/SLAM-Hive/slam_hive_results/mapping_results/2868/2076_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-6.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720475868.422216734]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720475868.423434382]: init begins[0m
[31m[ERROR] [1720475868.424462623]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1d59d06a-3d75-11ef-a4ef-0242ac110005/roslaunch-f36a1e540750-118.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://f36a1e540750:43977/[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] [1720475869.533042974]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720475869.534961660]: 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] [1720475869.546408855]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720475869.546702116]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720475869.546746159]: 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] [1720475869.547027209]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720475869.547423137]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://f36a1e540750:11311/[0m
]2;roscore http://f36a1e540750:11311/
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1msetting /run_id to 1d59d06a-3d75-11ef-a4ef-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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720475878.570157445]: 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: 316838748.25 
init first imu pose
averge acc 9.440873 -0.712109 -2.412774
init R0 
  0.257481   0.273526   0.926762
         0  -0.959099    0.28307
  0.966283 -0.0728851   -0.24695
[0m[ INFO] [1720475881.040904518]: IMU excitation not enouth![0m
[0m[ INFO] [1720475881.238946692]: IMU excitation not enouth![0m
[0m[ INFO] [1720475881.422897259]: IMU excitation not enouth![0m
[0m[ INFO] [1720475881.665736622]: IMU excitation not enouth![0m
[0m[ INFO] [1720475881.666171446]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475881.862357219]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720475882.253593618]: gyroscope bias initial calibration -0.00257364   0.0193169   0.0766847[0m
[0m[ INFO] [1720475882.362006700]: Initialization finish![0m
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time: 1403637199.638319, t: 1.625993 -6.107926 0.542122 q: 0.302227 0.702099 -0.343931 0.545368 
time: 1403637199.838319, t: 2.095599 -5.819906 0.517574 q: 0.248980 0.710312 -0.309244 0.581235 
time: 1403637200.038319, t: 2.525599 -5.513410 0.421670 q: 0.181150 0.706445 -0.264954 0.630809 
time: 1403637200.238319, t: 2.864162 -5.183915 0.308950 q: 0.135407 0.719408 -0.199837 0.651293 
time: 1403637200.438319, t: 3.092666 -4.852132 0.185761 q: 0.123939 0.765614 -0.148810 0.613457 
time: 1403637200.638319, t: 3.240069 -4.511914 0.100122 q: 0.098755 0.786180 -0.143777 0.592872 
time: 1403637200.838319, t: 3.344937 -4.180275 0.050745 q: 0.086164 0.784420 -0.158257 0.593478 
time: 1403637201.038319, t: 3.428593 -3.873003 0.024938 q: 0.095643 0.780034 -0.175105 0.593074 
time: 1403637201.238319, t: 3.478547 -3.577483 0.029098 q: 0.104504 0.779262 -0.190422 0.587852 
time: 1403637201.438319, t: 3.498812 -3.297961 0.045005 q: 0.085225 0.774158 -0.234009 0.581942 
time: 1403637201.638319, t: 3.489455 -3.064357 0.035756 q: 0.073311 0.768813 -0.276013 0.572162 
time: 1403637201.838319, t: 3.435218 -2.910314 0.018233 q: 0.092429 0.761186 -0.281096 0.577095 
time: 1403637202.038319, t: 3.344448 -2.818979 0.012019 q: 0.094036 0.763008 -0.283275 0.573352 
time: 1403637202.238319, t: 3.218291 -2.792687 0.025941 q: 0.092688 0.782044 -0.278961 0.549542 
time: 1403637202.438319, t: 3.080224 -2.820209 0.038993 q: 0.122801 0.799462 -0.254436 0.530134 
time: 1403637202.638319, t: 2.954859 -2.884434 0.050426 q: 0.132533 0.791628 -0.245722 0.543489 
time: 1403637202.838319, t: 2.836405 -2.969198 0.087340 q: 0.147854 0.786802 -0.233905 0.551698 
