1.447576 -3.201948 0.457966 q: 0.062658 0.812165 -0.097128 0.571863 
time: 1403636906.851666, t: 1.602926 -3.303625 0.464805 q: 0.066122 0.815728 -0.094527 0.566816 
time: 1403636907.251667, t: 1.781428 -3.435084 0.457572 q: 0.067881 0.823047 -0.085822 0.557334 
time: 1403636907.651666, t: 1.984181 -3.558273 0.462722 q: 0.047270 0.824758 -0.095176 0.555411 
time: 1403636908.051666, t: 2.213805 -3.710806 0.516454 q: 0.055152 0.819240 -0.087503 0.564045 
time: 1403636908.451667, t: 2.455852 -3.898445 0.513813 q: 0.055972 0.817915 -0.075822 0.567568 
time: 1403636908.851666, t: 2.686930 -4.073408 0.502374 q: 0.046499 0.825450 -0.073694 0.557709 
time: 1403636909.251667, t: 2.950747 -4.258266 0.568435 q: 0.040870 0.828096 -0.077214 0.553737 
time: 1403636909.651666, t: 3.250055 -4.469277 0.561042 q: 0.043860 0.821611 -0.080509 0.562627 
time: 1403636910.051666, t: 3.543938 -4.697282 0.477147 q: 0.078092 0.809054 -0.059505 0.579476 
time: 1403636910.451667, t: 3.805230 -4.842965 0.413405 q: 0.055757 0.820449 -0.071292 0.564511 
time: 1403636910.851666, t: 4.043543 -4.959987 0.377630 q: 0.052207 0.822021 -0.070001 0.562721 
wait for imu ... 
time: 1403636911.251667, t: 4.278295 -5.083310 0.318052 q: 0.047438 0.815778 -0.071581 0.571955 
time: 1403636911.651666, t: 4.473912 -5.199336 0.343577 q: 0.053648 0.821300 -0.068701 0.563798 
time: 1403636912.051666, t: 4.662358 -5.299788 0.326383 q: 0.040724 0.823821 -0.081234 0.559519 
time: 1403636912.451667, t: 4.844885 -5.436455 0.308585 q: 0.047070 0.821464 -0.078993 0.562797 
time: 1403636912.851666, t: 5.049436 -5.595615 0.274622 q: 0.035520 0.819673 -0.091347 0.564385 
time: 1403636913.251667, t: 5.206533 -5.795504 0.198458 q: 0.054089 0.812680 -0.078344 0.574881 
time: 1403636913.651666, t: 5.337445 -6.001918 0.185602 q: 0.049695 0.819436 -0.082747 0.564984 
wait for imu ... 
time: 1403636914.051666, t: 5.479920 -6.210519 0.154560 q: 0.054985 0.818825 -0.080166 0.565752 
time: 1403636914.451667, t: 5.608487 -6.436470 0.140738 q: 0.058294 0.818734 -0.080098 0.565562 
time: 1403636914.851666, t: 5.714969 -6.645964 0.180324 q: 0.064094 0.817196 -0.079475 0.567244 
time: 1403636915.251667, t: 5.791438 -6.816486 0.171470 q: 0.066418 0.825812 -0.083748 0.553723 
wait for imu ... 
time: 1403636915.651666, t: 5.907719 -6.973435 0.128710 q: 0.053028 0.820655 -0.094137 0.561116 
time: 1403636916.051666, t: 6.035880 -7.161291 0.182950 q: 0.059617 0.816859 -0.088334 0.566907 
time: 1403636916.451667, t: 6.135668 -7.351070 0.230078 q: 0.071929 0.818466 -0.082094 0.564092 
time: 1403636916.851666, t: 6.216062 -7.504444 0.245152 q: 0.101795 0.813110 -0.118414 0.560774 
wait for imu ... 
