/SLAM-Hive/slam_hive_results/mapping_results/2862/2070_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720474795.194004254]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720474795.196159933]: init begins[0m
[31m[ERROR] [1720474795.197338909]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9da84628-3d72-11ef-a2e3-0242ac110005/roslaunch-5b460602428e-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://5b460602428e:33477/[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] [1720474796.451672610]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720474796.453506078]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[1mROS_MASTER_URI=http://5b460602428e:11311/[0m
]2;roscore http://5b460602428e:11311/
result path /home/output/vio.csv
[33m[ WARN] [1720474796.460300232]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720474796.460570469]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720474796.460607225]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1720474796.460845765]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720474796.461176519]: waiting for image and imu...[0m
[1msetting /run_id to 9da84628-3d72-11ef-a2e3-0242ac110005[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_03_medium.bag  --clock 
[0m[ INFO] [1720474805.351717967]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316837675.03 
init first imu pose
averge acc 9.410943 -0.689906 -2.446931
init R0 
 0.260797  0.261977  0.929168
        0 -0.962476  0.271368
 0.965394 -0.070772 -0.251011
[0m[ INFO] [1720474806.777087784]: IMU excitation not enouth![0m
[0m[ INFO] [1720474806.971895932]: IMU excitation not enouth![0m
[0m[ INFO] [1720474807.182442056]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474807.273815474]: IMU excitation not enouth![0m
[0m[ INFO] [1720474807.473624052]: IMU excitation not enouth![0m
[0m[ INFO] [1720474807.665675399]: IMU excitation not enouth![0m
[0m[ INFO] [1720474807.666318936]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474807.791307118]: IMU excitation not enouth![0m
[0m[ INFO] [1720474807.791764759]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474807.974420852]: IMU excitation not enouth![0m
[0m[ INFO] [1720474808.178907643]: IMU excitation not enouth![0m
[0m[ INFO] [1720474808.258964234]: IMU excitation not enouth![0m
[0m[ INFO] [1720474808.476156292]: IMU excitation not enouth![0m
[0m[ INFO] [1720474808.476633453]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474808.689933923]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720474809.159352646]: gyroscope bias initial calibration -0.00288417    0.020813   0.0772461[0m
[0m[ INFO] [1720474809.272358092]: Initialization finish![0m
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403637203.788319, t: 2.320656 -3.272425 0.075771 q: 0.168241 0.785865 -0.221619 0.552265 
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optimize pose graph 
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time: 1403637207.788319, t: 1.673898 -2.857291 0.043408 q: 0.137906 0.789842 -0.231926 0.550765 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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wait for imu ... 
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time: 1403637233.588319, t: -2.799136 -2.483497 -0.330629 q: -0.444557 -0.441866 0.740717 -0.241787 
time: 1403637233.688319, t: -2.965285 -2.592796 -0.346941 q: -0.479869 -0.458195 0.712439 -0.228504 
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optimize pose graph 
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time: 1403637234.988319, t: -3.266388 -4.801970 -0.997615 q: -0.496397 -0.479436 0.632634 -0.351434 