time: 1403637203.038319, t: 2.726505 -3.057831 0.112202 q: 0.162556 0.788131 -0.224546 0.549550 
time: 1403637203.238319, t: 2.628167 -3.138941 0.118077 q: 0.164504 0.787054 -0.225097 0.550287 
optimize pose graph 
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time: 1403637203.638319, t: 2.461107 -3.275433 0.088225 q: 0.171303 0.785976 -0.224175 0.550130 
time: 1403637203.838319, t: 2.395284 -3.327072 0.051535 q: 0.171212 0.784381 -0.226377 0.551531 
time: 1403637204.038319, t: 2.335193 -3.366125 0.000774 q: 0.173407 0.783993 -0.226166 0.551483 
time: 1403637204.238319, t: 2.277337 -3.390508 -0.034826 q: 0.173734 0.783814 -0.227052 0.551271 
time: 1403637204.438319, t: 2.224784 -3.402212 -0.038545 q: 0.170647 0.780957 -0.231349 0.554495 
time: 1403637204.838319, t: 2.124690 -3.400353 0.023749 q: 0.171693 0.779600 -0.240528 0.552170 
time: 1403637205.038319, t: 2.074717 -3.389721 0.032868 q: 0.171487 0.784653 -0.242762 0.544039 
time: 1403637205.238319, t: 2.035620 -3.376779 0.020383 q: 0.170390 0.787040 -0.241432 0.541522 
time: 1403637205.438319, t: 2.003092 -3.361600 0.006264 q: 0.164999 0.789883 -0.228208 0.544777 
optimize pose graph 
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time: 1403637205.838319, t: 1.970644 -3.315220 -0.003683 q: 0.158788 0.788882 -0.211933 0.554559 
time: 1403637206.038319, t: 1.962290 -3.280358 -0.029826 q: 0.156631 0.788441 -0.211173 0.556088 
time: 1403637206.238319, t: 1.955982 -3.237372 -0.033713 q: 0.145782 0.786862 -0.217081 0.558992 
time: 1403637206.438319, t: 1.956486 -3.197225 -0.003896 q: 0.142801 0.785410 -0.219709 0.560774 
time: 1403637206.638319, t: 1.947406 -3.160533 0.031640 q: 0.145711 0.785116 -0.219122 0.560666 
time: 1403637206.838319, t: 1.932309 -3.123126 0.042435 q: 0.150239 0.784273 -0.217984 0.561095 
time: 1403637207.038319, t: 1.911203 -3.081532 0.059882 q: 0.152012 0.781771 -0.218767 0.563797 
time: 1403637207.238319, t: 1.884802 -3.036597 0.079253 q: 0.153197 0.779634 -0.221314 0.565440 
time: 1403637207.438319, t: 1.851895 -2.987206 0.072374 q: 0.154382 0.779570 -0.223366 0.564397 
optimize pose graph 
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time: 1403637207.838319, t: 1.764844 -2.895539 0.032135 q: 0.143218 0.788248 -0.234719 0.550509 
time: 1403637208.038319, t: 1.717312 -2.863393 0.066187 q: 0.153809 0.786306 -0.228681 0.552966 
time: 1403637208.238319, t: 1.676834 -2.835636 0.124479 q: 0.158713 0.786467 -0.226944 0.552066 
time: 1403637208.438319, t: 1.638464 -2.810335 0.169575 q: 0.149241 0.781945 -0.236394 0.557141 
time: 1403637208.638319, t: 1.597820 -2.794324 0.191840 q: 0.155890 0.781493 -0.233556 0.557152 
time: 1403637208.838319, t: 1.554416 -2.776454 0.189546 q: 0.161263 0.780283 -0.230439 0.558615 
time: 1403637209.038319, t: 1.509482 -2.756374 0.169166 q: 0.178338 0.784070 -0.219184 0.552620 
time: 1403637209.238319, t: 1.471327 -2.715163 0.136397 q: 0.169128 0.788919 -0.207367 0.553174 
time: 1403637209.438319, t: 1.447301 -2.660313 0.129547 q: 0.140431 0.802037 -0.195005 0.546799 
optimize pose graph 
time: 1403637209.638319, t: 1.435791 -2.605689 0.147592 q: 0.125397 0.823801 -0.184879 0.521005 
time: 1403637209.838319, t: 1.466004 -2.567397 0.189033 q: 0.118070 0.833672 -0.181613 0.508003 
time: 1403637210.038319, t: 1.539036 -2.545365 0.206240 q: 0.113123 0.842974 -0.183951 0.492706 
time: 1403637210.238319, t: 1.658705 -2.539486 0.163915 q: 0.108653 0.854204 -0.188130 0.472373 
time: 1403637210.438319, t: 1.854000 -2.557487 0.109683 q: 0.107352 0.857694 -0.189007 0.465954 
time: 1403637210.638319, t: 2.128219 -2.606566 0.059309 q: 0.111138 0.843449 -0.185406 0.491799 
time: 1403637210.838319, t: 2.454662 -2.674943 -0.000181 q: 0.102893 0.833546 -0.189001 0.508815 
time: 1403637211.038319, t: 2.810483 -2.764879 -0.072977 q: 0.091249 0.816722 -0.197950 0.534279 