time: 1403636917.251667, t: 6.307335 -7.622742 0.182927 q: 0.108568 0.809573 -0.138667 0.559978 
time: 1403636917.651666, t: 6.367252 -7.708279 0.059310 q: 0.149085 0.795192 -0.192209 0.555427 
time: 1403636918.051666, t: 6.426757 -7.775492 0.020564 q: 0.168267 0.788895 -0.214611 0.550703 
time: 1403636918.451667, t: 6.465158 -7.781030 0.002080 q: 0.171242 0.801165 -0.213507 0.532189 
time: 1403636918.851666, t: 6.567416 -7.778419 0.097061 q: 0.147137 0.796027 -0.220062 0.544302 
time: 1403636919.251667, t: 6.665549 -7.806000 0.268343 q: 0.142606 0.776552 -0.246094 0.562199 
time: 1403636919.651666, t: 6.668529 -7.870578 0.406936 q: 0.176967 0.774754 -0.240324 0.557389 
time: 1403636920.051666, t: 6.643257 -7.937019 0.436470 q: 0.168969 0.769928 -0.244141 0.564850 
time: 1403636920.451667, t: 6.570009 -8.004940 0.375264 q: 0.174532 0.773457 -0.232453 0.563266 
time: 1403636920.851666, t: 6.447670 -8.032635 0.375317 q: 0.169891 0.788289 -0.233415 0.543374 
time: 1403636921.251667, t: 6.343819 -8.049679 0.427869 q: 0.169774 0.784464 -0.233303 0.548965 
time: 1403636921.651666, t: 6.247068 -8.048360 0.399111 q: 0.151604 0.779116 -0.246018 0.556300 
time: 1403636922.051666, t: 6.147909 -8.071265 0.319741 q: 0.166753 0.785420 -0.243227 0.544197 
wait for imu ... 
time: 1403636922.451667, t: 6.073399 -8.103854 0.275386 q: 0.182297 0.785853 -0.256526 0.532351 
time: 1403636922.851666, t: 6.037271 -8.133151 0.215745 q: 0.202353 0.761502 -0.284771 0.545960 
wait for imu ... 
time: 1403636923.251667, t: 5.984415 -8.142830 0.179148 q: 0.208493 0.749584 -0.312367 0.545051 
time: 1403636923.651666, t: 5.898487 -8.154968 0.097137 q: 0.222017 0.766041 -0.336104 0.500924 
time: 1403636924.051666, t: 5.892627 -8.220442 0.095600 q: 0.227981 0.767412 -0.335178 0.496748 
time: 1403636924.451667, t: 5.978429 -8.331715 0.071551 q: 0.221021 0.759624 -0.335980 0.511115 
time: 1403636924.851666, t: 6.099064 -8.497662 0.099161 q: 0.204218 0.736735 -0.340576 0.547289 
time: 1403636925.251667, t: 6.133412 -8.703020 0.019803 q: 0.238931 0.741067 -0.345795 0.523600 
time: 1403636925.651666, t: 6.158410 -8.912652 -0.099963 q: 0.239604 0.762830 -0.359713 0.480924 
time: 1403636926.051666, t: 6.298819 -9.176266 -0.098716 q: 0.255567 0.743198 -0.350297 0.509544 
time: 1403636926.451667, t: 6.473214 -9.426676 -0.141603 q: 0.239665 0.720984 -0.355444 0.544429 
time: 1403636926.851666, t: 6.558600 -9.631330 -0.186210 q: 0.239052 0.732026 -0.360778 0.526147 
time: 1403636927.251667, t: 6.580934 -9.844927 -0.195361 q: 0.271875 0.702603 -0.419958 0.506031 
time: 1403636927.651666, t: 6.560780 -10.065460 -0.276453 q: 0.299558 0.702390 -0.460788 0.452314 
time: 1403636928.051666, t: 6.599692 -10.353498 -0.299631 q: 0.305178 0.696873 -0.466495 0.451239 
time: 1403636928.451667, t: 6.688746 -10.707552 -0.358722 q: 0.316692 0.675366 -0.453351 0.487914 
time: 1403636928.851666, t: 6.759108 -11.020273 -0.391487 q: 0.314050 0.690978 -0.452576 0.468077 
time: 1403636929.251667, t: 6.848738 -11.325401 -0.301114 q: 0.309069 0.670405 -0.455008 0.497997 
time: 1403636929.651666, t: 6.885497 -11.604793 -0.235900 q: 0.315757 0.680280 -0.446495 0.488015 
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time: 1403636930.451667, t: 6.862582 -12.015150 -0.157525 q: 0.313140 0.680568 -0.447847 0.488061 
time: 1403636931.251667, t: 6.696298 -12.297088 -0.144124 q: 0.330256 0.654291 -0.468352 0.493438 
wait for imu ... 