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time: 1403637236.088319, t: -1.922608 -6.174340 -1.178319 q: 0.442887 0.627008 -0.502694 0.397506 
optimize pose graph 
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time: 1403637237.888319, t: 1.761836 -5.728793 -0.110213 q: 0.279862 0.664131 -0.365014 0.589383 
time: 1403637237.988319, t: 1.871298 -5.543626 -0.037065 q: 0.273228 0.664368 -0.382768 0.580905 
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time: 1403637238.288319, t: 2.105516 -4.972245 0.142996 q: 0.253484 0.638552 -0.474946 0.549930 
optimize pose graph 
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time: 1403637238.988319, t: 1.811108 -3.844051 0.414133 q: -0.226546 -0.568055 0.670198 -0.420506 
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time: 1403637241.188319, t: -3.147250 -4.428034 -0.037272 q: 0.522052 0.366158 -0.733522 0.235237 
time: 1403637241.288319, t: -3.350770 -4.504811 -0.076113 q: 0.523757 0.373012 -0.730098 0.231295 
time: 1403637241.388319, t: -3.544831 -4.583444 -0.118551 q: 0.527789 0.379481 -0.725094 0.227312 
time: 1403637241.488319, t: -3.726153 -4.663548 -0.160408 q: 0.532510 0.386146 -0.719728 0.222072 
time: 1403637241.588319, t: -3.894294 -4.748764 -0.196904 q: 0.540580 0.391678 -0.711851 0.218243 
time: 1403637241.688319, t: -4.048025 -4.838546 -0.226640 q: 0.548344 0.392404 -0.704574 0.221165 
time: 1403637241.788319, t: -4.185448 -4.931125 -0.250622 q: 0.557218 0.391367 -0.696703 0.225709 
time: 1403637241.888319, t: -4.305065 -5.024655 -0.266687 q: 0.561863 0.384839 -0.692681 0.237490 
time: 1403637241.988319, t: -4.407716 -5.115421 -0.276194 q: 0.563449 0.372880 -0.690818 0.257402 
time: 1403637242.088319, t: -4.495731 -5.199520 -0.279774 q: 0.565944 0.368677 -0.689200 0.262275 
time: 1403637242.288319, t: -4.620689 -5.346379 -0.268614 q: 0.567115 0.377744 -0.690032 0.244021 
time: 1403637242.388319, t: -4.656974 -5.412513 -0.261129 q: 0.573558 0.382846 -0.685636 0.233160 
optimize pose graph 
time: 1403637242.488319, t: -4.679744 -5.479943 -0.261913 q: 0.581488 0.386107 -0.679714 0.225349 
time: 1403637242.588319, t: -4.677096 -5.540296 -0.265530 q: 0.584936 0.388254 -0.674901 0.227195 
time: 1403637242.688319, t: -4.657722 -5.605028 -0.267846 q: 0.579919 0.394342 -0.671988 0.237950 
time: 1403637242.788319, t: -4.614637 -5.664323 -0.262402 q: 0.570056 0.400782 -0.669431 0.257434 
time: 1403637242.888319, t: -4.556741 -5.720596 -0.249623 q: 0.563665 0.404569 -0.664754 0.276961 
time: 1403637242.988319, t: -4.485169 -5.769474 -0.232303 q: 0.563109 0.409806 -0.657388 0.287764 
time: 1403637243.088319, t: -4.401500 -5.812702 -0.215134 q: 0.561050 0.418688 -0.653932 0.286874 
time: 1403637243.188319, t: -4.304394 -5.848239 -0.205042 q: 0.554965 0.426241 -0.655747 0.283423 
time: 1403637243.288319, t: -4.194328 -5.877048 -0.202190 q: 0.543947 0.428990 -0.662698 0.284465 
time: 1403637243.388319, t: -4.074128 -5.901864 -0.206291 q: 0.536162 0.429288 -0.667941 0.286527 
time: 1403637243.488319, t: -3.944597 -5.921618 -0.213917 q: 0.532771 0.427889 -0.670619 0.288681 
time: 1403637243.588319, t: -3.805474 -5.939603 -0.217944 q: 0.525160 0.426084 -0.676796 0.290872 
time: 1403637243.688319, t: -3.659937 -5.956282 -0.215214 q: 0.513803 0.424489 -0.685961 0.292015 
time: 1403637243.788319, t: -3.511723 -5.971035 -0.202912 q: 0.502133 0.419614 -0.695618 0.296482 
time: 1403637243.888319, t: -3.364304 -5.982966 -0.182028 q: -0.488144 -0.413167 0.706655 -0.302734 
time: 1403637243.988319, t: -3.220909 -5.990184 -0.150648 q: -0.481329 -0.408704 0.712449 -0.306103 
time: 1403637244.088319, t: -3.085160 -5.995578 -0.108964 q: -0.481191 -0.406694 0.713942 -0.305520 
