/SLAM-Hive/slam_hive_results/mapping_results/2870/2078_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-8.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720476220.582772041]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720476220.584744656]: init begins[0m
[31m[ERROR] [1720476220.585853905]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ef40301a-3d75-11ef-8d99-0242ac110005/roslaunch-91aeb3a81815-119.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://91aeb3a81815:41315/[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 [156][0m
[0m[ INFO] [1720476221.688929880]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720476221.690861530]: 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] [1720476221.697696888]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720476221.697907975]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720476221.697932396]: ROW: 288 COL: 451 [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] [1720476221.698089151]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720476221.698375701]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://91aeb3a81815:11311/[0m
]2;roscore http://91aeb3a81815:11311/
[1msetting /run_id to ef40301a-3d75-11ef-8d99-0242ac110005[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 [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720476230.737431171]: 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: 316839100.41 
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] [1720476233.213766830]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476233.392528291]: IMU excitation not enouth![0m
[0m[ INFO] [1720476233.392776092]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476233.613302423]: IMU excitation not enouth![0m
[0m[ INFO] [1720476233.613975865]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476233.813552826]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476234.014637413]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476234.214166313]: IMU excitation not enouth![0m
[0m[ INFO] [1720476234.483019065]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720476234.903328261]: gyroscope bias initial calibration -0.00161785   0.0311525   0.0811881[0m
[0m[ INFO] [1720476234.960432225]: Initialization finish![0m
time: 1403637134.438319, t: -0.012229 -0.018500 0.395817 q: -0.035207 0.784572 0.043821 0.617484 
time: 1403637134.638319, t: -0.006691 -0.025524 0.368289 q: -0.037112 0.787940 0.035738 0.613593 
time: 1403637134.838319, t: 0.000817 -0.033923 0.235163 q: -0.039417 0.813422 0.043335 0.578716 
time: 1403637135.038319, t: -0.005413 -0.036778 0.103134 q: -0.052026 0.832590 0.039282 0.550041 
time: 1403637135.238319, t: -0.013001 -0.041038 0.056621 q: -0.050075 0.841847 0.043485 0.535626 
time: 1403637135.438319, t: -0.003186 -0.043490 0.158675 q: -0.041492 0.839328 0.044015 0.540249 
time: 1403637135.638319, t: 0.004602 -0.043579 0.325614 q: -0.026346 0.813062 0.043855 0.579925 
time: 1403637135.838319, t: 0.007128 -0.040958 0.450958 q: -0.032705 0.793302 0.033005 0.607052 