time: 1403636931.651666, t: 6.531756 -12.367662 -0.091985 q: 0.368241 0.658678 -0.457187 0.470661 
time: 1403636932.051666, t: 6.405856 -12.348596 -0.086091 q: 0.345046 0.656729 -0.476903 0.471396 
time: 1403636932.451667, t: 6.288912 -12.278395 -0.105216 q: 0.370648 0.651838 -0.465167 0.470475 
time: 1403636932.851666, t: 6.198539 -12.110952 -0.017554 q: 0.380625 0.624099 -0.507006 0.456695 
time: 1403636933.651666, t: 6.077884 -11.670027 -0.044334 q: 0.379592 0.612819 -0.550216 0.421455 
time: 1403636934.051666, t: 6.049758 -11.497134 -0.029594 q: 0.389581 0.596782 -0.551106 0.434004 
wait for imu ... 
time: 1403636934.451667, t: 5.996096 -11.297575 -0.093317 q: -0.424790 -0.536445 0.609991 -0.399613 
time: 1403636935.251667, t: 5.831187 -10.851909 0.024499 q: -0.464387 -0.478128 0.660562 -0.345538 
time: 1403636935.651666, t: 5.737573 -10.646015 0.094375 q: -0.457649 -0.481174 0.656092 -0.358569 
wait for imu ... 
time: 1403636936.051666, t: 5.607914 -10.424589 0.051213 q: -0.432498 -0.500200 0.669536 -0.338330 
time: 1403636936.451667, t: 5.441137 -10.279104 -0.005101 q: -0.449685 -0.493287 0.659229 -0.346221 
time: 1403636936.851666, t: 5.271126 -10.206139 -0.022264 q: -0.460452 -0.487432 0.656485 -0.345574 
time: 1403636937.251667, t: 5.123877 -10.195896 -0.001711 q: -0.459342 -0.485375 0.659433 -0.344332 
wait for imu ... 
time: 1403636937.651666, t: 5.001988 -10.205056 -0.001901 q: -0.462703 -0.484999 0.659170 -0.340847 
time: 1403636938.051666, t: 4.908431 -10.196676 -0.088402 q: -0.490553 -0.483035 0.642663 -0.336184 
time: 1403636938.851666, t: 4.831480 -9.930997 -0.207343 q: -0.459245 -0.443310 0.685371 -0.350480 
time: 1403636939.251667, t: 4.692559 -9.734842 -0.209895 q: -0.469335 -0.457927 0.677709 -0.332773 
time: 1403636939.651666, t: 4.543436 -9.537933 -0.234916 q: -0.480498 -0.458430 0.662670 -0.346167 
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time: 1403636940.451667, t: 4.282941 -9.026731 -0.326731 q: -0.478519 -0.432513 0.687171 -0.334287 
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time: 1403636941.251667, t: 3.955837 -8.450722 -0.293472 q: -0.478830 -0.439122 0.692696 -0.313154 
time: 1403636941.651666, t: 3.788849 -8.203306 -0.246835 q: -0.482530 -0.445607 0.682788 -0.319999 
time: 1403636942.051666, t: 3.626963 -7.925261 -0.223433 q: -0.473716 -0.448652 0.684633 -0.324934 
time: 1403636942.451667, t: 3.456587 -7.659539 -0.193681 q: -0.470309 -0.438545 0.689192 -0.333919 
time: 1403636942.851666, t: 3.267173 -7.405258 -0.237129 q: -0.468022 -0.440866 0.695485 -0.320769 
time: 1403636943.251667, t: 3.050179 -7.149716 -0.212536 q: -0.483235 -0.435668 0.688785 -0.319770 
