/SLAM-Hive/slam_hive_results/mapping_results/2877/2085_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-15.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720477449.935369308]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720477449.937623533]: init begins[0m
[31m[ERROR] [1720477449.938666821]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/cc03f1c4-3d78-11ef-851f-0242ac110005/roslaunch-17c26aeda58b-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://17c26aeda58b:36659/[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] [1720477451.091958829]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720477451.094451353]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://17c26aeda58b:11311/[0m
]2;roscore http://17c26aeda58b:11311/
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[1msetting /run_id to cc03f1c4-3d78-11ef-851f-0242ac110005[0m
result path /home/output/vio.csv
[33m[ WARN] [1720477451.102077478]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720477451.102277633]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720477451.102305381]: ROW: 240 COL: 376 [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] [1720477451.102512208]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720477451.102784606]: 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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720477460.065002457]: 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: 316840329.74 
init first imu pose
averge acc 9.438567 -0.684964 -2.448160
init R0 
  0.260071   0.260169   0.929879
         0  -0.963017    0.26944
  0.965589 -0.0700736  -0.250453
[0m[ INFO] [1720477464.633913935]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477465.017250936]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477465.444018207]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477465.834653987]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477466.228139684]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477466.636908804]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477467.038957835]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477467.438554829]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477467.839019498]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477468.239267535]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477469.440790448]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477469.836207014]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477470.270691613]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720477473.442001105]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477473.868587032]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477474.281187219]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477474.664227623]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720477475.102437527]: gyroscope bias initial calibration -0.00715659   0.0165792   0.0667497[0m
[0m[ INFO] [1720477475.145536175]: Initialization finish![0m
time: 1403637145.138319, t: -0.005118 -0.007895 -0.023146 q: -0.055425 0.795134 0.014709 0.603717 
time: 1403637145.538319, t: -0.005139 -0.007928 -0.023111 q: -0.055579 0.795086 0.014685 0.603766 
time: 1403637145.938319, t: -0.005648 -0.007803 -0.023376 q: -0.055551 0.795128 0.014862 0.603709 
time: 1403637146.338319, t: -0.005594 -0.007929 -0.023322 q: -0.055090 0.795149 0.015251 0.603713 