time: 1403637244.188319, t: -2.956880 -5.999462 -0.059635 q: -0.483991 -0.405913 0.713441 -0.303298 
time: 1403637244.288319, t: -2.835015 -6.003691 -0.004203 q: -0.484329 -0.404476 0.714336 -0.302570 
time: 1403637244.388319, t: -2.719269 -6.005251 0.055273 q: -0.480328 -0.404860 0.717359 -0.301280 
time: 1403637244.488319, t: -2.609744 -6.006542 0.119309 q: -0.476456 -0.411925 0.716694 -0.299428 
optimize pose graph 
time: 1403637244.588319, t: -2.507745 -6.011013 0.185399 q: -0.476531 -0.427224 0.709660 -0.294586 
time: 1403637244.688319, t: -2.409013 -6.019474 0.245389 q: -0.474549 -0.444641 0.701479 -0.291589 
time: 1403637244.788319, t: -2.312843 -6.034174 0.298571 q: -0.470704 -0.458557 0.694443 -0.293108 
time: 1403637244.888319, t: -2.217043 -6.054852 0.345912 q: -0.466945 -0.468103 0.689282 -0.296197 
time: 1403637244.988319, t: -2.121522 -6.081389 0.386961 q: -0.459869 -0.473456 0.688431 -0.300704 
time: 1403637245.088319, t: -2.028118 -6.113157 0.420468 q: -0.444091 -0.472116 0.696200 -0.308539 
time: 1403637245.188319, t: -1.939235 -6.150905 0.447800 q: -0.428272 -0.470804 0.705076 -0.312723 
time: 1403637245.288319, t: -1.858820 -6.196440 0.474644 q: -0.433643 -0.474316 0.700717 -0.309796 
time: 1403637245.388319, t: -1.783476 -6.249117 0.498297 q: -0.444322 -0.478267 0.693261 -0.305333 
time: 1403637245.488319, t: -1.709353 -6.306720 0.516526 q: -0.449651 -0.483422 0.686723 -0.304184 
time: 1403637245.588319, t: -1.635060 -6.370628 0.528522 q: -0.449107 -0.491198 0.680352 -0.306835 
time: 1403637245.688319, t: -1.562322 -6.440037 0.535390 q: -0.443685 -0.501741 0.673661 -0.312377 
time: 1403637245.788319, t: -1.488418 -6.516739 0.538381 q: -0.441376 -0.511954 0.660544 -0.326760 
time: 1403637245.888319, t: -1.413819 -6.598607 0.537390 q: -0.442765 -0.524306 0.639014 -0.347452 
time: 1403637245.988319, t: -1.339047 -6.680935 0.528739 q: -0.437425 -0.541555 0.616202 -0.368337 
time: 1403637246.088319, t: -1.261597 -6.763006 0.515878 q: -0.426551 -0.563377 0.591038 -0.389017 
time: 1403637246.188319, t: -1.180701 -6.842023 0.498089 q: 0.411321 0.588222 -0.562826 0.409924 
time: 1403637246.288319, t: -1.098635 -6.918731 0.474779 q: 0.392136 0.614195 -0.532587 0.430517 
time: 1403637246.388319, t: -1.014662 -6.991821 0.449329 q: 0.374233 0.641099 -0.497148 0.449206 
time: 1403637246.488319, t: -0.927928 -7.060198 0.421843 q: 0.360143 0.666873 -0.457698 0.464855 
time: 1403637246.588319, t: -0.838808 -7.121576 0.390146 q: 0.346641 0.685773 -0.419314 0.483458 
optimize pose graph 
time: 1403637246.688319, t: -0.746877 -7.173227 0.354806 q: 0.331351 0.699168 -0.383670 0.504151 
time: 1403637246.788319, t: -0.652307 -7.212556 0.321030 q: 0.314364 0.712304 -0.350727 0.520373 
time: 1403637246.888319, t: -0.557798 -7.238181 0.292616 q: 0.294984 0.726034 -0.321143 0.531721 
time: 1403637246.988319, t: -0.461666 -7.254135 0.268540 q: 0.272119 0.743063 -0.300611 0.532392 
time: 1403637247.088319, t: -0.367177 -7.255494 0.249777 q: 0.251835 0.757017 -0.289637 0.528786 
time: 1403637247.188319, t: -0.269944 -7.252825 0.228699 q: 0.235507 0.766491 -0.286056 0.524595 
time: 1403637247.288319, t: -0.170787 -7.244679 0.201923 q: 0.225389 0.769531 -0.285469 0.524909 
time: 1403637247.388319, t: -0.068692 -7.233403 0.175586 q: 0.227943 0.759537 -0.280650 0.540723 
time: 1403637247.488319, t: 0.033648 -7.217382 0.147338 q: 0.233276 0.746621 -0.276651 0.558216 
time: 1403637247.588319, t: 0.134005 -7.192699 0.111246 q: 0.234276 0.745912 -0.273574 0.560257 
time: 1403637247.688319, t: 0.230258 -7.157760 0.072660 q: 0.236148 0.748775 -0.263365 0.560543 
time: 1403637247.788319, t: 0.323313 -7.111843 0.035356 q: 0.239287 0.753809 -0.247418 0.559731 