time: 1403637211.238319, t: 3.174228 -2.880693 -0.157060 q: 0.100941 0.806305 -0.195487 0.549061 
time: 1403637211.438319, t: 3.535108 -3.012148 -0.252597 q: 0.116888 0.795862 -0.191104 0.562513 
optimize pose graph 
time: 1403637211.638319, t: 3.881428 -3.147083 -0.353963 q: 0.114550 0.798911 -0.194740 0.557400 
time: 1403637211.838319, t: 4.213361 -3.288020 -0.428209 q: 0.097760 0.807168 -0.205980 0.544513 
time: 1403637212.038319, t: 4.536171 -3.450617 -0.467031 q: 0.105084 0.807274 -0.202356 0.544351 
time: 1403637212.238319, t: 4.860024 -3.627660 -0.473196 q: 0.120230 0.791653 -0.194036 0.566728 
time: 1403637212.438319, t: 5.166413 -3.799807 -0.456807 q: 0.126278 0.786470 -0.193041 0.572935 
time: 1403637212.638319, t: 5.448144 -3.962893 -0.422401 q: 0.126213 0.795501 -0.197258 0.558871 
time: 1403637212.838319, t: 5.721188 -4.123616 -0.376062 q: 0.128755 0.802787 -0.196750 0.547946 
time: 1403637213.038319, t: 6.002099 -4.287456 -0.322930 q: 0.133224 0.804718 -0.191582 0.545873 
time: 1403637213.238319, t: 6.290546 -4.445523 -0.285418 q: 0.125431 0.804725 -0.192841 0.547263 
time: 1403637213.438319, t: 6.574242 -4.602207 -0.267242 q: 0.125350 0.801975 -0.191475 0.551780 
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time: 1403637213.838319, t: 7.123966 -4.895957 -0.288238 q: 0.150795 0.804872 -0.171788 0.547659 
time: 1403637214.038319, t: 7.407867 -5.013402 -0.318570 q: 0.151330 0.803141 -0.166851 0.551565 
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time: 1403637215.238319, t: 8.855218 -4.962837 -0.105565 q: 0.093736 0.785274 -0.016237 0.611797 
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time: 1403637222.038319, t: -0.168111 -2.065260 0.151807 q: -0.077383 0.832519 0.086411 0.541716 
time: 1403637222.238319, t: -0.285921 -2.041326 0.078345 q: -0.049995 0.834838 0.047435 0.546164 
time: 1403637222.438319, t: -0.379395 -2.026465 0.000352 q: -0.030605 0.823637 0.020113 0.565933 
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time: 1403637222.838319, t: -0.526871 -2.012626 -0.083467 q: -0.016820 0.823322 0.005423 0.567299 
time: 1403637223.038319, t: -0.591139 -2.011196 -0.079257 q: -0.018026 0.834478 0.007379 0.550697 
time: 1403637223.238319, t: -0.625077 -2.016676 -0.043742 q: -0.019214 0.834994 0.012271 0.549786 
time: 1403637223.438319, t: -0.620786 -2.021736 0.025756 q: -0.020079 0.825079 0.019260 0.564332 
time: 1403637223.638319, t: -0.602987 -2.025516 0.106771 q: -0.020263 0.819248 0.023670 0.572592 
time: 1403637223.838319, t: -0.579656 -2.025427 0.158494 q: -0.020029 0.817440 0.025496 0.575101 
time: 1403637224.038319, t: -0.560733 -2.023798 0.185115 q: -0.018735 0.816163 0.026121 0.576927 
time: 1403637224.238319, t: -0.543803 -2.019827 0.184820 q: -0.016660 0.815448 0.027077 0.577956 
time: 1403637224.438319, t: -0.531186 -2.014350 0.162214 q: -0.014640 0.814533 0.028143 0.579250 
time: 1403637224.638319, t: -0.522906 -2.004110 0.122404 q: -0.016753 0.813559 0.026776 0.580624 
time: 1403637224.838319, t: -0.521420 -1.992531 0.099257 q: -0.025486 0.814948 0.020615 0.578606 
time: 1403637225.038319, t: -0.524617 -1.984710 0.082725 q: -0.017195 0.813348 0.026175 0.580934 
time: 1403637225.238319, t: -0.531188 -1.972420 0.044491 q: -0.014604 0.811727 0.029045 0.583132 
time: 1403637225.438319, t: -0.545047 -1.954816 0.002575 q: -0.015650 0.809788 0.030682 0.585711 
time: 1403637225.638319, t: -0.573261 -1.932378 -0.010120 q: -0.015397 0.811421 0.033280 0.583311 
time: 1403637225.838319, t: -0.605175 -1.901358 0.007843 q: -0.015611 0.819303 0.033674 0.572158 
time: 1403637226.038319, t: -0.635216 -1.862137 0.061961 q: -0.016949 0.814642 0.034203 0.578706 
time: 1403637226.238319, t: -0.664460 -1.813652 0.113598 q: -0.017336 0.809477 0.034047 0.585907 
time: 1403637226.438319, t: -0.704963 -1.760662 0.138507 q: -0.014013 0.819250 0.035814 0.572145 