time: 1403637136.038319, t: 0.013323 -0.038668 0.434382 q: -0.035744 0.795423 0.030715 0.604220 
time: 1403637136.238319, t: 0.026374 -0.038644 0.295685 q: -0.029985 0.812802 0.034808 0.580725 
time: 1403637136.438319, t: 0.019797 -0.037352 0.140378 q: -0.033051 0.841296 0.035526 0.538393 
time: 1403637136.638319, t: 0.006230 -0.039657 0.082533 q: -0.042503 0.854615 0.033188 0.516454 
time: 1403637136.838319, t: 0.009093 -0.041881 0.190951 q: -0.041476 0.849737 0.036441 0.524308 
time: 1403637137.038319, t: 0.012449 -0.046661 0.381736 q: -0.029797 0.823879 0.027415 0.565317 
time: 1403637137.238319, t: 0.012568 -0.047376 0.495428 q: -0.037731 0.799813 0.014128 0.598896 
time: 1403637137.438319, t: 0.017950 -0.049351 0.445499 q: -0.038507 0.793986 0.017690 0.606457 
time: 1403637137.638319, t: 0.021174 -0.049046 0.285179 q: -0.023636 0.816361 0.029846 0.576286 
time: 1403637137.838319, t: 0.008897 -0.045683 0.123424 q: -0.028894 0.842598 0.030922 0.536877 
time: 1403637138.038319, t: -0.006601 -0.049249 0.076165 q: -0.030892 0.859584 0.037472 0.508682 
time: 1403637138.238319, t: 0.011557 -0.060660 0.210819 q: -0.027066 0.849796 0.048481 0.524179 
time: 1403637138.438319, t: 0.013231 -0.059902 0.399174 q: -0.012907 0.811869 0.040015 0.582324 
time: 1403637138.638319, t: 0.010396 -0.061226 0.481079 q: -0.010342 0.790469 0.028828 0.611736 
time: 1403637139.038319, t: 0.034703 -0.056968 0.225022 q: -0.031622 0.816874 0.025773 0.575372 
time: 1403637139.238319, t: 0.033662 -0.050828 0.080437 q: -0.050457 0.826070 0.028942 0.560558 
time: 1403637139.438319, t: 0.046910 -0.048511 0.018463 q: -0.054852 0.827044 0.041561 0.557909 
time: 1403637139.638319, t: 0.052981 -0.037310 0.004578 q: -0.062154 0.820448 0.050710 0.566065 
time: 1403637139.838319, t: 0.054165 -0.036042 -0.009002 q: -0.065286 0.815608 0.053479 0.572418 
wait for imu ... 
time: 1403637140.038319, t: 0.049295 -0.040831 -0.011698 q: -0.067469 0.804124 0.039446 0.589301 
time: 1403637140.238319, t: 0.045043 -0.045662 -0.010810 q: -0.060343 0.796657 0.031258 0.600599 
time: 1403637140.438319, t: 0.044816 -0.046968 -0.011805 q: -0.062807 0.796436 0.027801 0.600809 
time: 1403637140.638319, t: 0.045070 -0.046550 -0.012028 q: -0.064473 0.796395 0.026170 0.600760 
time: 1403637140.838319, t: 0.045003 -0.046611 -0.011863 q: -0.064473 0.796507 0.025985 0.600620 
time: 1403637141.038319, t: 0.044972 -0.046760 -0.011765 q: -0.064140 0.796621 0.025723 0.600516 
time: 1403637141.238319, t: 0.044931 -0.046887 -0.011661 q: -0.063794 0.796710 0.025532 0.600443 
time: 1403637141.438319, t: 0.044892 -0.047001 -0.011576 q: -0.063527 0.796818 0.025340 0.600336 
time: 1403637141.638319, t: 0.044864 -0.047096 -0.011538 q: -0.063181 0.796882 0.025083 0.600299 
time: 1403637141.838319, t: 0.044835 -0.047216 -0.011496 q: -0.062982 0.796985 0.024878 0.600191 
time: 1403637142.038319, t: 0.044799 -0.047307 -0.011506 q: -0.062766 0.797061 0.024672 0.600121 