time: 1403636943.651666, t: 2.842812 -6.896073 -0.236772 q: -0.491890 -0.432568 0.687352 -0.313810 
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time: 1403636944.851666, t: 2.391341 -6.297078 -0.358359 q: -0.480146 -0.478240 0.657573 -0.329156 
time: 1403636945.251667, t: 2.354719 -6.226486 -0.327824 q: -0.473711 -0.480684 0.654623 -0.340602 
time: 1403636945.651666, t: 2.355792 -6.117692 -0.318441 q: -0.465418 -0.482721 0.662867 -0.333129 
time: 1403636946.051666, t: 2.379712 -6.041849 -0.367382 q: -0.462700 -0.482464 0.669721 -0.323437 
time: 1403636946.451667, t: 2.429751 -6.015203 -0.503326 q: -0.476829 -0.470735 0.665472 -0.328923 
time: 1403636946.851666, t: 2.508277 -5.981228 -0.665552 q: -0.456592 -0.450023 0.683824 -0.348408 
time: 1403636947.251667, t: 2.518230 -5.901159 -0.795349 q: -0.445551 -0.460100 0.693045 -0.330881 
time: 1403636947.651666, t: 2.443280 -5.863784 -0.833297 q: -0.450766 -0.469067 0.690748 -0.315679 
time: 1403636948.051666, t: 2.353732 -5.923080 -0.847841 q: -0.464341 -0.479854 0.679427 -0.304149 
wait for imu ... 
time: 1403636948.451667, t: 2.305630 -6.049542 -0.923693 q: -0.466886 -0.488990 0.671784 -0.302674 
time: 1403636948.851666, t: 2.343373 -6.267149 -1.000911 q: -0.480317 -0.489216 0.655903 -0.315839 
time: 1403636949.251667, t: 2.481157 -6.485010 -1.027750 q: -0.471149 -0.475473 0.657374 -0.346126 
time: 1403636949.651666, t: 2.610910 -6.647828 -1.111110 q: -0.461132 -0.469778 0.661924 -0.358501 
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time: 1403636950.451667, t: 2.757923 -6.931190 -1.137998 q: -0.456135 -0.486108 0.667549 -0.331691 
time: 1403636950.851666, t: 2.823116 -7.115525 -1.166459 q: -0.469616 -0.483176 0.656522 -0.339089 
time: 1403636951.251667, t: 2.918542 -7.285540 -1.115356 q: -0.452593 -0.479415 0.667159 -0.346726 
time: 1403636951.651666, t: 2.983120 -7.466124 -1.126593 q: -0.446659 -0.491595 0.672130 -0.327219 
time: 1403636952.051666, t: 3.041400 -7.695435 -1.110017 q: -0.468429 -0.491690 0.657419 -0.326521 
time: 1403636952.451667, t: 3.127436 -7.931604 -1.138638 q: -0.468284 -0.475485 0.656864 -0.350933 
time: 1403636952.851666, t: 3.232970 -8.119122 -1.207118 q: -0.466601 -0.483908 0.657269 -0.340754 
time: 1403636953.251667, t: 3.328298 -8.299864 -1.298794 q: -0.443563 -0.479189 0.674400 -0.344694 
time: 1403636953.651666, t: 3.384890 -8.512115 -1.361712 q: -0.458454 -0.490197 0.662137 -0.333321 
time: 1403636954.051666, t: 3.457533 -8.721324 -1.315580 q: -0.457472 -0.497418 0.659244 -0.329685 
time: 1403636954.451667, t: 3.561790 -8.984101 -1.269297 q: -0.451934 -0.495883 0.664578 -0.328926 
wait for imu ... 
