/SLAM-Hive/slam_hive_results/mapping_results/2869/2077_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-7.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720476047.331464328]: init begins[0m
[31m[ERROR] [1720476047.332742240]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720476047.337573287]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/87fe2dbc-3d75-11ef-aede-0242ac110005/roslaunch-861fe3c7af8e-117.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://861fe3c7af8e:45309/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [154][0m
[0m[ INFO] [1720476048.489933734]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://861fe3c7af8e:11311/[0m
]2;roscore http://861fe3c7af8e:11311/
[1msetting /run_id to 87fe2dbc-3d75-11ef-aede-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[0m[ INFO] [1720476048.494090172]: Connected to master at [localhost:11311][0m
result path /home/output/vio.csv
[33m[ WARN] [1720476048.496388988]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720476048.496618065]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720476048.496642333]: ROW: 384 COL: 601 [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] [1720476048.496838548]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720476048.497110545]: 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 [232][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720476057.488089951]: 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: 316838927.16 
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] [1720476059.957113223]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476060.157345182]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476060.373866997]: IMU excitation not enouth![0m
[0m[ INFO] [1720476060.568046992]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476060.774309989]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720476061.153015373]: gyroscope bias initial calibration -0.00548587   0.0240385   0.0720227[0m
[0m[ INFO] [1720476061.249308452]: Initialization finish![0m
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time: 1403637195.638319, t: -5.591803 -4.685604 0.319459 q: 0.524276 0.362665 -0.728032 0.252149 
time: 1403637195.838319, t: -5.595474 -4.906435 0.355194 q: 0.526715 0.374332 -0.720053 0.252923 
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time: 1403637197.838319, t: -2.994236 -6.650335 0.220434 q: -0.454614 -0.557761 0.586266 -0.372184 
time: 1403637198.038319, t: -2.550041 -6.725898 0.275403 q: 0.433310 0.604215 -0.535581 0.400399 
time: 1403637198.238319, t: -2.086925 -6.774973 0.369235 q: 0.407046 0.638088 -0.496182 0.425395 
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time: 1403637199.838319, t: 2.152822 -5.812436 0.448903 q: 0.254625 0.708384 -0.315021 0.578031 
time: 1403637200.038319, t: 2.604912 -5.476317 0.363945 q: 0.187293 0.704885 -0.270674 0.628327 
time: 1403637200.238319, t: 2.958786 -5.133088 0.251252 q: 0.141466 0.718437 -0.205553 0.649294 
time: 1403637200.438319, t: 3.186990 -4.794153 0.124574 q: 0.129181 0.765001 -0.154550 0.611718 
time: 1403637200.638319, t: 3.367000 -4.453040 0.034538 q: 0.103873 0.785625 -0.149713 0.591261 
time: 1403637200.838319, t: 3.461639 -4.130804 -0.019036 q: 0.090460 0.783810 -0.163581 0.592200 
time: 1403637201.038319, t: 3.503469 -3.811591 -0.039396 q: 0.099070 0.779339 -0.179331 0.592163 
time: 1403637201.238319, t: 3.526694 -3.510052 -0.028237 q: 0.107297 0.778542 -0.193974 0.587141 
time: 1403637201.438319, t: 3.534313 -3.228131 -0.008130 q: 0.087549 0.773299 -0.237162 0.581462 