time: 1403637146.738319, t: -0.005636 -0.007884 -0.023440 q: -0.055412 0.795299 0.015148 0.603490 
time: 1403637147.138319, t: -0.005579 -0.007862 -0.023427 q: -0.055523 0.795374 0.015384 0.603375 
time: 1403637147.538319, t: -0.005614 -0.007869 -0.023494 q: -0.055693 0.795243 0.015505 0.603528 
time: 1403637147.938319, t: -0.005655 -0.007880 -0.023502 q: -0.056051 0.795213 0.015491 0.603535 
time: 1403637148.338319, t: -0.005675 -0.007873 -0.023419 q: -0.056205 0.795302 0.015693 0.603399 
time: 1403637148.738319, t: -0.005846 -0.007798 -0.023412 q: -0.057089 0.795565 0.017382 0.602922 
time: 1403637149.138319, t: -0.006135 -0.007776 -0.023374 q: -0.058587 0.796000 0.019461 0.602140 
time: 1403637149.538319, t: -0.006629 -0.008186 -0.023361 q: -0.060207 0.796598 0.023266 0.601053 
time: 1403637149.938319, t: -0.008707 -0.017273 -0.022648 q: -0.064840 0.818263 0.044799 0.569416 
time: 1403637150.338319, t: 0.031853 -0.074575 0.045526 q: -0.027751 0.832911 0.053775 0.550088 
time: 1403637150.738319, t: 0.151826 -0.117671 0.149950 q: -0.023936 0.818776 0.040933 0.572151 
time: 1403637151.138319, t: 0.279104 -0.143985 0.216150 q: -0.021669 0.803924 0.042444 0.592819 
time: 1403637151.538319, t: 0.362128 -0.156157 0.298494 q: -0.036061 0.815648 0.039942 0.576040 
time: 1403637151.938319, t: 0.434228 -0.209157 0.369490 q: -0.030958 0.815798 0.048557 0.575463 
time: 1403637152.338319, t: 0.505092 -0.259008 0.435688 q: -0.036593 0.819350 0.045730 0.570294 
time: 1403637152.738319, t: 0.610281 -0.336883 0.454431 q: -0.033411 0.818198 0.044235 0.572258 
time: 1403637153.138319, t: 0.712388 -0.431282 0.505217 q: -0.030114 0.814292 0.042333 0.578127 
time: 1403637153.538319, t: 0.816865 -0.522644 0.535926 q: -0.019939 0.820229 0.043940 0.569997 
time: 1403637153.938319, t: 0.927977 -0.602266 0.615615 q: -0.019472 0.816943 0.042173 0.574845 
time: 1403637154.338319, t: 1.053844 -0.669999 0.597418 q: -0.045122 0.830992 0.022308 0.554003 
time: 1403637154.738319, t: 1.208057 -0.774559 0.518404 q: -0.010508 0.827890 0.036666 0.559592 
time: 1403637155.138319, t: 1.396438 -0.880857 0.481202 q: 0.014786 0.829304 -0.004812 0.558581 
time: 1403637155.538319, t: 1.637254 -0.961884 0.532607 q: 0.035636 0.813434 -0.046347 0.578712 
time: 1403637155.938319, t: 1.830895 -1.046388 0.497269 q: 0.056046 0.811335 -0.111026 0.571198 
time: 1403637156.338319, t: 2.000790 -1.208231 0.422569 q: 0.105978 0.789746 -0.201914 0.569474 
time: 1403637156.738319, t: 2.075402 -1.426365 0.344280 q: 0.174276 0.761104 -0.286264 0.555340 
time: 1403637157.138319, t: 2.101926 -1.676302 0.195012 q: 0.205670 0.763420 -0.313014 0.526225 
time: 1403637157.538319, t: 2.138488 -1.969161 0.100898 q: 0.179333 0.760581 -0.319928 0.535726 
time: 1403637157.938319, t: 2.171134 -2.362926 0.118194 q: 0.178469 0.758419 -0.303753 0.548346 
time: 1403637158.338319, t: 2.125950 -2.781878 0.144939 q: 0.195207 0.757086 -0.295050 0.549236 
time: 1403637158.738319, t: 2.028623 -3.202631 0.163272 q: 0.218446 0.726570 -0.362499 0.541269 
time: 1403637159.138319, t: 1.859262 -3.632914 0.137919 q: 0.248765 0.722010 -0.391011 0.513740 
time: 1403637159.538319, t: 1.659026 -4.095920 0.098138 q: 0.237616 0.721672 -0.391838 0.518837 
time: 1403637159.938319, t: 1.477088 -4.632110 0.044750 q: 0.252964 0.727898 -0.383816 0.508782 
time: 1403637160.338319, t: 1.241889 -5.109258 -0.005951 q: 0.301481 0.678380 -0.451548 0.494989 