time: 1403637247.888319, t: 0.414301 -7.051803 0.005890 q: 0.235075 0.757199 -0.233114 0.563069 
time: 1403637247.988319, t: 0.503251 -6.977679 -0.014588 q: 0.219315 0.756796 -0.223699 0.573689 
time: 1403637248.088319, t: 0.586586 -6.890833 -0.030398 q: 0.200854 0.765410 -0.215603 0.572119 
time: 1403637248.188319, t: 0.663509 -6.795749 -0.041041 q: 0.183609 0.776739 -0.207216 0.565708 
time: 1403637248.288319, t: 0.739112 -6.695913 -0.055718 q: 0.170775 0.785075 -0.201312 0.560327 
time: 1403637248.388319, t: 0.813750 -6.592134 -0.076955 q: 0.164065 0.788472 -0.196189 0.559378 
time: 1403637248.488319, t: 0.887302 -6.485616 -0.100899 q: 0.160367 0.787232 -0.193581 0.563094 
time: 1403637248.588319, t: 0.958698 -6.376520 -0.122755 q: 0.161397 0.781902 -0.190673 0.571160 
time: 1403637248.788319, t: 1.089227 -6.145323 -0.148325 q: 0.163923 0.788648 -0.193663 0.560052 
optimize pose graph 
time: 1403637248.888319, t: 1.150392 -6.023524 -0.147922 q: 0.163941 0.791319 -0.198404 0.554592 
time: 1403637248.988319, t: 1.212914 -5.899637 -0.140084 q: 0.163085 0.791764 -0.203657 0.552302 
time: 1403637249.088319, t: 1.276995 -5.774271 -0.126316 q: 0.165537 0.791241 -0.206064 0.551427 
time: 1403637249.188319, t: 1.341420 -5.649556 -0.104435 q: 0.167063 0.790650 -0.208006 0.551086 
time: 1403637249.288319, t: 1.406695 -5.524435 -0.076218 q: 0.167371 0.789142 -0.210228 0.552310 
time: 1403637249.388319, t: 1.472172 -5.397167 -0.048917 q: 0.169061 0.787832 -0.211196 0.553296 
time: 1403637249.488319, t: 1.537264 -5.267198 -0.035862 q: 0.168698 0.787138 -0.212374 0.553942 
time: 1403637249.588319, t: 1.602936 -5.136943 -0.040936 q: 0.167578 0.787036 -0.212887 0.554230 
time: 1403637249.688319, t: 1.667924 -5.003039 -0.060052 q: 0.167851 0.785557 -0.211929 0.556608 
time: 1403637249.788319, t: 1.731856 -4.868000 -0.078995 q: 0.168469 0.780544 -0.208716 0.564629 
time: 1403637249.888319, t: 1.794337 -4.729603 -0.092764 q: 0.165364 0.778164 -0.202824 0.570945 
time: 1403637249.988319, t: 1.852598 -4.585959 -0.100766 q: 0.155242 0.781631 -0.195340 0.571661 
time: 1403637250.088319, t: 1.906251 -4.441590 -0.102102 q: 0.138518 0.786468 -0.192468 0.570296 
time: 1403637250.188319, t: 1.955804 -4.296625 -0.098170 q: 0.125531 0.791540 -0.186149 0.568379 
time: 1403637250.288319, t: 2.001883 -4.152899 -0.097545 q: 0.111431 0.793924 -0.180257 0.569890 
time: 1403637250.388319, t: 2.045214 -4.012599 -0.102728 q: 0.099641 0.795035 -0.176758 0.571619 
time: 1403637250.488319, t: 2.085053 -3.876317 -0.113684 q: 0.088348 0.796560 -0.176796 0.571340 
time: 1403637250.588319, t: 2.120935 -3.746761 -0.126117 q: 0.081462 0.799555 -0.176814 0.568166 
time: 1403637250.688319, t: 2.153908 -3.623197 -0.132256 q: 0.078628 0.802714 -0.171561 0.565716 
time: 1403637250.788319, t: 2.185528 -3.507223 -0.130273 q: 0.078309 0.804909 -0.166333 0.564201 
time: 1403637250.888319, t: 2.217150 -3.399740 -0.119699 q: 0.076902 0.803693 -0.164249 0.566733 
optimize pose graph 
time: 1403637250.988319, t: 2.249834 -3.300027 -0.104366 q: 0.073501 0.803403 -0.165057 0.567360 
time: 1403637251.088319, t: 2.280515 -3.207891 -0.081503 q: 0.067667 0.804477 -0.163614 0.566982 
time: 1403637251.188319, t: 2.310748 -3.121819 -0.053178 q: 0.057998 0.807040 -0.161761 0.564938 
time: 1403637251.288319, t: 2.337922 -3.044747 -0.016685 q: 0.051361 0.808544 -0.157974 0.564502 
time: 1403637251.388319, t: 2.363760 -2.976305 0.029321 q: 0.055315 0.807896 -0.144225 0.568721 
time: 1403637251.488319, t: 2.389844 -2.916523 0.077916 q: 0.055509 0.807433 -0.129034 0.572993 
time: 1403637251.588319, t: 2.415410 -2.860807 0.119963 q: 0.051194 0.807808 -0.113835 0.576079 