time: 1403637226.638319, t: -0.744396 -1.701382 0.147866 q: -0.011824 0.827596 0.037479 0.559947 
time: 1403637226.838319, t: -0.771479 -1.633975 0.140298 q: -0.013891 0.828796 0.036472 0.558189 
time: 1403637227.038319, t: -0.782084 -1.556999 0.119673 q: -0.029687 0.826582 0.023653 0.561535 
time: 1403637227.238319, t: -0.778821 -1.489083 0.108370 q: -0.043672 0.822889 0.010818 0.566419 
time: 1403637227.438319, t: -0.768242 -1.443914 0.124920 q: -0.027277 0.823543 0.019242 0.566270 
time: 1403637227.638319, t: -0.749075 -1.407260 0.129421 q: -0.027670 0.824843 0.015708 0.564465 
time: 1403637227.838319, t: -0.722307 -1.380868 0.113136 q: -0.030905 0.825332 0.011329 0.563687 
time: 1403637228.038319, t: -0.690349 -1.366595 0.086658 q: -0.019930 0.813508 0.019510 0.580884 
time: 1403637228.238319, t: -0.665134 -1.355270 0.053521 q: -0.019594 0.807783 0.023274 0.588694 
time: 1403637228.438319, t: -0.659819 -1.343998 0.046736 q: -0.017725 0.806284 0.027314 0.590631 
time: 1403637228.638319, t: -0.666317 -1.329140 0.065166 q: -0.012125 0.804691 0.032967 0.592654 
time: 1403637228.838319, t: -0.690841 -1.309599 0.092272 q: -0.018807 0.815202 0.027740 0.578207 
time: 1403637229.038319, t: -0.718810 -1.284853 0.102246 q: -0.015761 0.816097 0.028417 0.577001 
time: 1403637229.238319, t: -0.750427 -1.255793 0.098229 q: -0.009729 0.810253 0.031871 0.585133 
time: 1403637229.438319, t: -0.788510 -1.220286 0.071035 q: -0.006057 0.817191 0.013767 0.576171 
time: 1403637229.638319, t: -0.835752 -1.191033 0.031146 q: -0.007613 0.829855 -0.044565 0.556145 
time: 1403637229.838319, t: -0.866012 -1.189085 -0.011980 q: 0.034791 0.825615 -0.093173 0.555399 
time: 1403637230.038319, t: -0.880129 -1.206291 -0.059439 q: 0.093978 0.810155 -0.131818 0.563419 
time: 1403637230.238319, t: -0.889805 -1.219742 -0.099566 q: 0.119653 0.808052 -0.180648 0.547815 
time: 1403637230.438319, t: -0.880069 -1.231206 -0.105072 q: 0.139684 0.799742 -0.199334 0.548787 
time: 1403637230.638319, t: -0.858021 -1.237765 -0.078312 q: 0.154699 0.781164 -0.209205 0.567524 
time: 1403637230.838319, t: -0.850780 -1.236840 -0.034889 q: 0.162385 0.776128 -0.249180 0.556027 
time: 1403637231.038319, t: -0.856913 -1.243602 -0.003652 q: 0.182215 0.772030 -0.306623 0.526070 
time: 1403637231.238319, t: -0.865822 -1.269055 -0.011560 q: 0.217549 0.746834 -0.371172 0.507092 
time: 1403637231.438319, t: -0.880059 -1.315637 -0.079115 q: 0.261413 0.705371 -0.439072 0.491254 
time: 1403637231.638319, t: -0.907141 -1.378975 -0.205697 q: 0.298167 0.658690 -0.512300 0.463434 
time: 1403637232.038319, t: -1.018349 -1.576931 -0.426253 q: -0.369533 -0.568932 0.608031 -0.412384 
time: 1403637232.238319, t: -1.104076 -1.710268 -0.473774 q: -0.405313 -0.516890 0.634026 -0.408114 
time: 1403637232.438319, t: -1.220374 -1.832730 -0.495756 q: -0.440732 -0.481891 0.653085 -0.383428 
time: 1403637232.638319, t: -1.354044 -1.942199 -0.500301 q: -0.441600 -0.439630 0.694150 -0.360376 
time: 1403637232.838319, t: -1.521724 -2.034043 -0.482677 q: -0.435436 -0.402335 0.734387 -0.330449 
time: 1403637233.038319, t: -1.738561 -2.122628 -0.437540 q: -0.434664 -0.395264 0.753489 -0.295106 
time: 1403637233.238319, t: -2.000286 -2.239248 -0.386494 q: -0.429710 -0.402401 0.761179 -0.272083 
time: 1403637233.438319, t: -2.294727 -2.379294 -0.353479 q: -0.419243 -0.414193 0.765085 -0.259469 
time: 1403637233.638319, t: -2.618041 -2.562892 -0.362131 q: -0.464202 -0.447125 0.728608 -0.231790 
optimize pose graph 
time: 1403637233.838319, t: -2.930041 -2.800067 -0.411991 q: 0.520357 0.468886 -0.681424 0.212217 
time: 1403637234.038319, t: -3.175918 -3.086979 -0.482581 q: 0.540599 0.477713 -0.662887 0.200310 
time: 1403637234.238319, t: -3.323950 -3.415845 -0.567086 q: 0.560217 0.482031 -0.645954 0.191171 
time: 1403637234.438319, t: -3.364167 -3.787374 -0.666159 q: 0.558677 0.466975 -0.649847 0.217975 