time: 1403637160.738319, t: 0.989429 -5.571925 -0.113843 q: 0.364345 0.626900 -0.533084 0.435971 
time: 1403637161.138319, t: 0.834245 -5.996847 -0.150325 q: 0.363131 0.606427 -0.566781 0.423251 
time: 1403637161.538319, t: 0.610849 -6.487153 -0.034898 q: 0.359783 0.588691 -0.575859 0.438617 
time: 1403637161.938319, t: 0.323031 -6.938115 0.084839 q: -0.417266 -0.553549 0.572118 -0.438353 
time: 1403637162.338319, t: -0.001766 -7.279570 0.103740 q: -0.416428 -0.535272 0.581143 -0.449827 
time: 1403637162.738319, t: -0.404872 -7.497129 0.083374 q: -0.410996 -0.539345 0.584608 -0.445447 
time: 1403637163.138319, t: -0.884029 -7.582566 0.062434 q: -0.471512 -0.480509 0.621180 -0.401153 
time: 1403637163.538319, t: -1.357142 -7.488870 -0.019764 q: 0.507680 0.390541 -0.689705 0.337707 
time: 1403637163.938319, t: -1.831768 -7.260200 -0.038133 q: -0.476224 -0.353991 0.736628 -0.324469 
time: 1403637164.338319, t: -2.417219 -6.944385 0.062996 q: -0.493443 -0.365967 0.721916 -0.318463 
time: 1403637164.738319, t: -3.086648 -6.562849 0.128396 q: -0.479267 -0.381198 0.721203 -0.323817 
time: 1403637165.138319, t: -3.808852 -6.107068 0.095224 q: 0.519886 0.361788 -0.717504 0.289854 
time: 1403637165.538319, t: -4.446128 -5.578181 0.074301 q: 0.526423 0.310831 -0.757004 0.230670 
time: 1403637165.938319, t: -5.037449 -5.128948 0.123959 q: 0.542953 0.323516 -0.754309 0.177643 
time: 1403637166.338319, t: -5.490942 -4.805398 0.031233 q: 0.554466 0.353048 -0.728428 0.193176 
time: 1403637166.738319, t: -5.720760 -4.592281 -0.078035 q: 0.545923 0.374363 -0.717787 0.215874 
time: 1403637167.138319, t: -5.748458 -4.441534 -0.159022 q: 0.570987 0.415661 -0.685217 0.177981 
time: 1403637167.538319, t: -5.387604 -4.526941 -0.175815 q: 0.547136 0.396681 -0.708064 0.204771 
time: 1403637167.938319, t: -4.722332 -4.798242 -0.238247 q: -0.496725 -0.391656 0.731841 -0.253532 
time: 1403637168.338319, t: -4.213008 -4.842776 -0.361022 q: -0.499096 -0.412018 0.713791 -0.267669 
time: 1403637168.738319, t: -3.691938 -5.361019 -0.502627 q: 0.506290 0.409255 -0.706764 0.276884 
time: 1403637169.138319, t: -3.163534 -5.705643 -0.616383 q: 0.510743 0.421175 -0.703854 0.257570 
time: 1403637169.538319, t: -2.605442 -6.057329 -0.650605 q: -0.498754 -0.476074 0.655673 -0.307718 
time: 1403637169.938319, t: -1.887866 -6.330735 -0.638810 q: -0.465787 -0.562603 0.573470 -0.371015 
time: 1403637170.338319, t: -1.057914 -6.534197 -0.724862 q: 0.430161 0.623974 -0.499887 0.419202 
time: 1403637170.738319, t: -0.141642 -6.593458 -0.878458 q: 0.356311 0.643685 -0.420361 0.531044 
time: 1403637171.138319, t: 0.660275 -6.436509 -1.012314 q: 0.260417 0.712188 -0.332568 0.560687 
time: 1403637171.538319, t: 1.297673 -6.148003 -1.006677 q: 0.241213 0.732204 -0.277629 0.573251 
time: 1403637171.938319, t: 1.795000 -5.707552 -0.984302 q: 0.261757 0.730095 -0.273008 0.569131 
time: 1403637172.338319, t: 2.153815 -5.092640 -1.029913 q: 0.230202 0.729804 -0.312491 0.562799 
time: 1403637173.138319, t: 2.415554 -3.768994 -0.929522 q: 0.184543 0.747295 -0.409968 0.489306 
time: 1403637173.538319, t: 2.461538 -3.487556 -1.006253 q: 0.241148 0.691024 -0.479814 0.483852 
time: 1403637173.938319, t: 2.322165 -3.359927 -1.139644 q: 0.251082 0.647989 -0.561997 0.448583 
time: 1403637174.338319, t: 2.079900 -3.594060 -1.128118 q: 0.345532 0.620241 -0.523454 0.471068 