time: 1403637201.638319, t: 3.514092 -2.992187 -0.014392 q: 0.075290 0.767847 -0.278861 0.571821 
time: 1403637201.838319, t: 3.451811 -2.836546 -0.030835 q: 0.094177 0.760270 -0.283657 0.576765 
time: 1403637202.038319, t: 3.350242 -2.747865 -0.035111 q: 0.095350 0.762224 -0.285390 0.573128 
time: 1403637202.238319, t: 3.224161 -2.727067 -0.020976 q: 0.093869 0.781319 -0.281078 0.549294 
time: 1403637202.438319, t: 3.081825 -2.754985 -0.006806 q: 0.123792 0.798833 -0.256405 0.529904 
time: 1403637202.638319, t: 2.952754 -2.819634 0.004659 q: 0.133516 0.791060 -0.247521 0.543259 
time: 1403637202.838319, t: 2.831531 -2.904916 0.040613 q: 0.148817 0.786293 -0.235667 0.551415 
time: 1403637203.038319, t: 2.719016 -2.992847 0.066635 q: 0.163518 0.787631 -0.226309 0.549258 
time: 1403637203.238319, t: 2.618399 -3.074608 0.072602 q: 0.165462 0.786524 -0.226805 0.550057 
time: 1403637203.438319, t: 2.529217 -3.147161 0.065374 q: 0.167462 0.786039 -0.227416 0.549893 
optimize pose graph 
time: 1403637203.638319, t: 2.448970 -3.211803 0.043144 q: 0.172352 0.785404 -0.225912 0.549907 
time: 1403637203.838319, t: 2.381522 -3.262606 0.006048 q: 0.172315 0.783773 -0.228135 0.551327 
time: 1403637204.038319, t: 2.323696 -3.301678 -0.046389 q: 0.174606 0.783388 -0.227943 0.551233 
time: 1403637204.238319, t: 2.264291 -3.328007 -0.082476 q: 0.174890 0.783248 -0.228830 0.550975 
time: 1403637204.438319, t: 2.213619 -3.344627 -0.087671 q: 0.171801 0.780415 -0.233121 0.554158 
time: 1403637204.638319, t: 2.164456 -3.348429 -0.059599 q: 0.170560 0.776634 -0.238817 0.557419 
time: 1403637204.838319, t: 2.113905 -3.343556 -0.024441 q: 0.172913 0.779046 -0.242353 0.551773 
time: 1403637205.038319, t: 2.067776 -3.333218 -0.016470 q: 0.172811 0.784077 -0.244642 0.543608 
time: 1403637205.238319, t: 2.029720 -3.320613 -0.028319 q: 0.171707 0.786470 -0.243339 0.541081 
time: 1403637205.438319, t: 2.000644 -3.305631 -0.042891 q: 0.166382 0.789338 -0.230171 0.544319 
optimize pose graph 
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time: 1403637205.838319, t: 1.966113 -3.256045 -0.052796 q: 0.160248 0.788353 -0.213896 0.554138 
time: 1403637206.038319, t: 1.955256 -3.219380 -0.079475 q: 0.158070 0.787885 -0.213080 0.555741 
time: 1403637206.238319, t: 1.948251 -3.174255 -0.084163 q: 0.147260 0.786281 -0.219026 0.558662 
time: 1403637206.438319, t: 1.945972 -3.131892 -0.054955 q: 0.144208 0.784806 -0.221586 0.560521 
time: 1403637206.638319, t: 1.937310 -3.092771 -0.019461 q: 0.147167 0.784492 -0.221024 0.560413 
time: 1403637206.838319, t: 1.921265 -3.054905 -0.008197 q: 0.151659 0.783660 -0.219883 0.560828 
time: 1403637207.038319, t: 1.900216 -3.013005 0.009468 q: 0.153428 0.781158 -0.220665 0.563524 
time: 1403637207.238319, t: 1.873752 -2.967720 0.028968 q: 0.154608 0.779021 -0.223202 0.565158 
time: 1403637207.438319, t: 1.840909 -2.916946 0.021617 q: 0.155783 0.778940 -0.225312 0.564109 
optimize pose graph 
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time: 1403637207.838319, t: 1.752279 -2.820985 -0.021486 q: 0.144616 0.787555 -0.236744 0.550268 
time: 1403637208.038319, t: 1.704996 -2.787472 0.013094 q: 0.155218 0.785618 -0.230752 0.552689 
time: 1403637208.238319, t: 1.663960 -2.760078 0.073453 q: 0.160089 0.785815 -0.228986 0.551754 
time: 1403637208.438319, t: 1.625250 -2.734328 0.119493 q: 0.150635 0.781279 -0.238410 0.556841 
time: 1403637208.638319, t: 1.585110 -2.717172 0.141592 q: 0.157324 0.780827 -0.235547 0.556844 