time: 1403637142.238319, t: 0.044742 -0.047383 -0.011499 q: -0.062563 0.797147 0.024561 0.600033 
time: 1403637142.438319, t: 0.044695 -0.047441 -0.011518 q: -0.062394 0.797197 0.024444 0.599989 
time: 1403637142.638319, t: 0.044647 -0.047493 -0.011543 q: -0.062282 0.797245 0.024325 0.599941 
time: 1403637142.838319, t: 0.044581 -0.047559 -0.011565 q: -0.062149 0.797306 0.024235 0.599877 
time: 1403637143.038319, t: 0.044488 -0.047634 -0.011597 q: -0.062045 0.797345 0.024124 0.599841 
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time: 1403637143.438319, t: 0.044357 -0.047716 -0.011673 q: -0.061788 0.797441 0.024022 0.599744 
time: 1403637143.638319, t: 0.044303 -0.047745 -0.011741 q: -0.061788 0.797490 0.023956 0.599681 
time: 1403637143.838319, t: 0.044224 -0.047745 -0.011815 q: -0.061690 0.797517 0.023882 0.599659 
time: 1403637144.038319, t: 0.044119 -0.047727 -0.011857 q: -0.061780 0.797543 0.024008 0.599610 
time: 1403637144.238319, t: 0.044093 -0.047781 -0.011883 q: -0.061751 0.797661 0.023749 0.599467 
time: 1403637144.438319, t: 0.044024 -0.047708 -0.011780 q: -0.061858 0.797599 0.023763 0.599537 
time: 1403637144.638319, t: 0.044053 -0.047784 -0.011813 q: -0.061818 0.797608 0.023710 0.599531 
time: 1403637144.838319, t: 0.044087 -0.047762 -0.011848 q: -0.061973 0.797548 0.023906 0.599588 
time: 1403637145.038319, t: 0.044047 -0.047794 -0.011772 q: -0.062142 0.797651 0.024205 0.599421 
time: 1403637145.238319, t: 0.043953 -0.047825 -0.011674 q: -0.062096 0.797716 0.023810 0.599355 
time: 1403637145.438319, t: 0.043966 -0.047806 -0.011720 q: -0.062211 0.797680 0.023903 0.599387 
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time: 1403637199.838319, t: 2.278266 -5.857279 0.277588 q: 0.249193 0.710748 -0.308449 0.581033 
time: 1403637200.038319, t: 2.745008 -5.545127 0.164405 q: 0.181614 0.706896 -0.264413 0.630396 
time: 1403637200.238319, t: 3.093045 -5.192135 0.023264 q: 0.135821 0.719812 -0.199158 0.650969 
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time: 1403637200.838319, t: 3.703889 -4.105458 -0.265301 q: 0.088174 0.784618 -0.158420 0.592877 
time: 1403637201.038319, t: 3.770594 -3.764610 -0.288342 q: 0.097161 0.780174 -0.174564 0.592804 
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time: 1403637201.638319, t: 3.702026 -2.914770 -0.255239 q: 0.071891 0.769610 -0.272694 0.572861 
time: 1403637201.838319, t: 3.619422 -2.778542 -0.265791 q: 0.089966 0.762299 -0.277003 0.577993 
time: 1403637202.038319, t: 3.489751 -2.722846 -0.263031 q: 0.090344 0.764515 -0.278143 0.574449 
time: 1403637202.238319, t: 3.357243 -2.678248 -0.248198 q: 0.089219 0.783507 -0.273526 0.550763 
time: 1403637202.438319, t: 3.205327 -2.764800 -0.228788 q: 0.118473 0.801130 -0.248122 0.531592 
time: 1403637202.638319, t: 3.075501 -2.835005 -0.216781 q: 0.127983 0.793303 -0.239238 0.545029 
time: 1403637202.838319, t: 2.959914 -2.931674 -0.179704 q: 0.143045 0.788474 -0.227299 0.553338 
time: 1403637203.038319, t: 2.848244 -3.020870 -0.153721 q: 0.157679 0.789728 -0.217865 0.551364 