time: 1403637174.738319, t: 1.743349 -3.782372 -1.020333 q: 0.361383 0.583584 -0.548595 0.477363 
time: 1403637175.138319, t: 1.290690 -3.913962 -0.971616 q: -0.408169 -0.531290 0.607890 -0.426145 
time: 1403637175.538319, t: 0.791877 -3.956976 -0.970033 q: -0.430798 -0.489801 0.619878 -0.436187 
time: 1403637175.938319, t: 0.190137 -3.860375 -0.965027 q: -0.419693 -0.511431 0.624956 -0.414399 
time: 1403637176.338319, t: -0.492888 -3.686287 -0.866727 q: -0.445592 -0.506707 0.602223 -0.426643 
time: 1403637176.738319, t: -1.167127 -3.379866 -0.848272 q: -0.443185 -0.497316 0.633599 -0.393467 
time: 1403637177.138319, t: -1.839269 -3.036836 -0.894824 q: -0.414753 -0.505900 0.670130 -0.350672 
time: 1403637177.538319, t: -2.540897 -2.814883 -1.007419 q: -0.405529 -0.523500 0.679903 -0.315001 
time: 1403637177.938319, t: -3.224742 -2.862658 -1.088041 q: -0.448026 -0.510243 0.671751 -0.296100 
time: 1403637178.338319, t: -3.748265 -3.061015 -1.168793 q: 0.509746 0.479023 -0.675884 0.232114 
time: 1403637178.738319, t: -4.001823 -3.439572 -1.171363 q: 0.523116 0.452446 -0.679198 0.245626 
time: 1403637179.138319, t: -4.044916 -3.879449 -1.217712 q: 0.515687 0.423372 -0.684060 0.294763 
time: 1403637179.538319, t: -3.966181 -4.284940 -1.214822 q: 0.506478 0.436112 -0.686948 0.285286 
time: 1403637179.938319, t: -3.790783 -4.681760 -1.296457 q: 0.531378 0.446155 -0.670708 0.262172 
time: 1403637180.338319, t: -3.449539 -5.065528 -1.512568 q: 0.504263 0.430136 -0.689799 0.291340 
time: 1403637180.738319, t: -3.035920 -5.427226 -1.603038 q: -0.494060 -0.439264 0.697993 -0.275243 
time: 1403637181.138319, t: -2.555866 -5.851054 -1.550969 q: 0.523055 0.438604 -0.684930 0.254778 
time: 1403637181.538319, t: -1.961925 -6.303302 -1.390888 q: 0.523089 0.414634 -0.691826 0.275378 
time: 1403637181.938319, t: -1.304054 -6.699557 -1.149909 q: 0.514732 0.400745 -0.704284 0.280068 
time: 1403637182.338319, t: -0.601548 -7.017912 -0.970729 q: 0.521700 0.384936 -0.694578 0.311793 
time: 1403637182.738319, t: 0.115263 -7.169493 -0.802238 q: 0.535728 0.388164 -0.679115 0.318004 
time: 1403637183.138319, t: 0.820807 -7.164710 -0.680424 q: 0.519168 0.366293 -0.691012 0.344670 
time: 1403637183.538319, t: 1.491563 -6.911717 -0.727367 q: 0.508044 0.357458 -0.698780 0.354713 
time: 1403637183.938319, t: 1.993427 -6.406770 -0.827227 q: -0.479415 -0.347670 0.717283 -0.367139 
time: 1403637184.338319, t: 2.157585 -5.712408 -0.845564 q: -0.479761 -0.366040 0.721810 -0.338873 
time: 1403637185.138319, t: 2.291292 -4.366099 -0.926981 q: -0.449551 -0.409435 0.742357 -0.281378 
time: 1403637185.538319, t: 2.165867 -3.926415 -0.776672 q: -0.445648 -0.423046 0.745498 -0.258191 
time: 1403637185.938319, t: 1.825426 -3.656607 -0.649477 q: -0.487221 -0.411512 0.720103 -0.273360 
time: 1403637186.738319, t: 1.410703 -3.173224 -0.213975 q: -0.492210 -0.393749 0.717446 -0.296586 
wait for imu ... 
time: 1403637187.138319, t: 1.255213 -2.899109 -0.064521 q: -0.472006 -0.372409 0.730827 -0.323131 
time: 1403637187.538319, t: 0.674989 -2.635046 -0.131471 q: -0.471966 -0.388010 0.743339 -0.272295 
time: 1403637187.938319, t: 0.432309 -2.440147 -0.114673 q: -0.466581 -0.384935 0.751848 -0.262395 
time: 1403637188.338319, t: 0.006100 -2.415912 -0.176640 q: 0.501236 0.390883 -0.729726 0.251939 
time: 1403637188.738319, t: -0.353017 -2.466757 -0.306164 q: 0.514948 0.346899 -0.735698 0.270624 