time: 1403637208.838319, t: 1.540043 -2.698867 0.139944 q: 0.162690 0.779635 -0.232405 0.558292 
time: 1403637209.038319, t: 1.494545 -2.678520 0.119166 q: 0.179747 0.783464 -0.221118 0.552252 
time: 1403637209.238319, t: 1.454040 -2.635749 0.086229 q: 0.170525 0.788330 -0.209316 0.552850 
time: 1403637209.438319, t: 1.429489 -2.580676 0.079094 q: 0.141800 0.801473 -0.196949 0.546576 
time: 1403637209.638319, t: 1.416322 -2.526058 0.096537 q: 0.126677 0.823253 -0.186831 0.520866 
optimize pose graph 
time: 1403637209.838319, t: 1.446506 -2.487850 0.137583 q: 0.119330 0.833123 -0.183552 0.507912 
time: 1403637210.038319, t: 1.522408 -2.468814 0.154850 q: 0.114344 0.842425 -0.185925 0.492623 
time: 1403637210.238319, t: 1.644879 -2.467237 0.113367 q: 0.109793 0.853670 -0.190107 0.472285 
time: 1403637210.438319, t: 1.839199 -2.489006 0.058572 q: 0.108443 0.857143 -0.190972 0.465914 
time: 1403637210.638319, t: 2.110749 -2.540441 0.008082 q: 0.112222 0.842890 -0.187321 0.491785 
time: 1403637210.838319, t: 2.434645 -2.610945 -0.052761 q: 0.103983 0.832969 -0.190868 0.508842 
time: 1403637211.038319, t: 2.787329 -2.702567 -0.124327 q: 0.092385 0.816123 -0.199853 0.534292 
time: 1403637211.238319, t: 3.147229 -2.821464 -0.206998 q: 0.102074 0.805709 -0.197429 0.549032 
time: 1403637211.638319, t: 3.849986 -3.092340 -0.401410 q: 0.115747 0.798325 -0.196839 0.557257 
optimize pose graph 
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time: 1403637212.038319, t: 4.500827 -3.398885 -0.513300 q: 0.106374 0.806689 -0.204505 0.544165 
time: 1403637212.238319, t: 4.821527 -3.579582 -0.521168 q: 0.121529 0.791131 -0.196067 0.566480 
time: 1403637212.438319, t: 5.125424 -3.753720 -0.505321 q: 0.127594 0.785992 -0.194970 0.572645 
time: 1403637212.638319, t: 5.407084 -3.918757 -0.472127 q: 0.127516 0.795042 -0.199110 0.558573 
time: 1403637212.838319, t: 5.681763 -4.082997 -0.430006 q: 0.129983 0.802356 -0.198451 0.547673 
time: 1403637213.038319, t: 5.954848 -4.246300 -0.375851 q: 0.134397 0.804297 -0.193133 0.545659 
time: 1403637213.238319, t: 6.236915 -4.403332 -0.332045 q: 0.126603 0.804372 -0.194233 0.547020 
time: 1403637213.438319, t: 6.524579 -4.560385 -0.316546 q: 0.126562 0.801599 -0.192872 0.551563 
time: 1403637213.638319, t: 6.796850 -4.710923 -0.314261 q: 0.140421 0.799775 -0.183079 0.554188 
time: 1403637213.838319, t: 7.066134 -4.851082 -0.332900 q: 0.151945 0.804571 -0.173137 0.547359 
time: 1403637214.038319, t: 7.342388 -4.964756 -0.364806 q: 0.152514 0.802823 -0.168184 0.551298 
time: 1403637214.238319, t: 7.631137 -5.053632 -0.371500 q: 0.129023 0.796961 -0.158191 0.568491 
time: 1403637214.438319, t: 7.914381 -5.121965 -0.350259 q: 0.114591 0.795215 -0.117047 0.583783 
time: 1403637214.638319, t: 8.177036 -5.158497 -0.307347 q: 0.107967 0.795928 -0.058614 0.592795 
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time: 1403637215.238319, t: 8.800548 -4.922404 -0.149807 q: 0.094917 0.785441 -0.017367 0.611368 
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time: 1403637228.038319, t: -0.658787 -1.340737 0.053537 q: -0.019874 0.813601 0.019483 0.580757 
time: 1403637228.238319, t: -0.634193 -1.329186 0.021535 q: -0.019559 0.807878 0.023235 0.588566 
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time: 1403637228.838319, t: -0.655663 -1.282033 0.056936 q: -0.018794 0.815259 0.027678 0.578129 
time: 1403637229.038319, t: -0.683436 -1.258039 0.067048 q: -0.015811 0.816156 0.028393 0.576917 
time: 1403637229.238319, t: -0.714359 -1.228905 0.062542 q: -0.009775 0.810278 0.031844 0.585098 