time: 1403637203.238319, t: 2.744533 -3.101195 -0.145104 q: 0.159555 0.788673 -0.218263 0.552176 
optimize pose graph 
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time: 1403637203.638319, t: 2.573553 -3.241431 -0.173566 q: 0.166358 0.787658 -0.217321 0.551989 
time: 1403637203.838319, t: 2.509294 -3.295415 -0.210210 q: 0.166286 0.786134 -0.219610 0.553275 
time: 1403637204.038319, t: 2.454608 -3.337517 -0.259695 q: 0.168563 0.785802 -0.219508 0.553099 
time: 1403637204.238319, t: 2.394060 -3.362043 -0.295025 q: 0.168929 0.785619 -0.220467 0.552866 
time: 1403637204.438319, t: 2.344911 -3.378740 -0.302221 q: 0.165850 0.782811 -0.224902 0.555985 
time: 1403637204.638319, t: 2.294497 -3.384626 -0.275546 q: 0.164535 0.779100 -0.230640 0.559229 
time: 1403637204.838319, t: 2.247340 -3.383451 -0.242805 q: 0.166977 0.781527 -0.234120 0.553645 
time: 1403637205.038319, t: 2.200835 -3.373114 -0.233675 q: 0.166972 0.786545 -0.236462 0.545484 
time: 1403637205.238319, t: 2.156107 -3.359976 -0.247973 q: 0.165852 0.788853 -0.235052 0.543097 
time: 1403637205.438319, t: 2.124459 -3.343431 -0.263090 q: 0.160539 0.791516 -0.221898 0.546343 
optimize pose graph 
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time: 1403637205.838319, t: 2.092339 -3.298326 -0.274753 q: 0.154272 0.790344 -0.205602 0.556132 
time: 1403637206.038319, t: 2.082692 -3.261660 -0.302736 q: 0.152149 0.789856 -0.204766 0.557717 
time: 1403637206.238319, t: 2.074120 -3.217252 -0.307794 q: 0.141246 0.788339 -0.210643 0.560536 
time: 1403637206.438319, t: 2.070865 -3.173752 -0.279073 q: 0.138244 0.786857 -0.213191 0.562400 
time: 1403637206.638319, t: 2.062398 -3.134955 -0.243229 q: 0.141224 0.786546 -0.212612 0.562314 
time: 1403637206.838319, t: 2.046295 -3.096500 -0.231637 q: 0.145717 0.785715 -0.211522 0.562740 
time: 1403637207.038319, t: 2.024267 -3.054593 -0.213389 q: 0.147447 0.783229 -0.212354 0.565435 
time: 1403637207.238319, t: 1.996998 -3.009387 -0.193278 q: 0.148606 0.781129 -0.214934 0.567061 
time: 1403637207.438319, t: 1.963409 -2.960706 -0.198272 q: 0.149677 0.781110 -0.216905 0.566054 
optimize pose graph 
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time: 1403637207.838319, t: 1.874645 -2.867365 -0.240316 q: 0.138636 0.789895 -0.228244 0.552042 
time: 1403637208.038319, t: 1.826091 -2.838456 -0.207753 q: 0.149139 0.787912 -0.222247 0.554580 
time: 1403637208.238319, t: 1.783948 -2.810921 -0.147981 q: 0.154036 0.788076 -0.220523 0.553695 
time: 1403637208.438319, t: 1.745922 -2.786932 -0.101663 q: 0.144503 0.783652 -0.230021 0.558658 
time: 1403637208.638319, t: 1.707021 -2.774014 -0.078409 q: 0.151131 0.783205 -0.227160 0.558701 
time: 1403637208.838319, t: 1.659538 -2.755946 -0.079903 q: 0.156486 0.781981 -0.223964 0.560230 
time: 1403637209.038319, t: 1.611348 -2.735945 -0.099262 q: 0.173591 0.785657 -0.212680 0.554416 
time: 1403637209.238319, t: 1.568035 -2.692729 -0.132837 q: 0.164391 0.790390 -0.200778 0.554930 
time: 1403637209.438319, t: 1.542086 -2.639023 -0.139072 q: 0.135686 0.803426 -0.188288 0.548310 