time: 1403637189.138319, t: -0.798276 -2.479558 -0.478599 q: 0.508934 0.314134 -0.765544 0.237169 
time: 1403637189.538319, t: -1.305512 -2.432152 -0.614009 q: 0.519010 0.303436 -0.761417 0.242487 
time: 1403637189.938319, t: -1.817278 -2.379908 -0.667631 q: 0.526701 0.315900 -0.753421 0.234842 
time: 1403637190.338319, t: -2.287999 -2.300874 -0.602934 q: 0.536171 0.312305 -0.748157 0.235048 
time: 1403637190.738319, t: -2.705797 -2.198257 -0.500106 q: 0.537769 0.324348 -0.743018 0.231357 
time: 1403637191.138319, t: -3.092037 -2.076963 -0.493629 q: 0.525800 0.343334 -0.731952 0.264391 
time: 1403637191.538319, t: -3.421711 -1.933349 -0.547657 q: 0.530978 0.352038 -0.725778 0.259573 
time: 1403637191.938319, t: -3.675773 -1.775061 -0.494343 q: 0.523375 0.367927 -0.735054 0.224509 
time: 1403637192.338319, t: -3.822306 -1.706708 -0.324013 q: 0.514635 0.377684 -0.742884 0.201568 
time: 1403637192.738319, t: -3.931531 -1.803985 -0.189801 q: -0.492988 -0.361122 0.759826 -0.221853 
time: 1403637193.138319, t: -4.041998 -1.985265 -0.062828 q: -0.493858 -0.350225 0.757970 -0.242753 
time: 1403637193.538319, t: -4.200989 -2.225458 0.061063 q: 0.502897 0.354443 -0.751993 0.236583 
time: 1403637193.938319, t: -4.394184 -2.542139 0.180241 q: 0.511183 0.363786 -0.745227 0.225806 
time: 1403637194.338319, t: -4.555332 -2.914133 0.202669 q: 0.516620 0.358196 -0.742357 0.231745 
time: 1403637194.738319, t: -4.673891 -3.329608 0.268269 q: 0.507257 0.359170 -0.749919 0.226514 
time: 1403637195.138319, t: -4.773537 -3.807084 0.321303 q: 0.520047 0.350434 -0.742905 0.234180 
time: 1403637195.538319, t: -4.845234 -4.298761 0.313078 q: 0.526789 0.352969 -0.733036 0.246099 
time: 1403637195.938319, t: -4.859752 -4.751999 0.375371 q: 0.530961 0.379178 -0.717695 0.243347 
time: 1403637196.338319, t: -4.738801 -5.199349 0.410411 q: 0.578879 0.395277 -0.677841 0.221780 
time: 1403637196.738319, t: -4.341877 -5.617124 0.354326 q: 0.578449 0.383150 -0.681859 0.231649 
time: 1403637197.138319, t: -3.672667 -5.976736 0.233496 q: 0.560182 0.373663 -0.691766 0.260829 
time: 1403637197.538319, t: -2.849308 -6.274215 0.190357 q: -0.495952 -0.457531 0.664606 -0.320929 
time: 1403637197.938319, t: -1.969904 -6.475340 0.246833 q: 0.446440 0.579903 -0.562247 0.385075 
time: 1403637198.338319, t: -1.016338 -6.576908 0.408001 q: 0.400706 0.649621 -0.477520 0.435203 
time: 1403637198.738319, t: 0.020067 -6.542220 0.495989 q: 0.402032 0.672415 -0.424657 0.453757 
time: 1403637199.138319, t: 1.123928 -6.439291 0.432500 q: 0.376613 0.651443 -0.429637 0.499196 
time: 1403637199.538319, t: 2.262237 -6.137743 0.391685 q: 0.327202 0.689767 -0.371834 0.528109 
time: 1403637199.938319, t: 3.271682 -5.436038 0.211179 q: 0.222786 0.706391 -0.298401 0.601943 
time: 1403637200.338319, t: 3.996206 -4.692138 -0.093198 q: 0.140314 0.740113 -0.175911 0.633720 
time: 1403637200.738319, t: 4.441465 -3.974125 -0.330191 q: 0.100874 0.786324 -0.157380 0.588856 
wait for imu ... 
time: 1403637201.138319, t: 4.766556 -3.252056 -0.377356 q: 0.113229 0.777588 -0.191385 0.588139 
time: 1403637201.538319, t: 4.722148 -2.435303 -0.330540 q: 0.086731 0.769073 -0.266680 0.574357 
time: 1403637201.938319, t: 4.559768 -2.148844 -0.338408 q: 0.107893 0.756694 -0.287630 0.577098 
time: 1403637202.338319, t: 4.108444 -2.479864 -0.221130 q: 0.114766 0.791268 -0.271370 0.535800 
time: 1403637202.738319, t: 3.807898 -2.724446 -0.172303 q: 0.141523 0.785194 -0.246854 0.550004 