time: 1403636955.251667, t: 3.826950 -9.613308 -1.322726 q: -0.476397 -0.470778 0.668316 -0.323678 
time: 1403636955.651666, t: 3.998293 -9.914017 -1.357211 q: -0.482582 -0.462297 0.673656 -0.315568 
time: 1403636956.051666, t: 4.201308 -10.198095 -1.373634 q: -0.472091 -0.446161 0.684911 -0.330101 
time: 1403636956.451667, t: 4.363095 -10.470550 -1.347678 q: -0.478708 -0.447800 0.684117 -0.319840 
time: 1403636956.851666, t: 4.516028 -10.680807 -1.390064 q: -0.452414 -0.472871 0.659735 -0.369409 
time: 1403636957.251667, t: 4.629680 -10.819732 -1.358806 q: -0.417817 -0.562589 0.589600 -0.401615 
time: 1403636957.651666, t: 4.730978 -10.915923 -1.337767 q: 0.390941 0.592362 -0.561559 0.425352 
wait for imu ... 
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time: 1403636959.651666, t: 5.061124 -11.375251 -1.465784 q: 0.305134 0.696686 -0.422754 0.492749 
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time: 1403636960.451667, t: 5.278973 -11.511030 -1.501144 q: 0.316907 0.701403 -0.417419 0.483078 
time: 1403636960.851666, t: 5.448223 -11.545471 -1.565026 q: 0.292247 0.706730 -0.404852 0.501218 
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time: 1403636962.451667, t: 6.048352 -11.369041 -1.334115 q: 0.095311 0.804288 -0.126774 0.572682 
time: 1403636962.851666, t: 6.137340 -11.244376 -1.189708 q: 0.068203 0.813247 -0.040907 0.576458 
time: 1403636963.251667, t: 6.216736 -11.072269 -1.138375 q: 0.044620 0.804611 -0.046670 0.590281 
time: 1403636963.651666, t: 6.254001 -10.872901 -1.137117 q: 0.048989 0.809473 -0.062416 0.581771 
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wait for imu ... 
time: 1403636964.451667, t: 6.214777 -10.433060 -0.948024 q: 0.060847 0.806948 -0.062865 0.584107 
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time: 1403636965.651666, t: 5.914012 -9.349895 -0.703697 q: -0.039774 0.827989 0.050494 0.557049 
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time: 1403636968.451667, t: 4.825232 -7.344322 -0.689118 q: -0.018489 0.804842 0.027695 0.592554 
time: 1403636968.851666, t: 4.469529 -7.101206 -0.704706 q: -0.006105 0.805119 0.035331 0.592028 
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time: 1403636969.651666, t: 3.718698 -6.571123 -0.567263 q: -0.014026 0.826108 0.024752 0.562793 
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time: 1403636970.451667, t: 3.164429 -6.059532 -0.578826 q: -0.015447 0.819234 0.025717 0.572674 
time: 1403636970.851666, t: 2.919112 -5.799440 -0.576707 q: -0.016563 0.837392 0.029605 0.545549 
time: 1403636971.251667, t: 2.803895 -5.529743 -0.577176 q: -0.047435 0.828366 0.009330 0.558097 
time: 1403636971.651666, t: 2.775994 -5.371096 -0.667270 q: -0.044074 0.817045 0.014021 0.574716 
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time: 1403636972.451667, t: 2.588380 -5.186800 -0.789681 q: -0.035342 0.819753 0.023204 0.571155 
wait for imu ... 
time: 1403636972.851666, t: 2.573640 -5.216976 -0.725039 q: -0.026614 0.815619 0.026905 0.577351 
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wait for imu ... 
time: 1403636975.251667, t: 2.394187 -5.265122 -0.998461 q: 0.166675 0.778969 -0.257329 0.547000 
wait for imu ... 
time: 1403636975.651666, t: 2.396728 -5.297488 -1.034354 q: 0.179681 0.779158 -0.260537 0.541062 
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wait for imu ... 