time: 1403637234.638319, t: -3.307613 -4.183338 -0.781047 q: 0.545096 0.459576 -0.648805 0.265918 
time: 1403637234.838319, t: -3.178358 -4.564621 -0.915429 q: 0.521987 0.465735 -0.641942 0.313896 
time: 1403637235.038319, t: -3.002093 -4.913627 -1.039310 q: -0.494351 -0.482714 0.629916 -0.354697 
time: 1403637235.238319, t: -2.802973 -5.224862 -1.132417 q: -0.477932 -0.514395 0.605389 -0.374811 
time: 1403637235.438319, t: -2.580097 -5.483618 -1.197009 q: -0.450529 -0.543654 0.602118 -0.372717 
time: 1403637235.638319, t: -2.343548 -5.723395 -1.238909 q: -0.424322 -0.569214 0.598237 -0.371563 
optimize pose graph 
time: 1403637235.838319, t: -2.093557 -5.955382 -1.238228 q: 0.435294 0.588559 -0.560695 0.386960 
time: 1403637236.038319, t: -1.811884 -6.171737 -1.210978 q: 0.447150 0.617755 -0.513892 0.392874 
time: 1403637236.238319, t: -1.476706 -6.353655 -1.158164 q: 0.435752 0.645704 -0.480521 0.402848 
time: 1403637236.438319, t: -1.082992 -6.490345 -1.077259 q: 0.410738 0.665169 -0.455570 0.425793 
time: 1403637236.638319, t: -0.643715 -6.600722 -0.986688 q: 0.391921 0.670106 -0.441097 0.450322 
time: 1403637236.838319, t: -0.175316 -6.670950 -0.909950 q: 0.385492 0.667381 -0.421035 0.478255 
time: 1403637237.038319, t: 0.309243 -6.683238 -0.813371 q: 0.378062 0.654377 -0.391739 0.524785 
time: 1403637237.238319, t: 0.782709 -6.615941 -0.694173 q: 0.360057 0.643980 -0.369770 0.564729 
time: 1403637237.438319, t: 1.214450 -6.458503 -0.545842 q: 0.331367 0.656105 -0.356781 0.576568 
time: 1403637237.638319, t: 1.580527 -6.209537 -0.368197 q: 0.310783 0.661864 -0.352244 0.584187 
optimize pose graph 
time: 1403637237.838319, t: 1.886909 -5.889221 -0.183519 q: 0.288045 0.661565 -0.362195 0.590065 
time: 1403637238.038319, t: 2.116871 -5.521448 -0.032514 q: 0.272989 0.661824 -0.398092 0.573576 
time: 1403637238.238319, t: 2.278648 -5.141236 0.088305 q: 0.258116 0.645011 -0.460421 0.552585 
time: 1403637238.438319, t: 2.346300 -4.771771 0.190249 q: 0.259823 0.604447 -0.529849 0.535161 time: 1403637238.638319, t: 2.316974 -4.423137 0.271358 q: -0.273153 -0.562395 0.591207 -0.509484 
time: 1403637238.838319, t: 2.179470 -4.105765 0.335929 q: -0.250213 -0.557090 0.645497 -0.458669 
time: 1403637239.038319, t: 1.931036 -3.868703 0.397695 q: -0.229906 -0.569022 0.675875 -0.408105 
time: 1403637239.238319, t: 1.572391 -3.762274 0.475470 q: -0.281845 -0.577833 0.660658 -0.387561 
time: 1403637239.438319, t: 1.159340 -3.752626 0.542987 q: -0.324413 -0.556398 0.662502 -0.382452 
time: 1403637239.638319, t: 0.711230 -3.791956 0.553589 q: -0.359712 -0.519066 0.682959 -0.367075 
time: 1403637239.838319, t: 0.222475 -3.863049 0.504880 q: -0.419335 -0.474099 0.690289 -0.350556 
time: 1403637240.038319, t: -0.275573 -3.950694 0.414665 q: -0.475881 -0.426907 0.696303 -0.326267 
time: 1403637240.238319, t: -0.768816 -4.018758 0.298561 q: 0.501223 0.380567 -0.719607 0.293445 
time: 1403637240.438319, t: -1.247020 -4.076858 0.176294 q: -0.493901 -0.361453 0.750687 -0.248761 
time: 1403637240.638319, t: -1.712373 -4.142226 0.072970 q: -0.490796 -0.358353 0.762081 -0.223459 
time: 1403637240.838319, t: -2.174600 -4.244837 0.011335 q: 0.507224 0.359078 -0.751763 0.220541 
time: 1403637241.038319, t: -2.616092 -4.381592 -0.031279 q: 0.529505 0.359204 -0.733507 0.229268 
time: 1403637241.238319, t: -3.029718 -4.524225 -0.097328 q: 0.524377 0.366154 -0.733216 0.230984 
time: 1403637241.438319, t: -3.410988 -4.677178 -0.181307 q: 0.530973 0.379651 -0.724349 0.221928 
time: 1403637241.638319, t: -3.749809 -4.844003 -0.251614 q: 0.545124 0.389302 -0.710304 0.216220 
optimize pose graph 
time: 1403637241.838319, t: -4.026820 -5.025410 -0.296434 q: 0.562028 0.385997 -0.695391 0.227072 
time: 1403637242.038319, t: -4.237693 -5.203532 -0.317873 q: 0.566423 0.366090 -0.691122 0.259795 
time: 1403637242.238319, t: -4.381630 -5.360337 -0.316336 q: 0.567523 0.372388 -0.692027 0.245649 