optimize pose graph 
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time: 1403637209.838319, t: 1.556151 -2.547692 -0.077743 q: 0.113529 0.834990 -0.174634 0.509319 
time: 1403637210.038319, t: 1.632254 -2.529585 -0.058257 q: 0.108659 0.844336 -0.177031 0.493914 
time: 1403637210.238319, t: 1.752369 -2.523520 -0.098894 q: 0.104322 0.855652 -0.181091 0.473479 
time: 1403637210.438319, t: 1.947720 -2.541088 -0.152907 q: 0.103035 0.859163 -0.181942 0.467033 
time: 1403637210.638319, t: 2.220249 -2.585036 -0.201956 q: 0.106622 0.844885 -0.178503 0.492887 
time: 1403637210.838319, t: 2.545267 -2.647326 -0.260815 q: 0.098277 0.835013 -0.182201 0.509802 
time: 1403637211.038319, t: 2.901161 -2.731650 -0.332697 q: 0.086469 0.818255 -0.191425 0.535106 
time: 1403637211.238319, t: 3.266184 -2.840993 -0.415926 q: 0.096095 0.807816 -0.189173 0.549921 
time: 1403637211.438319, t: 3.628984 -2.967024 -0.509154 q: 0.111971 0.797337 -0.185003 0.563463 
optimize pose graph 
time: 1403637211.638319, t: 3.978005 -3.096173 -0.607875 q: 0.109746 0.800386 -0.188706 0.558327 
time: 1403637211.838319, t: 4.312256 -3.231362 -0.679819 q: 0.093100 0.808723 -0.199872 0.545300 
time: 1403637212.038319, t: 4.639948 -3.389433 -0.714191 q: 0.100450 0.808843 -0.196207 0.545147 
time: 1403637212.238319, t: 4.966872 -3.562200 -0.718780 q: 0.115401 0.793204 -0.187955 0.567611 
time: 1403637212.438319, t: 5.272841 -3.734252 -0.701780 q: 0.121300 0.788085 -0.186922 0.573819 
time: 1403637212.638319, t: 5.558770 -3.899759 -0.671332 q: 0.121237 0.797202 -0.190921 0.559750 
time: 1403637212.838319, t: 5.839186 -4.059981 -0.623874 q: 0.123896 0.804571 -0.190198 0.548762 
time: 1403637213.038319, t: 6.130661 -4.223710 -0.571035 q: 0.128370 0.806525 -0.184907 0.546670 
time: 1403637213.238319, t: 6.417437 -4.377151 -0.533409 q: 0.120546 0.806571 -0.186093 0.547980 
time: 1403637213.438319, t: 6.709811 -4.530353 -0.517085 q: 0.120429 0.803806 -0.184798 0.552487 
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time: 1403637214.038319, t: 7.551556 -4.925552 -0.569804 q: 0.146407 0.804740 -0.160282 0.552510 
time: 1403637214.238319, t: 7.839737 -5.008177 -0.576143 q: 0.122793 0.798709 -0.150472 0.569511 
time: 1403637214.438319, t: 8.118962 -5.068938 -0.554228 q: 0.108271 0.796468 -0.109489 0.584747 
time: 1403637214.638319, t: 8.370744 -5.095264 -0.509744 q: 0.101636 0.796484 -0.051158 0.593857 
wait for imu ... 
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time: 1403637253.038319, t: 2.879350 -2.455317 -0.107062 q: 0.032283 0.813125 -0.071730 0.576750 
time: 1403637253.238319, t: 2.840496 -2.433509 -0.092696 q: 0.036924 0.808993 -0.070450 0.582413 
time: 1403637253.438319, t: 2.801298 -2.414039 -0.096360 q: 0.036270 0.808519 -0.072747 0.582829 
time: 1403637253.638319, t: 2.754140 -2.403708 -0.118460 q: 0.040308 0.809359 -0.070916 0.581622 
optimize pose graph 
time: 1403637253.838319, t: 2.701067 -2.395284 -0.118826 q: 0.047910 0.807276 -0.066125 0.584498 