time: 1403637203.138319, t: 3.582613 -2.909611 -0.110683 q: 0.165334 0.785320 -0.231108 0.550023 
time: 1403637203.538319, t: 3.389051 -3.050509 -0.121088 q: 0.170831 0.784222 -0.230423 0.550197 
time: 1403637203.938319, t: 3.246128 -3.148570 -0.194941 q: 0.175657 0.781794 -0.231129 0.551835 
time: 1403637204.338319, t: 3.127198 -3.187370 -0.261107 q: 0.175119 0.781944 -0.233956 0.550601 
time: 1403637204.738319, t: 3.036692 -3.194681 -0.212784 q: 0.175160 0.776315 -0.243123 0.554568 
time: 1403637205.138319, t: 2.945320 -3.178332 -0.193716 q: 0.174403 0.784338 -0.248274 0.541071 
time: 1403637205.538319, t: 2.884190 -3.145802 -0.206921 q: 0.166392 0.786984 -0.226552 0.549221 
time: 1403637205.938319, t: 2.867033 -3.095685 -0.236388 q: 0.160901 0.787426 -0.217022 0.554050 
time: 1403637206.338319, t: 2.860279 -3.016256 -0.246817 q: 0.146128 0.783905 -0.224665 0.560058 
time: 1403637206.738319, t: 2.847913 -2.945979 -0.190256 q: 0.151667 0.783424 -0.223456 0.559743 
time: 1403637207.138319, t: 2.813992 -2.867369 -0.156224 q: 0.155904 0.779601 -0.225166 0.563220 
time: 1403637207.538319, t: 2.748053 -2.771383 -0.171195 q: 0.156723 0.779113 -0.230365 0.561562 
time: 1403637207.938319, t: 2.655591 -2.677541 -0.186871 q: 0.152644 0.785589 -0.236221 0.551134 
time: 1403637208.338319, t: 2.571432 -2.623188 -0.080476 q: 0.154976 0.782588 -0.238154 0.553915 
time: 1403637208.738319, t: 2.486465 -2.578298 -0.038294 q: 0.163127 0.779400 -0.236222 0.556888 
time: 1403637209.138319, t: 2.395338 -2.526494 -0.080326 q: 0.187259 0.784298 -0.215887 0.550639 
time: 1403637209.538319, t: 2.338465 -2.411245 -0.095493 q: 0.135541 0.811397 -0.193650 0.534568 
optimize pose graph 
time: 1403637209.938319, t: 2.394068 -2.328077 -0.023304 q: 0.117747 0.836051 -0.187752 0.501900 
time: 1403637210.338319, t: 2.650368 -2.329653 -0.092041 q: 0.110182 0.856635 -0.193404 0.465438 
wait for imu ... 
time: 1403637210.738319, t: 3.190288 -2.439525 -0.200251 q: 0.113435 0.837746 -0.188501 0.499782 
time: 1403637211.138319, t: 3.880070 -2.617945 -0.351238 q: 0.093871 0.809347 -0.203537 0.542879 
time: 1403637211.538319, t: 4.588281 -2.883612 -0.544460 q: 0.119533 0.795287 -0.196079 0.561055 
time: 1403637211.938319, t: 5.243363 -3.176717 -0.690436 q: 0.099205 0.809042 -0.210700 0.539644 
time: 1403637212.338319, t: 5.870989 -3.526988 -0.709272 q: 0.126102 0.787441 -0.195819 0.570692 
time: 1403637212.738319, t: 6.421733 -3.867417 -0.644790 q: 0.128771 0.799538 -0.200574 0.551296 
time: 1403637213.138319, t: 6.962584 -4.185444 -0.543833 q: 0.130885 0.804633 -0.194729 0.545450 
time: 1403637213.538319, t: 7.511394 -4.487278 -0.519145 q: 0.129763 0.799731 -0.191973 0.553839 
time: 1403637213.938319, t: 8.036182 -4.761372 -0.566190 q: 0.153932 0.805947 -0.172175 0.545079 
time: 1403637214.338319, t: 8.584634 -4.940345 -0.585167 q: 0.120508 0.795426 -0.143603 0.576327 
time: 1403637214.738319, t: 9.105251 -4.997887 -0.479199 q: 0.110738 0.794497 -0.036300 0.595981 
time: 1403637215.138319, t: 9.546629 -4.869768 -0.372120 q: 0.099747 0.788229 -0.015491 0.607047 
time: 1403637215.538319, t: 9.811373 -4.502663 -0.330723 q: 0.049249 0.771488 -0.008095 0.634284 
time: 1403637215.938319, t: 9.829675 -4.001013 -0.261972 q: -0.025347 0.792218 0.067639 0.605949 
time: 1403637216.338319, t: 9.680574 -3.473808 -0.123080 q: -0.085537 0.792941 0.106879 0.593721 