time: 1403636976.851666, t: 2.409625 -5.490043 -1.143487 q: 0.271489 0.712146 -0.406679 0.503740 
time: 1403636977.251667, t: 2.371380 -5.603644 -1.216753 q: 0.260272 0.714632 -0.417158 0.497533 
time: 1403636977.651666, t: 2.312921 -5.743240 -1.258036 q: 0.269047 0.710061 -0.398327 0.514550 
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time: 1403636978.851666, t: 2.054886 -6.211961 -1.343554 q: 0.271298 0.724881 -0.421338 0.472673 
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time: 1403636979.651666, t: 2.068105 -6.695515 -1.476036 q: 0.274253 0.722294 -0.419308 0.476715 
wait for imu ... 
time: 1403636980.051666, t: 2.173479 -6.934672 -1.458509 q: 0.290253 0.711553 -0.416848 0.485472 
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time: 1403636981.651666, t: 2.696577 -7.863070 -1.661279 q: 0.292515 0.703752 -0.422656 0.490438 
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time: 1403636991.651666, t: 4.778605 -8.943806 -1.150327 q: 0.272990 0.718390 -0.395566 0.502911 
time: 1403636992.051666, t: 4.564166 -8.687204 -1.055761 q: 0.269858 0.711199 -0.408741 0.504284 
time: 1403636992.451667, t: 4.333280 -8.447825 -1.033506 q: 0.285898 0.710644 -0.405216 0.499047 
time: 1403636992.851666, t: 4.092286 -8.179719 -0.985128 q: 0.290292 0.713254 -0.409670 0.489050 
time: 1403636993.251667, t: 3.952415 -7.910978 -0.967688 q: 0.284240 0.706972 -0.404023 0.506125 
time: 1403636993.651666, t: 3.786782 -7.656377 -0.877184 q: 0.244043 0.734198 -0.350535 0.527751 
time: 1403636994.051666, t: 3.623779 -7.407881 -0.802887 q: 0.230594 0.745203 -0.319359 0.538061 
time: 1403636994.451667, t: 3.438766 -7.103028 -0.808869 q: 0.239518 0.731829 -0.308860 0.558268 
time: 1403636994.851666, t: 3.221060 -6.737701 -0.788611 q: 0.209887 0.742279 -0.333105 0.542227 
time: 1403636995.251667, t: 2.955584 -6.400854 -0.764023 q: 0.223971 0.737001 -0.322362 0.550226 
time: 1403636995.651666, t: 2.659848 -6.031008 -0.660093 q: 0.221304 0.746469 -0.319897 0.539883 
wait for imu ... 
time: 1403636996.051666, t: 2.354388 -5.683960 -0.589307 q: 0.207321 0.747226 -0.331179 0.537579 
time: 1403636996.451667, t: 2.051021 -5.365020 -0.521712 q: 0.213508 0.755718 -0.315722 0.532565 
time: 1403636996.851666, t: 1.766124 -5.062641 -0.419172 q: 0.175150 0.779709 -0.258197 0.542872 
time: 1403636997.251667, t: 1.514160 -4.795901 -0.447403 q: 0.125988 0.800601 -0.195376 0.552262 
time: 1403636997.651666, t: 1.304526 -4.556081 -0.455757 q: 0.119203 0.805056 -0.182338 0.551750 
time: 1403636998.051666, t: 1.182195 -4.401147 -0.340499 q: 0.126299 0.805621 -0.188176 0.547369 
wait for imu ... 
time: 1403636998.451667, t: 1.224900 -4.417967 -0.205779 q: 0.125831 0.803180 -0.196243 0.548231 
time: 1403636998.851666, t: 1.261416 -4.444422 -0.072687 q: 0.141737 0.786983 -0.188526 0.570111 
time: 1403636999.251667, t: 1.245142 -4.385415 0.026884 q: 0.151241 0.790069 -0.184492 0.564694 
time: 1403636999.651666, t: 1.202570 -4.230827 0.050033 q: 0.141264 0.786084 -0.193054 0.569953 
time: 1403637000.051666, t: 1.124311 -4.034363 0.035596 q: 0.148761 0.786029 -0.189588 0.569285 
wait for imu ... 