time: 1403637254.038319, t: 2.641840 -2.381540 -0.096954 q: 0.050819 0.806333 -0.064325 0.585753 
time: 1403637254.238319, t: 2.577771 -2.356035 -0.052739 q: 0.045345 0.807479 -0.055320 0.585543 
time: 1403637254.438319, t: 2.498492 -2.321950 0.004287 q: 0.035154 0.815154 -0.039252 0.576843 
time: 1403637254.638319, t: 2.422396 -2.281816 0.046055 q: 0.028443 0.817329 -0.029827 0.574695 
time: 1403637254.838319, t: 2.348832 -2.237768 0.065239 q: 0.023606 0.812291 -0.026618 0.582166 
time: 1403637255.038319, t: 2.274886 -2.190154 0.061263 q: 0.021131 0.808710 -0.025957 0.587254 
time: 1403637255.238319, t: 2.193741 -2.137099 0.055024 q: 0.010490 0.808602 -0.014017 0.588096 
time: 1403637255.438319, t: 2.100898 -2.080833 0.070019 q: -0.004303 0.808882 0.000428 0.587956 
time: 1403637255.638319, t: 2.004969 -2.023972 0.069357 q: -0.018031 0.809394 0.027617 0.586339 
time: 1403637255.838319, t: 1.903445 -1.965824 0.063126 q: -0.036790 0.812403 0.064257 0.578377 
optimize pose graph 
time: 1403637256.038319, t: 1.796541 -1.901623 0.086697 q: -0.058101 0.812308 0.096909 0.572179 
time: 1403637256.238319, t: 1.682969 -1.835190 0.129012 q: -0.067319 0.806675 0.113075 0.576157 
time: 1403637256.438319, t: 1.571002 -1.761258 0.149684 q: -0.068527 0.802484 0.117731 0.580915 
time: 1403637256.638319, t: 1.452060 -1.678198 0.144403 q: -0.067856 0.803609 0.113995 0.580184 
time: 1403637256.838319, t: 1.325232 -1.590077 0.118780 q: -0.083382 0.816382 0.096844 0.563195 
time: 1403637257.038319, t: 1.211137 -1.508697 0.094895 q: -0.084885 0.810333 0.106332 0.569955 
time: 1403637257.238319, t: 1.092598 -1.432719 0.096543 q: -0.087315 0.805868 0.124252 0.572288 
time: 1403637257.438319, t: 0.981818 -1.346833 0.124462 q: -0.088858 0.806570 0.137613 0.567990 
time: 1403637257.638319, t: 0.870179 -1.266317 0.137003 q: -0.090394 0.808896 0.143635 0.562926 
time: 1403637257.838319, t: 0.778825 -1.172713 0.130518 q: -0.097366 0.815618 0.148880 0.550566 
optimize pose graph 
time: 1403637258.038319, t: 0.685455 -1.072557 0.104729 q: -0.114231 0.815684 0.165220 0.542506 
time: 1403637258.238319, t: 0.614484 -0.959936 0.095929 q: -0.134965 0.802038 0.197341 0.547336 
time: 1403637258.438319, t: 0.547627 -0.843215 0.088846 q: -0.152569 0.789291 0.217899 0.553410 
time: 1403637258.638319, t: 0.513047 -0.725847 0.062877 q: -0.169122 0.790186 0.220621 0.546197 
time: 1403637258.838319, t: 0.465333 -0.615714 0.024521 q: -0.171810 0.784828 0.221464 0.552702 
time: 1403637259.038319, t: 0.422044 -0.522292 -0.002594 q: -0.175948 0.784968 0.216589 0.553134 
time: 1403637259.238319, t: 0.390633 -0.438599 0.013473 q: -0.174537 0.784795 0.214379 0.554685 
time: 1403637259.438319, t: 0.360337 -0.373276 0.044179 q: -0.178813 0.785537 0.208230 0.554615 
time: 1403637259.638319, t: 0.338797 -0.334889 0.058390 q: -0.186616 0.785536 0.201159 0.554656 
time: 1403637259.838319, t: 0.313124 -0.330304 0.061323 q: -0.174151 0.788951 0.209431 0.550787 
time: 1403637260.038319, t: 0.304642 -0.333165 0.047430 q: -0.178415 0.785298 0.206594 0.555692 