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time: 1403637230.238319, t: -0.854975 -1.191872 -0.133757 q: 0.119759 0.808183 -0.180501 0.547647 
time: 1403637230.438319, t: -0.845692 -1.201577 -0.138662 q: 0.139850 0.799883 -0.199161 0.548602 
time: 1403637230.638319, t: -0.824017 -1.208648 -0.111269 q: 0.154746 0.781332 -0.208962 0.567371 
time: 1403637230.838319, t: -0.817127 -1.207109 -0.067875 q: 0.162388 0.776322 -0.248888 0.555886 
time: 1403637231.038319, t: -0.826098 -1.214125 -0.034934 q: 0.182159 0.772272 -0.306238 0.525959 
time: 1403637231.238319, t: -0.835398 -1.238298 -0.043762 q: 0.217472 0.747138 -0.370756 0.506982 
time: 1403637231.438319, t: -0.848026 -1.284016 -0.111527 q: 0.261327 0.705746 -0.438660 0.491131 
time: 1403637231.638319, t: -0.876366 -1.345362 -0.239319 q: 0.298101 0.659086 -0.511943 0.463309 
time: 1403637231.838319, t: -0.923661 -1.430535 -0.367519 q: 0.340481 0.612840 -0.566238 0.433446 
time: 1403637232.038319, t: -0.989881 -1.541673 -0.458297 q: -0.369463 -0.569321 0.607728 -0.412356 
time: 1403637232.238319, t: -1.074515 -1.675048 -0.507102 q: -0.405212 -0.517335 0.633727 -0.408115 
time: 1403637232.438319, t: -1.188601 -1.797607 -0.530361 q: -0.440634 -0.482368 0.652772 -0.383474 
time: 1403637232.638319, t: -1.323616 -1.903969 -0.537079 q: -0.441533 -0.440075 0.693849 -0.360495 
time: 1403637232.838319, t: -1.491034 -1.999222 -0.523140 q: -0.435270 -0.402933 0.734067 -0.330653 
time: 1403637233.038319, t: -1.706009 -2.088447 -0.481403 q: -0.434527 -0.395853 0.753174 -0.295323 
time: 1403637233.238319, t: -1.967104 -2.202481 -0.430025 q: -0.429613 -0.402964 0.760833 -0.272371 
time: 1403637233.438319, t: -2.260227 -2.349716 -0.400896 q: -0.419089 -0.414831 0.764717 -0.259783 
time: 1403637233.638319, t: -2.585432 -2.532680 -0.407917 q: -0.464043 -0.447750 0.728190 -0.232213 
optimize pose graph 
time: 1403637233.838319, t: -2.896572 -2.768748 -0.454925 q: 0.520199 0.469483 -0.680971 0.212735 
time: 1403637234.038319, t: -3.138982 -3.053243 -0.524279 q: 0.540470 0.478286 -0.662395 0.200917 
time: 1403637234.238319, t: -3.289641 -3.381356 -0.604898 q: 0.560082 0.482653 -0.645385 0.191921 
time: 1403637234.438319, t: -3.327065 -3.748664 -0.700419 q: 0.558550 0.467560 -0.649291 0.218706 
time: 1403637234.638319, t: -3.268763 -4.142513 -0.812278 q: 0.544950 0.460142 -0.648228 0.266644 
time: 1403637234.838319, t: -3.138780 -4.524967 -0.942894 q: 0.521827 0.466273 -0.641347 0.314580 
time: 1403637235.038319, t: -2.962069 -4.873993 -1.065697 q: -0.494198 -0.483206 0.629272 -0.355384 
time: 1403637235.238319, t: -2.761500 -5.182237 -1.159252 q: -0.477809 -0.514812 0.604700 -0.375505 
time: 1403637235.438319, t: -2.542323 -5.446858 -1.226528 q: -0.450369 -0.544070 0.601464 -0.373358 
time: 1403637235.638319, t: -2.305369 -5.687229 -1.269434 q: -0.424168 -0.569645 0.597560 -0.372167 
optimize pose graph 
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time: 1403637236.038319, t: -1.774105 -6.141141 -1.243774 q: 0.446879 0.618258 -0.513070 0.393465 
time: 1403637236.238319, t: -1.437083 -6.323121 -1.190677 q: 0.435473 0.646225 -0.479617 0.403391 
time: 1403637236.438319, t: -1.042815 -6.461752 -1.109836 q: 0.410365 0.665738 -0.454575 0.426328 
time: 1403637236.638319, t: -0.601508 -6.568504 -1.019198 q: 0.391560 0.670657 -0.440044 0.450846 
time: 1403637236.838319, t: -0.129001 -6.640107 -0.942014 q: 0.385088 0.667926 -0.419989 0.478739 
time: 1403637237.038319, t: 0.356357 -6.648596 -0.844862 q: 0.377562 0.654923 -0.390638 0.525286 