time: 1403637251.688319, t: 2.439175 -2.810715 0.155175 q: 0.044573 0.808365 -0.102274 0.578013 
time: 1403637251.788319, t: 2.460003 -2.764106 0.183707 q: 0.038219 0.808655 -0.094344 0.579410 
time: 1403637251.888319, t: 2.478221 -2.723661 0.208755 q: 0.037543 0.807406 -0.086871 0.582357 
time: 1403637251.988319, t: 2.494948 -2.687063 0.230458 q: 0.044436 0.803750 -0.076503 0.588352 
time: 1403637252.088319, t: 2.507824 -2.652283 0.247975 q: 0.048407 0.799926 -0.070369 0.593989 
time: 1403637252.188319, t: 2.514480 -2.617709 0.260939 q: 0.046161 0.796082 -0.069724 0.599384 
time: 1403637252.288319, t: 2.514256 -2.583324 0.266793 q: 0.041585 0.795891 -0.071735 0.599735 
time: 1403637252.388319, t: 2.508492 -2.548921 0.265447 q: 0.037834 0.799045 -0.074104 0.595487 
time: 1403637252.488319, t: 2.494805 -2.517114 0.256604 q: 0.035114 0.804145 -0.076551 0.588436 
time: 1403637252.588319, t: 2.480121 -2.485785 0.242962 q: 0.033865 0.807292 -0.078211 0.583965 
time: 1403637252.688319, t: 2.460280 -2.457175 0.223178 q: 0.030056 0.811718 -0.081431 0.577563 
time: 1403637252.788319, t: 2.442778 -2.432609 0.202980 q: 0.022897 0.817721 -0.087036 0.568536 
time: 1403637252.888319, t: 2.423063 -2.412292 0.190456 q: 0.025902 0.819052 -0.085710 0.566689 
time: 1403637252.988319, t: 2.405763 -2.397594 0.188855 q: 0.034112 0.814441 -0.081103 0.573536 
optimize pose graph 
time: 1403637253.088319, t: 2.388406 -2.384693 0.193663 q: 0.039167 0.811128 -0.078609 0.578237 
time: 1403637253.188319, t: 2.370789 -2.373011 0.201920 q: 0.041799 0.809400 -0.077826 0.580576 
time: 1403637253.288319, t: 2.353275 -2.361569 0.206763 q: 0.043072 0.808599 -0.078203 0.581548 
time: 1403637253.388319, t: 2.333142 -2.353465 0.204820 q: 0.043388 0.808512 -0.078741 0.581572 
time: 1403637253.488319, t: 2.311969 -2.346455 0.196597 q: 0.042555 0.807715 -0.079967 0.582572 
time: 1403637253.588319, t: 2.288990 -2.340630 0.184156 q: 0.043760 0.808724 -0.079680 0.581121 
time: 1403637253.688319, t: 2.264771 -2.335694 0.175941 q: 0.047644 0.808405 -0.077005 0.581620 
time: 1403637253.788319, t: 2.238595 -2.331084 0.175402 q: 0.052225 0.807093 -0.073837 0.583456 
time: 1403637253.888319, t: 2.211079 -2.324902 0.180142 q: 0.053989 0.806622 -0.072834 0.584073 
time: 1403637253.988319, t: 2.183657 -2.316918 0.191779 q: 0.054729 0.806498 -0.072940 0.584162 
time: 1403637254.088319, t: 2.150263 -2.306895 0.208953 q: 0.055855 0.805606 -0.071510 0.585462 
time: 1403637254.188319, t: 2.115070 -2.293980 0.230837 q: 0.052717 0.805650 -0.066780 0.586251 
time: 1403637254.288319, t: 2.077898 -2.278036 0.257672 q: 0.048520 0.809079 -0.058066 0.582809 
time: 1403637254.388319, t: 2.038990 -2.259509 0.287554 q: 0.043349 0.813518 -0.049896 0.577772 
time: 1403637254.488319, t: 2.002007 -2.239653 0.312921 q: 0.039147 0.816719 -0.043693 0.574045 
time: 1403637254.588319, t: 1.965282 -2.218527 0.334246 q: 0.035273 0.817801 -0.038868 0.573102 
time: 1403637254.688319, t: 1.928034 -2.196307 0.349965 q: 0.033100 0.816630 -0.035450 0.575119 
time: 1403637254.788319, t: 1.890774 -2.173374 0.359632 q: 0.031127 0.813659 -0.033661 0.579531 
time: 1403637254.888319, t: 1.853713 -2.149538 0.363699 q: 0.027914 0.810983 -0.033748 0.583428 
time: 1403637254.988319, t: 1.815586 -2.124438 0.361082 q: 0.026736 0.808691 -0.033716 0.586658 
time: 1403637255.088319, t: 1.778183 -2.098440 0.355406 q: 0.024806 0.808136 -0.031321 0.587639 
time: 1403637255.188319, t: 1.736407 -2.070258 0.351325 q: 0.019127 0.808635 -0.024946 0.587470 
optimize pose graph 
time: 1403637255.288319, t: 1.693028 -2.041582 0.354147 q: 0.012010 0.808304 -0.017859 0.588373 