optimize pose graph 
time: 1403637260.238319, t: 0.294521 -0.349145 0.017007 q: -0.166519 0.784610 0.216221 0.556693 
time: 1403637260.438319, t: 0.279790 -0.364683 -0.021887 q: -0.150267 0.780694 0.229011 0.561685 
time: 1403637260.638319, t: 0.260161 -0.372883 -0.068218 q: -0.148672 0.791647 0.231009 0.545735 
time: 1403637260.838319, t: 0.241216 -0.364306 -0.113617 q: -0.154691 0.787841 0.227597 0.550978 
time: 1403637261.038319, t: 0.221764 -0.348838 -0.159348 q: -0.159301 0.780986 0.225738 0.560113 
time: 1403637261.238319, t: 0.197337 -0.331021 -0.204508 q: -0.155519 0.793185 0.228384 0.542690 
time: 1403637261.438319, t: 0.179761 -0.304812 -0.228570 q: -0.159860 0.789460 0.224755 0.548346 
time: 1403637261.638319, t: 0.171097 -0.273266 -0.238942 q: -0.159275 0.796418 0.224420 0.538503 
time: 1403637261.838319, t: 0.174406 -0.238185 -0.228302 q: -0.156726 0.792556 0.225120 0.544622 
time: 1403637262.038319, t: 0.185946 -0.197226 -0.226468 q: -0.161716 0.783741 0.219412 0.558083 
time: 1403637262.238319, t: 0.195755 -0.163945 -0.260968 q: -0.168147 0.782792 0.212275 0.560270 
time: 1403637262.438319, t: 0.191706 -0.168806 -0.277137 q: -0.161600 0.780633 0.196033 0.571024 
time: 1403637262.638319, t: 0.184923 -0.180357 -0.282264 q: -0.171219 0.771033 0.165493 0.590597 
time: 1403637262.838319, t: 0.187875 -0.180026 -0.286275 q: -0.168276 0.779730 0.168135 0.579167 
time: 1403637263.038319, t: 0.189453 -0.181739 -0.277415 q: -0.168201 0.780342 0.168510 0.578255 
time: 1403637263.238319, t: 0.188570 -0.179418 -0.277973 q: -0.168906 0.780519 0.168024 0.577953 
time: 1403637263.438319, t: 0.188678 -0.178679 -0.278537 q: -0.168712 0.780544 0.168024 0.577975 
time: 1403637263.638319, t: 0.188594 -0.178721 -0.278511 q: -0.168703 0.780575 0.167952 0.577956 
time: 1403637263.838319, t: 0.188770 -0.178825 -0.278530 q: -0.168231 0.780537 0.168147 0.578089 
time: 1403637264.038319, t: 0.188659 -0.178555 -0.278595 q: -0.168727 0.780648 0.167786 0.577900 
time: 1403637264.238319, t: 0.188719 -0.178528 -0.278620 q: -0.168821 0.780748 0.167683 0.577767 
time: 1403637264.438319, t: 0.188868 -0.178492 -0.278688 q: -0.168695 0.780722 0.167751 0.577819 
time: 1403637264.638319, t: 0.188968 -0.178559 -0.278677 q: -0.168637 0.780736 0.167693 0.577833 
time: 1403637264.838319, t: 0.188744 -0.178638 -0.278469 q: -0.168512 0.780794 0.167700 0.577790 
time: 1403637265.038319, t: 0.188629 -0.178641 -0.278387 q: -0.168622 0.780849 0.167642 0.577700 
time: 1403637265.238319, t: 0.188778 -0.178640 -0.278402 q: -0.168536 0.780919 0.167649 0.577629 
time: 1403637265.438319, t: 0.188674 -0.178629 -0.278400 q: -0.168583 0.780931 0.167632 0.577604 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720476367.517204024]: Shutdown request received.[0m
[33m[ WARN] [1720476367.517242057]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720476367.518164299]: Shutdown request received.[0m
[33m[ WARN] [1720476367.518187366]: Reason given for shutdown: [user request][0m
killed