time: 1403637216.738319, t: 9.436598 -3.003826 -0.068256 q: -0.100840 0.773795 0.100755 0.617188 
time: 1403637217.138319, t: 9.055072 -2.649829 -0.018942 q: -0.101417 0.777091 0.085568 0.615242 
time: 1403637217.538319, t: 8.542419 -2.441306 -0.017077 q: -0.119610 0.784857 0.061948 0.604860 
time: 1403637217.938319, t: 7.941599 -2.419915 -0.060874 q: -0.112311 0.763975 0.155792 0.616001 
time: 1403637218.338319, t: 7.198671 -2.458362 -0.059513 q: -0.139047 0.765961 0.199454 0.595137 
time: 1403637218.738319, t: 6.359237 -2.514924 -0.091332 q: -0.138218 0.771161 0.200833 0.588109 
time: 1403637219.138319, t: 5.451015 -2.595828 -0.203290 q: -0.113929 0.773627 0.210270 0.586778 
time: 1403637219.538319, t: 4.465781 -2.627202 -0.325870 q: -0.117624 0.788997 0.203716 0.567581 
time: 1403637219.938319, t: 3.500065 -2.596069 -0.354270 q: -0.117049 0.808088 0.199994 0.541568 
time: 1403637220.338319, t: 2.649522 -2.446670 -0.235474 q: -0.127286 0.808624 0.191329 0.541589 
time: 1403637220.738319, t: 1.959087 -2.297960 -0.098747 q: -0.142470 0.804847 0.176692 0.548364 
time: 1403637221.138319, t: 1.431041 -2.162671 -0.026869 q: -0.129559 0.814378 0.168229 0.540095 
time: 1403637221.538319, t: 0.873077 -2.088746 -0.074450 q: -0.099344 0.824403 0.127223 0.542498 
time: 1403637221.938319, t: 0.478438 -1.983838 -0.175698 q: -0.086442 0.830903 0.101054 0.540292 
time: 1403637222.338319, t: 0.346500 -1.908716 -0.322061 q: -0.037209 0.830705 0.033348 0.554466 
time: 1403637222.738319, t: 0.238376 -1.919273 -0.440804 q: -0.017468 0.818928 0.006986 0.573588 
time: 1403637223.138319, t: 0.107771 -1.929457 -0.400901 q: -0.017960 0.836534 0.011028 0.547509 
time: 1403637223.538319, t: 0.204885 -1.948823 -0.247430 q: -0.019992 0.821892 0.023592 0.568803 
time: 1403637223.938319, t: 0.245388 -1.960733 -0.126679 q: -0.018626 0.816583 0.028266 0.576234 
time: 1403637224.338319, t: 0.275547 -1.960318 -0.122082 q: -0.017043 0.814504 0.028571 0.579203 
time: 1403637224.738319, t: 0.286772 -1.941277 -0.187844 q: -0.025213 0.814312 0.022742 0.579433 
time: 1403637225.138319, t: 0.273700 -1.925506 -0.225375 q: -0.015624 0.812527 0.029401 0.581972 
time: 1403637225.538319, t: 0.237754 -1.893143 -0.294702 q: -0.016291 0.809714 0.033485 0.585642 
time: 1403637225.938319, t: 0.176559 -1.832366 -0.253342 q: -0.016906 0.819482 0.035923 0.571728 
time: 1403637226.338319, t: 0.105543 -1.738767 -0.150720 q: -0.016892 0.812438 0.036469 0.581660 
time: 1403637226.738319, t: 0.035015 -1.624492 -0.125491 q: -0.014361 0.829079 0.038320 0.557631 
time: 1403637227.138319, t: 0.005623 -1.477886 -0.172140 q: -0.043008 0.824320 0.015463 0.564277 
time: 1403637227.538319, t: 0.035283 -1.377988 -0.160787 q: -0.025712 0.824380 0.021526 0.565042 
time: 1403637227.938319, t: 0.092376 -1.320981 -0.191206 q: -0.027222 0.819772 0.016510 0.571804 
time: 1403637228.338319, t: 0.150653 -1.299907 -0.250843 q: -0.021193 0.806960 0.026036 0.589651 
time: 1403637228.738319, t: 0.137719 -1.265621 -0.223058 q: -0.014635 0.809666 0.033436 0.585755 
time: 1403637229.138319, t: 0.079667 -1.213789 -0.196152 q: -0.013602 0.812351 0.031994 0.582132 
time: 1403637229.538319, t: -0.008497 -1.147120 -0.239096 q: -0.010393 0.825277 -0.011539 0.564515 
time: 1403637229.938319, t: -0.065801 -1.137605 -0.325400 q: 0.066989 0.817832 -0.108926 0.561069 