time: 1403637237.238319, t: 0.832903 -6.583184 -0.724677 q: 0.359451 0.644560 -0.368681 0.565165 
time: 1403637237.438319, t: 1.263380 -6.422177 -0.572908 q: 0.330640 0.656705 -0.355645 0.577003 
time: 1403637237.638319, t: 1.623081 -6.166672 -0.393436 q: 0.309887 0.662528 -0.350983 0.584669 
time: 1403637237.838319, t: 1.928365 -5.849605 -0.210342 q: 0.286963 0.662319 -0.360930 0.590521 
time: 1403637238.038319, t: 2.162351 -5.491539 -0.055622 q: 0.271782 0.662730 -0.396854 0.573960 
time: 1403637238.238319, t: 2.321725 -5.111076 0.066051 q: 0.256959 0.646028 -0.459190 0.552960 
time: 1403637238.438319, t: 2.384046 -4.738356 0.168060 q: 0.258738 0.605562 -0.528681 0.535580 
time: 1403637238.638319, t: 2.352260 -4.390309 0.249174 q: -0.272141 -0.563631 0.590094 -0.509950 
time: 1403637238.838319, t: 2.221182 -4.073982 0.312537 q: -0.249442 -0.558369 0.644424 -0.459043 
time: 1403637239.038319, t: 1.971792 -3.837974 0.373580 q: -0.229240 -0.570403 0.674698 -0.408499 
time: 1403637239.238319, t: 1.615239 -3.732524 0.451734 q: -0.281196 -0.579303 0.659330 -0.388099 
time: 1403637239.438319, t: 1.207987 -3.718876 0.520468 q: -0.323955 -0.557760 0.661229 -0.383058 
time: 1403637239.638319, t: 0.761576 -3.761915 0.530250 q: -0.359264 -0.520602 0.681648 -0.367777 
time: 1403637239.838319, t: 0.279628 -3.831919 0.480513 q: -0.419053 -0.475541 0.689059 -0.351358 
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time: 1403637240.238319, t: -0.699740 -3.988632 0.276424 q: 0.501120 0.381984 -0.718538 0.294398 
time: 1403637240.438319, t: -1.172532 -4.044404 0.154566 q: -0.493935 -0.362908 0.749630 -0.249761 
time: 1403637240.638319, t: -1.633737 -4.114425 0.057521 q: -0.490837 -0.359841 0.761087 -0.224365 
time: 1403637240.838319, t: -2.092754 -4.216107 -0.001560 q: 0.507219 0.360563 -0.750772 0.221503 
time: 1403637241.038319, t: -2.535202 -4.350582 -0.038089 q: 0.529391 0.360693 -0.732523 0.230338 
time: 1403637241.238319, t: -2.945115 -4.493888 -0.099829 q: 0.524221 0.367669 -0.732222 0.232084 
time: 1403637241.438319, t: -3.326119 -4.647975 -0.179273 q: 0.530716 0.381212 -0.723344 0.223141 
time: 1403637241.638319, t: -3.656327 -4.817134 -0.245611 q: 0.544858 0.390835 -0.709311 0.217386 
time: 1403637241.838319, t: -3.928432 -5.001569 -0.289272 q: 0.561676 0.387507 -0.694429 0.228311 
time: 1403637242.038319, t: -4.140273 -5.188185 -0.310259 q: 0.565884 0.367560 -0.690322 0.261019 
time: 1403637242.238319, t: -4.290668 -5.345465 -0.312738 q: 0.566889 0.373943 -0.691224 0.247009 
time: 1403637242.438319, t: -4.375386 -5.487254 -0.305083 q: 0.578051 0.383208 -0.683603 0.227369 
time: 1403637242.638319, t: -4.372767 -5.612156 -0.312829 q: 0.583429 0.389240 -0.674534 0.230449 
time: 1403637242.838319, t: -4.292379 -5.729591 -0.305182 q: 0.567194 0.401204 -0.667964 0.266741 
time: 1403637243.038319, t: -4.149858 -5.822138 -0.273509 q: 0.562483 0.412558 -0.656350 0.287426 
time: 1403637243.238319, t: -3.958209 -5.889659 -0.255022 q: 0.549641 0.426659 -0.660336 0.282512 
time: 1403637243.438319, t: -3.721253 -5.938414 -0.262832 q: 0.534248 0.426607 -0.670857 0.287292 
time: 1403637243.638319, t: -3.446076 -5.971402 -0.268481 q: 0.520796 0.423604 -0.681544 0.291255 
optimize pose graph 
time: 1403637243.838319, t: -3.154220 -6.003050 -0.243158 q: -0.494656 -0.414305 0.702481 -0.300312 
time: 1403637244.038319, t: -2.869939 -6.029974 -0.180150 q: -0.481683 -0.406184 0.714119 -0.305009 
time: 1403637244.238319, t: -2.611038 -6.044905 -0.082222 q: -0.485969 -0.403351 0.714168 -0.301838 