time: 1403637242.438319, t: -4.456887 -5.498160 -0.304755 q: 0.578747 0.381670 -0.684334 0.225981 
time: 1403637242.638319, t: -4.450571 -5.617251 -0.310210 q: 0.584208 0.387731 -0.675189 0.229097 
time: 1403637242.838319, t: -4.370674 -5.734334 -0.301441 q: 0.568059 0.399750 -0.668640 0.265383 
time: 1403637243.038319, t: -4.228482 -5.829154 -0.267092 q: 0.563384 0.411168 -0.657070 0.286006 
time: 1403637243.238319, t: -4.035996 -5.901322 -0.246854 q: 0.550521 0.425245 -0.661147 0.281030 
time: 1403637243.438319, t: -3.798404 -5.957676 -0.254112 q: 0.535108 0.425121 -0.671782 0.285728 
time: 1403637243.638319, t: -3.522659 -5.993294 -0.259727 q: 0.521625 0.422058 -0.682525 0.289714 
time: 1403637243.838319, t: -3.229884 -6.023721 -0.236237 q: -0.495527 -0.412715 0.703416 -0.298872 
optimize pose graph 
time: 1403637244.038319, t: -2.944807 -6.048547 -0.173696 q: -0.482563 -0.404625 0.714983 -0.303661 
time: 1403637244.238319, t: -2.686331 -6.063191 -0.075466 q: -0.486819 -0.401848 0.714988 -0.300528 
time: 1403637244.438319, t: -2.453597 -6.074398 0.043016 q: -0.479406 -0.404389 0.719534 -0.298177 
time: 1403637244.638319, t: -2.243642 -6.084784 0.173344 q: -0.477557 -0.433263 0.707352 -0.289613 
time: 1403637244.838319, t: -2.046985 -6.109543 0.282387 q: -0.470375 -0.461031 0.693478 -0.292036 
time: 1403637245.038319, t: -1.853895 -6.154799 0.366206 q: -0.455145 -0.471068 0.692645 -0.301960 
time: 1403637245.238319, t: -1.679157 -6.227929 0.422910 q: -0.430030 -0.470194 0.705717 -0.309767 
time: 1403637245.638319, t: -1.384470 -6.463426 0.491799 q: -0.447329 -0.493578 0.679301 -0.307941 
optimize pose graph 
time: 1403637246.038319, t: -1.096501 -6.789141 0.477295 q: -0.434164 -0.550003 0.605954 -0.376588 
time: 1403637246.238319, t: -0.937788 -6.952507 0.442040 q: 0.403501 0.598615 -0.550375 0.419445 
time: 1403637246.438319, t: -0.770358 -7.100877 0.390382 q: 0.368496 0.653101 -0.480196 0.455062 
time: 1403637246.638319, t: -0.594341 -7.223978 0.325410 q: 0.340369 0.691958 -0.404206 0.491894 
time: 1403637246.838319, t: -0.407644 -7.300193 0.259578 q: 0.307013 0.717652 -0.337770 0.525957 
time: 1403637247.038319, t: -0.220180 -7.322870 0.215267 q: 0.263629 0.749180 -0.296289 0.530511 
time: 1403637247.238319, t: -0.029925 -7.320083 0.171914 q: 0.231065 0.767922 -0.288623 0.523070 
time: 1403637247.438319, t: 0.164435 -7.286495 0.125697 q: 0.233940 0.750324 -0.279571 0.551477 
time: 1403637247.638319, t: 0.361092 -7.242920 0.058134 q: 0.236105 0.746042 -0.272362 0.559906 
time: 1403637247.838319, t: 0.545587 -7.148673 -0.011790 q: 0.241614 0.754660 -0.241199 0.560298 
optimize pose graph 
time: 1403637248.038319, t: 0.727085 -7.005723 -0.056576 q: 0.211797 0.758808 -0.222695 0.574246 
time: 1403637248.238319, t: 0.887502 -6.815807 -0.084739 q: 0.180601 0.781159 -0.205779 0.561097 
time: 1403637248.438319, t: 1.041607 -6.606933 -0.127113 q: 0.163897 0.787323 -0.197994 0.560409 
time: 1403637248.638319, t: 1.193075 -6.390048 -0.175244 q: 0.165408 0.780805 -0.192975 0.570739 
time: 1403637248.838319, t: 1.330712 -6.156925 -0.194666 q: 0.166986 0.789528 -0.198761 0.556108 
time: 1403637249.038319, t: 1.456230 -5.912384 -0.177883 q: 0.167085 0.790466 -0.207672 0.551470 
time: 1403637249.238319, t: 1.574298 -5.666851 -0.128203 q: 0.170087 0.789159 -0.211778 0.550862 
time: 1403637249.438319, t: 1.702997 -5.415216 -0.075153 q: 0.171074 0.786825 -0.214769 0.552733 
time: 1403637249.638319, t: 1.834844 -5.150947 -0.084386 q: 0.170122 0.785996 -0.215339 0.553984 
time: 1403637249.838319, t: 1.970558 -4.877206 -0.121482 q: 0.170565 0.777868 -0.208933 0.567606 
time: 1403637250.038319, t: 2.096339 -4.589131 -0.138869 q: 0.149899 0.783573 -0.196653 0.569974 
optimize pose graph 
time: 1403637250.238319, t: 2.206599 -4.299512 -0.134007 q: 0.120987 0.792160 -0.186031 0.568540 