time: 1403637255.388319, t: 1.649536 -2.013003 0.363427 q: 0.004099 0.808639 -0.011347 0.588181 
time: 1403637255.488319, t: 1.601791 -1.981974 0.369465 q: -0.002679 0.809669 -0.001112 0.586880 
time: 1403637255.588319, t: 1.552175 -1.949829 0.368809 q: -0.008775 0.810144 0.013163 0.586017 
time: 1403637255.688319, t: 1.502759 -1.917338 0.363601 q: -0.016483 0.810547 0.029469 0.584700 
time: 1403637255.888319, t: 1.398573 -1.850523 0.359469 q: -0.037163 0.813967 0.066909 0.575848 
time: 1403637255.988319, t: 1.346896 -1.817091 0.370644 q: -0.048861 0.813743 0.083145 0.573169 
time: 1403637256.088319, t: 1.292469 -1.782503 0.391578 q: -0.055593 0.813162 0.096163 0.571341 
time: 1403637256.188319, t: 1.238510 -1.746619 0.414174 q: -0.060067 0.810442 0.103979 0.573380 
time: 1403637256.288319, t: 1.184528 -1.709293 0.431875 q: -0.063766 0.806429 0.107786 0.577917 
time: 1403637256.388319, t: 1.129983 -1.670097 0.441683 q: -0.064473 0.804224 0.109974 0.580494 
time: 1403637256.488319, t: 1.073506 -1.628832 0.445306 q: -0.062593 0.803159 0.110916 0.581993 
time: 1403637256.588319, t: 1.015870 -1.586009 0.443370 q: -0.062839 0.802751 0.109040 0.582882 
time: 1403637256.688319, t: 0.955157 -1.541187 0.434074 q: -0.066292 0.808030 0.103622 0.576156 
time: 1403637256.788319, t: 0.893003 -1.495611 0.420632 q: -0.074788 0.815509 0.094335 0.566085 
time: 1403637256.888319, t: 0.831916 -1.449954 0.406198 q: -0.080342 0.817274 0.088732 0.563679 
time: 1403637256.988319, t: 0.774002 -1.406669 0.393616 q: -0.080146 0.813569 0.094008 0.568194 
time: 1403637257.188319, t: 0.657418 -1.323353 0.387945 q: -0.081481 0.806981 0.113717 0.573769 
time: 1403637257.288319, t: 0.603084 -1.280670 0.395331 q: -0.083362 0.807112 0.120953 0.571831 
optimize pose graph 
time: 1403637257.388319, t: 0.549415 -1.239676 0.409005 q: -0.083825 0.807601 0.128163 0.569499 
time: 1403637257.488319, t: 0.498306 -1.198536 0.423342 q: -0.084735 0.807635 0.132770 0.568258 
time: 1403637257.588319, t: 0.446068 -1.156651 0.431806 q: -0.084301 0.808627 0.136747 0.565965 
time: 1403637257.688319, t: 0.392885 -1.113622 0.431486 q: -0.086993 0.812561 0.137074 0.559810 
time: 1403637257.788319, t: 0.343502 -1.069251 0.428417 q: -0.090903 0.815576 0.139623 0.554147 
time: 1403637257.888319, t: 0.301510 -1.020671 0.421317 q: -0.096114 0.817823 0.145076 0.548526 
time: 1403637257.988319, t: 0.262091 -0.968848 0.410445 q: -0.104219 0.817837 0.153024 0.544852 
time: 1403637258.088319, t: 0.224343 -0.914987 0.399133 q: -0.115767 0.815889 0.164487 0.542095 
time: 1403637258.188319, t: 0.192895 -0.858942 0.395724 q: -0.126947 0.808475 0.181365 0.545307 
time: 1403637258.288319, t: 0.163649 -0.802061 0.397366 q: -0.134510 0.799060 0.197600 0.551692 
time: 1403637258.388319, t: 0.135840 -0.744849 0.395746 q: -0.142487 0.792458 0.208661 0.555129 
time: 1403637258.488319, t: 0.108569 -0.686994 0.386359 q: -0.153883 0.791524 0.212430 0.551981 
time: 1403637258.588319, t: 0.084532 -0.630626 0.370171 q: -0.163080 0.793101 0.213155 0.546772 
time: 1403637258.688319, t: 0.061016 -0.577426 0.349995 q: -0.165967 0.789851 0.214618 0.550027 
time: 1403637258.788319, t: 0.042682 -0.526627 0.328287 q: -0.167194 0.787350 0.215214 0.552999 
time: 1403637258.888319, t: 0.023672 -0.477547 0.306162 q: -0.168884 0.785470 0.214126 0.555577 
time: 1403637258.988319, t: 0.005775 -0.430738 0.289739 q: -0.170487 0.785920 0.211930 0.555293 
time: 1403637259.088319, t: -0.009148 -0.389016 0.284603 q: -0.170255 0.786680 0.210188 0.554950 
time: 1403637259.188319, t: -0.021887 -0.351698 0.292638 q: -0.170904 0.786504 0.208874 0.555495 
time: 1403637259.288319, t: -0.036009 -0.319491 0.309224 q: -0.171423 0.786023 0.207086 0.556684 