time: 1403637244.438319, t: -2.377823 -6.055686 0.036426 q: -0.478554 -0.405886 0.718725 -0.299459 
time: 1403637244.638319, t: -2.169696 -6.069234 0.166731 q: -0.476650 -0.434869 0.706451 -0.290896 
time: 1403637244.838319, t: -1.970789 -6.095283 0.275663 q: -0.469528 -0.462515 0.692561 -0.293227 
time: 1403637245.038319, t: -1.779973 -6.140041 0.360605 q: -0.454245 -0.472612 0.691673 -0.303130 
time: 1403637245.238319, t: -1.607506 -6.209102 0.420773 q: -0.429107 -0.471768 0.704704 -0.310959 
time: 1403637245.438319, t: -1.457775 -6.307799 0.471553 q: -0.448216 -0.479742 0.690385 -0.303839 
time: 1403637245.638319, t: -1.311993 -6.433670 0.497554 q: -0.446508 -0.495013 0.678202 -0.309250 
time: 1403637245.838319, t: -1.166294 -6.581985 0.502173 q: -0.443285 -0.516615 0.650587 -0.336666 
optimize pose graph 
time: 1403637246.038319, t: -1.018115 -6.744443 0.485731 q: -0.433333 -0.551145 0.604649 -0.377969 
time: 1403637246.238319, t: -0.859077 -6.901599 0.450579 q: 0.402649 0.599577 -0.548927 0.420785 
time: 1403637246.438319, t: -0.691249 -7.045693 0.399237 q: 0.367669 0.653873 -0.478613 0.456288 
time: 1403637246.638319, t: -0.512850 -7.165445 0.336394 q: 0.339556 0.692534 -0.402583 0.492976 
time: 1403637246.838319, t: -0.323666 -7.242362 0.273408 q: 0.306169 0.718065 -0.336222 0.526877 
time: 1403637247.038319, t: -0.134353 -7.268278 0.230127 q: 0.262815 0.749505 -0.294846 0.531259 
time: 1403637247.238319, t: 0.054755 -7.260976 0.192603 q: 0.230296 0.768224 -0.287154 0.523772 
time: 1403637247.438319, t: 0.247191 -7.245863 0.141530 q: 0.232932 0.750595 -0.278393 0.552130 
time: 1403637247.638319, t: 0.441836 -7.205157 0.073820 q: 0.235057 0.746313 -0.271238 0.560531 
time: 1403637247.838319, t: 0.630280 -7.115904 0.002232 q: 0.240651 0.754901 -0.240127 0.560849 
time: 1403637248.038319, t: 0.809445 -6.971685 -0.042961 q: 0.210803 0.759010 -0.221610 0.574765 
time: 1403637248.238319, t: 0.974965 -6.782968 -0.072667 q: 0.179693 0.781340 -0.204789 0.561497 
time: 1403637248.438319, t: 1.136879 -6.577593 -0.118449 q: 0.163061 0.787520 -0.197098 0.560693 
time: 1403637248.838319, t: 1.426579 -6.124005 -0.188468 q: 0.166164 0.789703 -0.197780 0.556454 
time: 1403637249.038319, t: 1.550211 -5.880436 -0.169206 q: 0.166220 0.790667 -0.206659 0.551823 
time: 1403637249.238319, t: 1.663371 -5.639166 -0.116775 q: 0.169107 0.789407 -0.210686 0.551226 
time: 1403637249.438319, t: 1.789920 -5.389150 -0.063528 q: 0.170086 0.787098 -0.213641 0.553087 
time: 1403637249.638319, t: 1.918308 -5.129002 -0.071626 q: 0.169013 0.786339 -0.214107 0.554313 
time: 1403637249.838319, t: 2.049848 -4.858187 -0.108050 q: 0.169345 0.778236 -0.207649 0.567937 
time: 1403637250.038319, t: 2.171084 -4.573785 -0.125572 q: 0.148587 0.783936 -0.195296 0.570285 
time: 1403637250.238319, t: 2.278562 -4.289434 -0.120655 q: 0.119628 0.792573 -0.184551 0.568734 
time: 1403637250.438319, t: 2.368323 -4.012610 -0.131369 q: 0.095118 0.795465 -0.178200 0.571343 
time: 1403637250.638319, t: 2.445272 -3.758999 -0.153420 q: 0.081558 0.801336 -0.175317 0.566103 
time: 1403637250.838319, t: 2.511402 -3.530648 -0.149900 q: 0.078430 0.804347 -0.166802 0.564846 
time: 1403637251.038319, t: 2.574420 -3.326800 -0.119166 q: 0.072451 0.803299 -0.165936 0.567386 
time: 1403637251.238319, t: 2.632485 -3.145328 -0.061628 q: 0.055309 0.807745 -0.161697 0.564219 
time: 1403637251.438319, t: 2.682719 -3.004029 0.029236 q: 0.056609 0.807236 -0.138601 0.570925 
time: 1403637251.638319, t: 2.727959 -2.886636 0.115651 q: 0.049620 0.807573 -0.108712 0.577534 