time: 1403637250.438319, t: 2.301766 -4.018968 -0.145337 q: 0.096573 0.795076 -0.179735 0.571160 
time: 1403637250.638319, t: 2.381225 -3.758087 -0.169713 q: 0.083130 0.800910 -0.176924 0.565978 
time: 1403637250.838319, t: 2.447092 -3.527330 -0.166790 q: 0.079948 0.803943 -0.168353 0.564748 
time: 1403637251.038319, t: 2.507751 -3.319681 -0.135990 q: 0.073899 0.802902 -0.167367 0.567340 
time: 1403637251.238319, t: 2.564074 -3.140260 -0.078223 q: 0.056643 0.807396 -0.163024 0.564204 
time: 1403637251.438319, t: 2.612364 -2.999022 0.012933 q: 0.057860 0.806937 -0.139866 0.570914 
time: 1403637251.638319, t: 2.657234 -2.887297 0.097489 q: 0.050718 0.807353 -0.109849 0.577531 
time: 1403637251.838319, t: 2.696356 -2.797415 0.156533 q: 0.039517 0.808474 -0.092993 0.579793 
time: 1403637252.038319, t: 2.728145 -2.724457 0.200571 q: 0.049072 0.801633 -0.075839 0.590953 
optimize pose graph 
time: 1403637252.238319, t: 2.742628 -2.653655 0.226547 q: 0.046121 0.795232 -0.073480 0.600067 
time: 1403637252.438319, t: 2.731647 -2.586063 0.224153 q: 0.038549 0.801631 -0.078231 0.591424 
time: 1403637252.638319, t: 2.700907 -2.525233 0.195442 q: 0.034698 0.808478 -0.082365 0.581700 
time: 1403637252.838319, t: 2.661357 -2.476018 0.156211 q: 0.024987 0.819387 -0.090053 0.565571 
time: 1403637253.038319, t: 2.629642 -2.446383 0.148796 q: 0.039781 0.812297 -0.081790 0.576109 
time: 1403637253.238319, t: 2.594442 -2.424602 0.161470 q: 0.044543 0.808196 -0.080498 0.581684 
time: 1403637253.438319, t: 2.556780 -2.405657 0.157384 q: 0.043849 0.807695 -0.082776 0.582112 
time: 1403637253.638319, t: 2.511043 -2.394429 0.135586 q: 0.047869 0.808548 -0.080940 0.580868 
time: 1403637253.838319, t: 2.460170 -2.384151 0.134122 q: 0.055534 0.806524 -0.076101 0.583647 
time: 1403637254.038319, t: 2.402510 -2.368677 0.155211 q: 0.058440 0.805604 -0.074257 0.584870 
time: 1403637254.238319, t: 2.336535 -2.342004 0.199751 q: 0.052883 0.806847 -0.065243 0.584761 
optimize pose graph 
time: 1403637254.438319, t: 2.258130 -2.306046 0.257312 q: 0.042551 0.814731 -0.049273 0.576173 
time: 1403637254.638319, t: 2.181752 -2.262998 0.299590 q: 0.035792 0.817018 -0.039856 0.574118 
time: 1403637254.838319, t: 2.109708 -2.214913 0.318365 q: 0.031117 0.812031 -0.036545 0.581637 
time: 1403637255.038319, t: 2.036931 -2.164280 0.313438 q: 0.028709 0.808468 -0.035763 0.586751 
time: 1403637255.238319, t: 1.956848 -2.108699 0.305791 q: 0.018045 0.808504 -0.023678 0.587737 
time: 1403637255.438319, t: 1.864994 -2.049963 0.320616 q: 0.003218 0.808959 -0.009197 0.587784 
time: 1403637255.638319, t: 1.770060 -1.989689 0.320935 q: -0.010532 0.809808 0.018079 0.586322 
time: 1403637255.838319, t: 1.670240 -1.925500 0.313586 q: -0.029326 0.813261 0.054799 0.578570 
time: 1403637256.038319, t: 1.564754 -1.854293 0.336265 q: -0.050669 0.813565 0.087488 0.572617 
time: 1403637256.238319, t: 1.456252 -1.779292 0.378599 q: -0.059723 0.808153 0.103615 0.576702 
optimize pose graph 
time: 1403637256.438319, t: 1.349806 -1.697536 0.398686 q: -0.060803 0.804016 0.108224 0.581506 
time: 1403637256.638319, t: 1.233998 -1.606813 0.392841 q: -0.060162 0.805049 0.104468 0.580830 
time: 1403637256.838319, t: 1.112874 -1.513301 0.366527 q: -0.075985 0.817593 0.087137 0.564071 
time: 1403637257.038319, t: 1.001200 -1.428056 0.342118 q: -0.077536 0.811608 0.096773 0.570890 
time: 1403637257.238319, t: 0.894632 -1.346903 0.342192 q: -0.079960 0.807372 0.114653 0.573247 
time: 1403637257.438319, t: 0.789685 -1.266378 0.366482 q: -0.081918 0.808085 0.128155 0.569091 
time: 1403637257.638319, t: 0.688592 -1.181794 0.381269 q: -0.083471 0.810513 0.134033 0.564035 
time: 1403637257.838319, t: 0.589735 -1.089187 0.371606 q: -0.090832 0.817164 0.139219 0.551915 
time: 1403637258.038319, t: 0.508026 -0.989299 0.345100 q: -0.107857 0.817414 0.155502 0.544078 