time: 1403637259.388319, t: -0.049471 -0.290247 0.323714 q: -0.172094 0.786763 0.205009 0.556200 
optimize pose graph 
time: 1403637259.488319, t: -0.062844 -0.268049 0.335554 q: -0.179554 0.786855 0.198622 0.556030 
time: 1403637259.588319, t: -0.075074 -0.250578 0.343450 q: -0.183498 0.787027 0.195277 0.555683 
time: 1403637259.688319, t: -0.086232 -0.237347 0.348909 q: -0.180037 0.786869 0.196842 0.556487 
time: 1403637259.788319, t: -0.096210 -0.227161 0.349017 q: -0.172887 0.789619 0.201350 0.553237 
time: 1403637259.888319, t: -0.104808 -0.221512 0.347224 q: -0.171550 0.789794 0.202042 0.553150 
time: 1403637259.988319, t: -0.111477 -0.218898 0.340465 q: -0.175489 0.787943 0.199242 0.555565 
time: 1403637260.088319, t: -0.117322 -0.220902 0.329853 q: -0.171944 0.785659 0.202112 0.558861 
time: 1403637260.288319, t: -0.128585 -0.232349 0.296072 q: -0.158447 0.785792 0.212667 0.558747 
time: 1403637260.388319, t: -0.135682 -0.240143 0.277180 q: -0.149560 0.783760 0.219680 0.561331 
time: 1403637260.488319, t: -0.144190 -0.245884 0.255854 q: -0.144472 0.783776 0.224155 0.560872 
time: 1403637260.588319, t: -0.153639 -0.248853 0.232684 q: -0.143308 0.790370 0.225200 0.551419 
time: 1403637260.688319, t: -0.163723 -0.247390 0.209442 q: -0.144398 0.794959 0.224119 0.544940 
time: 1403637260.788319, t: -0.173446 -0.242573 0.187228 q: -0.147777 0.792581 0.222182 0.548282 
time: 1403637260.888319, t: -0.182195 -0.235048 0.164768 q: -0.151887 0.787811 0.220495 0.554676 
time: 1403637260.988319, t: -0.190639 -0.226120 0.142295 q: -0.153930 0.783239 0.219724 0.560860 
time: 1403637261.088319, t: -0.200509 -0.216803 0.118911 q: -0.154663 0.784976 0.219488 0.558316 
time: 1403637261.188319, t: -0.211089 -0.206317 0.095695 q: -0.151960 0.791870 0.221051 0.548622 
time: 1403637261.288319, t: -0.221327 -0.194385 0.076098 q: -0.149321 0.797318 0.222610 0.540769 
time: 1403637261.388319, t: -0.228809 -0.180017 0.064514 q: -0.151299 0.793899 0.220950 0.545907 
time: 1403637261.488319, t: -0.234815 -0.164288 0.057722 q: -0.158349 0.790032 0.215963 0.551485 
optimize pose graph 
time: 1403637261.588319, t: -0.239437 -0.149140 0.051250 q: -0.157247 0.795087 0.216214 0.544391 
time: 1403637261.688319, t: -0.241688 -0.133554 0.048998 q: -0.152838 0.800763 0.218839 0.536217 
time: 1403637261.788319, t: -0.239372 -0.115893 0.053852 q: -0.151700 0.798473 0.219307 0.539753 
time: 1403637261.888319, t: -0.234339 -0.095891 0.061376 q: -0.153903 0.791420 0.217216 0.550260 
time: 1403637261.988319, t: -0.229126 -0.077183 0.062459 q: -0.155211 0.786837 0.215182 0.557220 
time: 1403637262.088319, t: -0.223764 -0.059185 0.053601 q: -0.158734 0.784322 0.211367 0.561219 
time: 1403637262.188319, t: -0.219545 -0.043026 0.035745 q: -0.162442 0.784596 0.207505 0.561216 
time: 1403637262.288319, t: -0.215895 -0.029618 0.010501 q: -0.165263 0.785215 0.204029 0.560801 
time: 1403637262.388319, t: -0.219675 -0.036232 0.008150 q: -0.168176 0.771952 0.202099 0.578759 
time: 1403637262.588319, t: -0.226924 -0.053289 0.003239 q: -0.167956 0.772896 0.161720 0.590143 
time: 1403637262.688319, t: -0.224141 -0.056317 0.003265 q: -0.163301 0.783065 0.163999 0.577274 
time: 1403637262.788319, t: -0.226955 -0.055200 0.006044 q: -0.164113 0.781220 0.161233 0.580316 
time: 1403637262.888319, t: -0.226721 -0.053782 0.006149 q: -0.164692 0.782178 0.162219 0.578584 
time: 1403637262.988319, t: -0.226864 -0.054277 0.006229 q: -0.164524 0.781790 0.162042 0.579205 
time: 1403637263.088319, t: -0.226854 -0.054445 0.006219 q: -0.163963 0.781756 0.162310 0.579335 
time: 1403637263.188319, t: -0.226975 -0.054741 0.006303 q: -0.163582 0.781626 0.162438 0.579582 
wait for imu ... 