time: 1403637251.838319, t: 2.768744 -2.787850 0.175231 q: 0.038630 0.808625 -0.092054 0.579793 
optimize pose graph 
time: 1403637252.038319, t: 2.798226 -2.712513 0.220897 q: 0.048212 0.801770 -0.074906 0.590956 
time: 1403637252.238319, t: 2.814200 -2.641825 0.247306 q: 0.045301 0.795392 -0.072616 0.600023 
time: 1403637252.438319, t: 2.805488 -2.572451 0.244039 q: 0.037836 0.801791 -0.077495 0.591349 
time: 1403637252.638319, t: 2.777764 -2.513196 0.213223 q: 0.034036 0.808656 -0.081675 0.581589 
time: 1403637252.838319, t: 2.740161 -2.465653 0.172576 q: 0.024355 0.819572 -0.089367 0.565439 
time: 1403637253.038319, t: 2.706718 -2.436313 0.165981 q: 0.039121 0.812458 -0.081018 0.576036 
time: 1403637253.238319, t: 2.670541 -2.415182 0.179525 q: 0.043861 0.808353 -0.079684 0.581628 
time: 1403637253.438319, t: 2.632637 -2.396445 0.175559 q: 0.043157 0.807845 -0.082010 0.582064 
time: 1403637253.638319, t: 2.587193 -2.385566 0.153695 q: 0.047179 0.808698 -0.080184 0.580820 
time: 1403637253.838319, t: 2.536488 -2.375667 0.152943 q: 0.054836 0.806675 -0.075378 0.583598 
time: 1403637254.038319, t: 2.478971 -2.360670 0.174464 q: 0.057733 0.805765 -0.073546 0.584808 
time: 1403637254.238319, t: 2.413045 -2.334607 0.219813 q: 0.052174 0.807002 -0.064658 0.584675 
time: 1403637254.438319, t: 2.335958 -2.299844 0.276412 q: 0.041850 0.814866 -0.048661 0.576085 
time: 1403637254.638319, t: 2.260426 -2.256873 0.318407 q: 0.035105 0.817153 -0.039298 0.574008 
time: 1403637254.838319, t: 2.189163 -2.211144 0.338095 q: 0.030366 0.812172 -0.035985 0.581515 
time: 1403637255.038319, t: 2.117716 -2.161866 0.333431 q: 0.027939 0.808610 -0.035196 0.586626 
time: 1403637255.238319, t: 2.038677 -2.106640 0.325861 q: 0.017293 0.808623 -0.023141 0.587617 
time: 1403637255.438319, t: 1.948688 -2.048958 0.340746 q: 0.002472 0.809066 -0.008686 0.587649 
time: 1403637255.638319, t: 1.853878 -1.988365 0.339799 q: -0.011231 0.809874 0.018565 0.586202 
time: 1403637255.838319, t: 1.753864 -1.925468 0.333270 q: -0.030027 0.813288 0.055240 0.578455 
time: 1403637256.038319, t: 1.647872 -1.856528 0.356748 q: -0.051389 0.813550 0.087959 0.572502 
optimize pose graph 
time: 1403637256.238319, t: 1.538686 -1.784987 0.400005 q: -0.060485 0.808107 0.104168 0.576588 
time: 1403637256.438319, t: 1.433352 -1.705922 0.421377 q: -0.061574 0.803981 0.108816 0.581362 
time: 1403637256.638319, t: 1.318603 -1.619140 0.417505 q: -0.060989 0.805034 0.105130 0.580645 
time: 1403637256.838319, t: 1.198350 -1.528099 0.391776 q: -0.076787 0.817597 0.087869 0.563842 
time: 1403637257.038319, t: 1.090559 -1.444830 0.366537 q: -0.078311 0.811600 0.097434 0.570683 
time: 1403637257.238319, t: 0.984215 -1.362475 0.367640 q: -0.080656 0.807356 0.115276 0.573047 
time: 1403637257.638319, t: 0.783585 -1.195162 0.411523 q: -0.083938 0.810611 0.134591 0.563693 
time: 1403637257.838319, t: 0.684372 -1.104437 0.402056 q: -0.091323 0.817231 0.139865 0.551572 
time: 1403637258.038319, t: 0.598318 -1.005913 0.377173 q: -0.108377 0.817438 0.156241 0.543726 
time: 1403637258.238319, t: 0.542484 -0.897104 0.366260 q: -0.129108 0.804157 0.188541 0.548739 
optimize pose graph 
time: 1403637258.438319, t: 0.490079 -0.785634 0.360474 q: -0.146718 0.791635 0.209277 0.554970 
time: 1403637258.638319, t: 0.448815 -0.674098 0.332009 q: -0.163510 0.792416 0.212066 0.548059 
time: 1403637258.838319, t: 0.407980 -0.571572 0.291231 q: -0.166240 0.787021 0.213061 0.554587 