time: 1403637258.238319, t: 0.444884 -0.880892 0.335451 q: -0.128691 0.804126 0.187763 0.549150 
time: 1403637258.438319, t: 0.403102 -0.766394 0.331908 q: -0.146164 0.791751 0.208381 0.555287 
optimize pose graph 
time: 1403637258.638319, t: 0.362604 -0.656252 0.302869 q: -0.163002 0.792534 0.211123 0.548404 
time: 1403637258.838319, t: 0.326108 -0.556492 0.261556 q: -0.165799 0.787142 0.212059 0.554932 
time: 1403637259.038319, t: 0.290295 -0.467477 0.231131 q: -0.169915 0.787240 0.207183 0.555390 
time: 1403637259.238319, t: 0.254719 -0.387635 0.245238 q: -0.168465 0.786960 0.205022 0.557027 
time: 1403637259.438319, t: 0.228193 -0.328911 0.274302 q: -0.172684 0.787571 0.198925 0.557083 
time: 1403637259.638319, t: 0.204148 -0.290118 0.289369 q: -0.180225 0.787524 0.191803 0.557259 
time: 1403637259.838319, t: 0.185656 -0.273079 0.290762 q: -0.167402 0.791146 0.199783 0.553309 
time: 1403637260.038319, t: 0.172576 -0.267345 0.278279 q: -0.171333 0.787606 0.196789 0.558208 
time: 1403637260.238319, t: 0.160732 -0.275795 0.247938 q: -0.159212 0.787189 0.206269 0.558961 
time: 1403637260.438319, t: 0.146283 -0.288921 0.209561 q: -0.142824 0.783500 0.219085 0.563676 
optimize pose graph 
time: 1403637260.638319, t: 0.126235 -0.295291 0.164463 q: -0.141415 0.794541 0.220869 0.547652 
time: 1403637260.838319, t: 0.108276 -0.286738 0.120550 q: -0.147359 0.790741 0.217502 0.552908 
time: 1403637261.038319, t: 0.090701 -0.269013 0.075478 q: -0.151791 0.783941 0.215709 0.562019 
time: 1403637261.238319, t: 0.067117 -0.249782 0.029909 q: -0.148237 0.796216 0.218158 0.544493 
time: 1403637261.438319, t: 0.052834 -0.221976 0.006721 q: -0.152436 0.792510 0.214515 0.550158 
time: 1403637261.638319, t: 0.044444 -0.191237 -0.004112 q: -0.152040 0.799438 0.214072 0.540329 
time: 1403637261.838319, t: 0.049026 -0.156323 0.004675 q: -0.149516 0.795545 0.214841 0.546440 
time: 1403637262.038319, t: 0.060761 -0.117961 0.005435 q: -0.154465 0.786563 0.209278 0.560055 
time: 1403637262.238319, t: 0.070824 -0.085764 -0.028283 q: -0.160835 0.785512 0.202144 0.562353 
time: 1403637262.438319, t: 0.066306 -0.090787 -0.043606 q: -0.154161 0.783082 0.185978 0.573087 
optimize pose graph 
time: 1403637262.638319, t: 0.060334 -0.102259 -0.046304 q: -0.163513 0.773048 0.155615 0.592827 
time: 1403637262.838319, t: 0.062272 -0.102239 -0.046320 q: -0.160646 0.781738 0.158152 0.581435 
time: 1403637263.038319, t: 0.062707 -0.102791 -0.043887 q: -0.160668 0.782304 0.158535 0.580562 
time: 1403637263.238319, t: 0.063165 -0.102066 -0.044083 q: -0.161461 0.782528 0.158148 0.580146 
time: 1403637263.438319, t: 0.062880 -0.102497 -0.044116 q: -0.161263 0.782546 0.158245 0.580151 
time: 1403637263.638319, t: 0.062872 -0.102550 -0.044120 q: -0.161248 0.782583 0.158188 0.580120 
time: 1403637263.838319, t: 0.062957 -0.102670 -0.044115 q: -0.160761 0.782553 0.158398 0.580239 
time: 1403637264.238319, t: 0.062986 -0.102574 -0.044138 q: -0.161353 0.782753 0.157974 0.579921 
time: 1403637264.438319, t: 0.063038 -0.102559 -0.044135 q: -0.161220 0.782723 0.158052 0.579976 
time: 1403637264.638319, t: 0.063042 -0.102588 -0.044123 q: -0.161155 0.782739 0.157999 0.579987 
time: 1403637264.838319, t: 0.063042 -0.102639 -0.044070 q: -0.161042 0.782790 0.158025 0.579943 
time: 1403637265.038319, t: 0.063123 -0.102687 -0.044073 q: -0.161181 0.782850 0.157991 0.579832 
time: 1403637265.238319, t: 0.063089 -0.102615 -0.044053 q: -0.161068 0.782903 0.158002 0.579789 
time: 1403637265.438319, t: 0.063107 -0.102644 -0.044051 q: -0.161134 0.782930 0.157987 0.579739 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720476015.453122039]: Shutdown request received.[0m
[33m[ WARN] [1720476015.453173146]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720476015.453980690]: Shutdown request received.[0m
[33m[ WARN] [1720476015.454007328]: Reason given for shutdown: [user request][0m
killed