time: 1403637263.288319, t: -0.227042 -0.054680 0.006270 q: -0.163821 0.781827 0.162326 0.579275 
time: 1403637263.388319, t: -0.227023 -0.054602 0.006281 q: -0.164120 0.781826 0.162240 0.579216 
time: 1403637263.488319, t: -0.227065 -0.054752 0.006259 q: -0.163813 0.781834 0.162345 0.579263 
time: 1403637263.588319, t: -0.227053 -0.054735 0.006248 q: -0.164024 0.781871 0.162224 0.579186 
time: 1403637263.688319, t: -0.227061 -0.054744 0.006234 q: -0.164097 0.781922 0.162188 0.579107 
time: 1403637263.788319, t: -0.227084 -0.054626 0.006217 q: -0.164439 0.781925 0.161891 0.579089 
time: 1403637263.888319, t: -0.227119 -0.054685 0.006228 q: -0.164477 0.781942 0.161868 0.579062 
time: 1403637263.988319, t: -0.227076 -0.054823 0.006214 q: -0.164178 0.781975 0.162000 0.579065 
time: 1403637264.088319, t: -0.227058 -0.054815 0.006189 q: -0.164144 0.782014 0.162047 0.579009 
time: 1403637264.188319, t: -0.227055 -0.054878 0.006167 q: -0.164095 0.781975 0.162010 0.579086 
time: 1403637264.288319, t: -0.227010 -0.054796 0.006159 q: -0.164278 0.782020 0.161916 0.578999 
time: 1403637264.388319, t: -0.227012 -0.054833 0.006151 q: -0.164255 0.782064 0.161967 0.578933 
time: 1403637264.488319, t: -0.226892 -0.054801 0.006114 q: -0.164149 0.782028 0.161944 0.579017 
time: 1403637264.588319, t: -0.226899 -0.054769 0.006116 q: -0.164200 0.782058 0.161894 0.578977 
time: 1403637264.688319, t: -0.226941 -0.054830 0.006139 q: -0.164235 0.782073 0.161848 0.578959 
time: 1403637264.788319, t: -0.226896 -0.054833 0.006149 q: -0.164308 0.782104 0.161810 0.578908 
time: 1403637264.888319, t: -0.226861 -0.054845 0.006166 q: -0.164274 0.782109 0.161802 0.578912 
time: 1403637264.988319, t: -0.226836 -0.054863 0.006160 q: -0.164120 0.782128 0.161871 0.578911 
time: 1403637265.088319, t: -0.226831 -0.054843 0.006183 q: -0.164137 0.782177 0.161900 0.578832 
time: 1403637265.188319, t: -0.226847 -0.054863 0.006196 q: -0.164087 0.782154 0.161864 0.578888 
time: 1403637265.288319, t: -0.226857 -0.054882 0.006187 q: -0.164106 0.782187 0.161883 0.578832 
time: 1403637265.388319, t: -0.226782 -0.054862 0.006208 q: -0.164088 0.782200 0.161897 0.578816 
time: 1403637265.488319, t: -0.226676 -0.054889 0.006203 q: -0.164113 0.782199 0.161885 0.578813 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720474942.132906466]: Shutdown request received.[0m
[33m[ WARN] [1720474942.132938127]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720474942.133862753]: Shutdown request received.[0m
[33m[ WARN] [1720474942.133911454]: Reason given for shutdown: [user request][0m
killed