time: 1403637259.038319, t: 0.373104 -0.482833 0.261421 q: -0.170359 0.787108 0.208275 0.555031 
time: 1403637259.238319, t: 0.342511 -0.403989 0.274049 q: -0.168997 0.786811 0.206201 0.556641 
time: 1403637259.438319, t: 0.317384 -0.345742 0.301878 q: -0.173293 0.787392 0.200189 0.556693 
time: 1403637259.638319, t: 0.295630 -0.305880 0.315305 q: -0.180894 0.787298 0.193153 0.556894 
time: 1403637259.838319, t: 0.273927 -0.290069 0.317295 q: -0.168113 0.790840 0.201282 0.552988 
time: 1403637260.038319, t: 0.259994 -0.284210 0.304144 q: -0.172078 0.787237 0.198390 0.557932 
time: 1403637260.238319, t: 0.248648 -0.294177 0.274634 q: -0.160017 0.786728 0.208026 0.558730 
optimize pose graph 
time: 1403637260.438319, t: 0.234567 -0.307423 0.236729 q: -0.143663 0.783024 0.220820 0.563448 
time: 1403637260.638319, t: 0.213933 -0.314482 0.192682 q: -0.142276 0.794046 0.222707 0.547403 
time: 1403637260.838319, t: 0.195400 -0.305074 0.148929 q: -0.148267 0.790263 0.219313 0.552633 
time: 1403637261.038319, t: 0.176944 -0.288873 0.104725 q: -0.152767 0.783476 0.217529 0.561702 
time: 1403637261.238319, t: 0.152786 -0.269620 0.059057 q: -0.149094 0.795797 0.220018 0.544123 
time: 1403637261.438319, t: 0.137498 -0.243371 0.036248 q: -0.153392 0.792057 0.216454 0.549785 
time: 1403637261.638319, t: 0.128199 -0.213340 0.025796 q: -0.153047 0.798949 0.216079 0.539969 
time: 1403637261.838319, t: 0.132615 -0.178401 0.034857 q: -0.150543 0.795081 0.216820 0.546051 
time: 1403637262.038319, t: 0.144588 -0.139818 0.035869 q: -0.155508 0.786154 0.211245 0.559602 
time: 1403637262.238319, t: 0.153018 -0.107789 0.002045 q: -0.161913 0.785095 0.204109 0.561916 
time: 1403637262.438319, t: 0.150025 -0.110698 -0.013768 q: -0.155160 0.782795 0.187946 0.572568 
time: 1403637262.638319, t: 0.143512 -0.123626 -0.016163 q: -0.164588 0.772839 0.157565 0.592287 
time: 1403637262.838319, t: 0.145942 -0.123993 -0.017418 q: -0.161788 0.781515 0.160179 0.580863 
time: 1403637263.038319, t: 0.146529 -0.124477 -0.013815 q: -0.161858 0.782055 0.160627 0.579992 
time: 1403637263.238319, t: 0.146649 -0.123011 -0.013567 q: -0.162620 0.782328 0.160187 0.579532 
time: 1403637263.438319, t: 0.145766 -0.124119 -0.014074 q: -0.162516 0.782261 0.160334 0.579612 
time: 1403637263.638319, t: 0.145742 -0.124185 -0.014113 q: -0.162548 0.782288 0.160281 0.579581 
time: 1403637263.838319, t: 0.145843 -0.124335 -0.014099 q: -0.162103 0.782252 0.160495 0.579695 
time: 1403637264.038319, t: 0.145828 -0.124265 -0.014101 q: -0.162640 0.782360 0.160151 0.579493 
time: 1403637264.238319, t: 0.145843 -0.124286 -0.014101 q: -0.162748 0.782452 0.160060 0.579365 
time: 1403637264.438319, t: 0.145953 -0.124278 -0.014114 q: -0.162639 0.782428 0.160139 0.579406 
time: 1403637264.638319, t: 0.146021 -0.124299 -0.014098 q: -0.162596 0.782445 0.160086 0.579409 
time: 1403637264.838319, t: 0.146092 -0.124345 -0.014024 q: -0.162508 0.782496 0.160116 0.579357 
time: 1403637265.038319, t: 0.146113 -0.124370 -0.013983 q: -0.162645 0.782564 0.160062 0.579242 
time: 1403637265.238319, t: 0.146106 -0.124328 -0.013962 q: -0.162549 0.782618 0.160075 0.579192 
time: 1403637265.438319, t: 0.146118 -0.124364 -0.013934 q: -0.162626 0.782642 0.160060 0.579141 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720476194.325559866]: Shutdown request received.[0m
[33m[ WARN] [1720476194.325614366]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720476194.326547516]: Shutdown request received.[0m
[33m[ WARN] [1720476194.326602663]: Reason given for shutdown: [user request][0m
killed