time: 1403637000.451667, t: 1.018069 -3.801397 0.061661 q: 0.145524 0.788992 -0.191409 0.565399 
time: 1403637000.851666, t: 0.904566 -3.528360 0.102042 q: 0.144425 0.786789 -0.193160 0.568149 
time: 1403637001.251667, t: 0.787880 -3.252728 0.124169 q: 0.143269 0.785521 -0.196531 0.569040 
time: 1403637001.651666, t: 0.642006 -2.973103 0.195032 q: 0.138170 0.790087 -0.203167 0.561600 
wait for imu ... 
time: 1403637002.051666, t: 0.484235 -2.715095 0.209293 q: 0.140970 0.791596 -0.203669 0.558589 
time: 1403637002.451667, t: 0.333305 -2.457609 0.179600 q: 0.144194 0.792580 -0.201393 0.557195 
time: 1403637002.851666, t: 0.180991 -2.204353 0.224311 q: 0.147722 0.792106 -0.200887 0.557128 
wait for imu ... 
time: 1403637003.251667, t: 0.041875 -1.942347 0.204916 q: 0.147205 0.790082 -0.207423 0.557743 
wait for imu ... 
time: 1403637003.651666, t: -0.101884 -1.674204 0.202912 q: 0.145797 0.785691 -0.212355 0.562439 
time: 1403637004.051666, t: -0.236192 -1.419374 0.221282 q: 0.145554 0.793438 -0.207831 0.553241 
time: 1403637004.451667, t: -0.351572 -1.176015 0.206921 q: 0.140584 0.792797 -0.207422 0.555595 
time: 1403637004.851666, t: -0.458073 -0.945092 0.296237 q: 0.126538 0.782726 -0.228769 0.564795 
time: 1403637005.251667, t: -0.571019 -0.783369 0.234995 q: 0.145588 0.789778 -0.222242 0.552869 
time: 1403637005.651666, t: -0.662612 -0.671841 0.149764 q: 0.144670 0.791828 -0.215114 0.552997 
time: 1403637006.051666, t: -0.729444 -0.567615 0.170900 q: 0.143129 0.790888 -0.212644 0.555691 
time: 1403637006.451667, t: -0.752443 -0.549922 0.178707 q: 0.129622 0.801417 -0.220888 0.540498 
time: 1403637006.851666, t: -0.777360 -0.505560 0.154715 q: 0.113608 0.795542 -0.187365 0.564889 
time: 1403637007.251667, t: -0.746670 -0.521587 0.127791 q: 0.083613 0.805850 -0.117841 0.574220 
time: 1403637007.651666, t: -0.754363 -0.540016 0.081050 q: 0.078094 0.812924 -0.103329 0.567784 
time: 1403637008.051666, t: -0.782230 -0.502417 0.045555 q: 0.073589 0.805587 -0.115406 0.576451 
time: 1403637008.451667, t: -0.824758 -0.447917 0.031329 q: 0.082772 0.819335 -0.120549 0.554353 
time: 1403637008.851666, t: -0.814424 -0.408177 0.028000 q: 0.058644 0.808005 -0.144962 0.568044 
time: 1403637009.251667, t: -0.799629 -0.459235 -0.017244 q: 0.090579 0.811585 -0.127225 0.562973 
wait for imu ... 
time: 1403637009.651666, t: -0.790615 -0.497312 -0.047685 q: 0.045802 0.776388 -0.112764 0.618392 
time: 1403637010.051666, t: -0.801017 -0.491990 -0.057938 q: 0.046961 0.780474 -0.127091 0.610330 
time: 1403637010.451667, t: -0.802807 -0.511588 -0.081477 q: 0.046593 0.781089 -0.127077 0.609574 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720472221.828084599]: Shutdown request received.[0m
[33m[ WARN] [1720472221.828141483]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720472221.829081539]: Shutdown request received.[0m
[33m[ WARN] [1720472221.829127632]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/3d8c6234-3d6c-11ef-8669-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