time: 1403637230.338319, t: -0.075165 -1.163377 -0.396052 q: 0.130759 0.807032 -0.190586 0.543396 
time: 1403637230.738319, t: -0.041237 -1.178225 -0.345020 q: 0.159094 0.776575 -0.223071 0.567327 
time: 1403637231.138319, t: -0.048551 -1.191387 -0.287444 q: 0.198937 0.763367 -0.335225 0.515091 
time: 1403637231.538319, t: -0.072246 -1.279144 -0.427384 q: 0.278692 0.682933 -0.475266 0.479641 
time: 1403637231.938319, t: -0.147926 -1.434950 -0.687487 q: 0.354044 0.594028 -0.588421 0.418980 
time: 1403637232.338319, t: -0.309694 -1.665299 -0.797158 q: -0.423531 -0.500237 0.642533 -0.396908 
time: 1403637232.738319, t: -0.579774 -1.846894 -0.799560 q: -0.439538 -0.419376 0.714551 -0.346910 
time: 1403637233.138319, t: -0.955262 -2.021728 -0.710356 q: -0.435408 -0.399441 0.755784 -0.282236 
time: 1403637233.538319, t: -1.482086 -2.304802 -0.665801 q: -0.432233 -0.430271 0.752824 -0.247584 
time: 1403637233.938319, t: -2.036969 -2.744376 -0.762767 q: 0.533548 0.474818 -0.668663 0.206794 
time: 1403637234.338319, t: -2.319892 -3.378087 -0.941990 q: 0.564056 0.477101 -0.643797 0.199351 
time: 1403637234.738319, t: -2.248309 -4.159519 -1.172997 q: 0.535871 0.463254 -0.643558 0.289951 
time: 1403637235.138319, t: -1.962894 -4.906679 -1.430259 q: -0.485589 -0.501017 0.615727 -0.366149 
time: 1403637235.538319, t: -1.499860 -5.411620 -1.556368 q: -0.432914 -0.558998 0.601872 -0.371291 
time: 1403637235.938319, t: -0.990073 -5.923545 -1.580422 q: 0.444916 0.604605 -0.532705 0.390805 
time: 1403637236.338319, t: -0.289161 -6.283125 -1.474900 q: 0.423269 0.658652 -0.464743 0.413562 
time: 1403637236.738319, t: 0.601487 -6.510778 -1.309567 q: 0.388238 0.670972 -0.430303 0.462501 
time: 1403637237.138319, t: 1.594350 -6.530462 -1.133507 q: 0.371611 0.647225 -0.377062 0.548479 
time: 1403637237.538319, t: 2.473766 -6.198978 -0.837663 q: 0.319451 0.662282 -0.350946 0.579803 
time: 1403637237.938319, t: 3.082834 -5.554444 -0.474182 q: 0.277527 0.664005 -0.374963 0.584363 
time: 1403637238.338319, t: 3.410689 -4.780637 -0.240191 q: 0.253796 0.629695 -0.493779 0.543373 
time: 1403637238.738319, t: 3.336500 -4.100556 -0.093264 q: -0.263198 -0.559073 0.618352 -0.485598 
time: 1403637239.138319, t: 2.901727 -3.668343 0.021564 q: -0.247714 -0.578990 0.670485 -0.392248 
time: 1403637239.538319, t: 2.100091 -3.635268 0.139870 q: -0.341462 -0.540105 0.670967 -0.376156 
time: 1403637239.938319, t: 1.214844 -3.769265 0.051711 q: -0.450630 -0.451593 0.690701 -0.340483 
time: 1403637240.338319, t: 0.271824 -3.859549 -0.188667 q: 0.500308 0.367377 -0.735198 0.272414 
time: 1403637240.738319, t: -0.606808 -4.045937 -0.379609 q: -0.494766 -0.358927 0.760068 -0.220624 
time: 1403637241.138319, t: -1.488842 -4.283349 -0.453374 q: 0.525298 0.362408 -0.734050 0.232149 
time: 1403637241.538319, t: -2.256791 -4.541651 -0.599461 q: 0.538882 0.386738 -0.716226 0.216933 
time: 1403637241.938319, t: -2.837466 -4.900238 -0.688297 q: 0.563330 0.376288 -0.693137 0.246227 
time: 1403637242.338319, t: -3.171478 -5.169221 -0.685184 q: 0.570146 0.378646 -0.689812 0.236053 
time: 1403637242.738319, t: -3.233295 -5.413159 -0.707880 q: 0.575278 0.396890 -0.671985 0.244888 
time: 1403637243.138319, t: -2.972906 -5.624953 -0.661492 q: 0.559799 0.421741 -0.654791 0.282857 
time: 1403637243.538319, t: -2.495035 -5.725062 -0.671734 q: 0.530667 0.425366 -0.674075 0.288234 
time: 1403637243.938319, t: -1.926744 -5.789005 -0.626726 q: -0.483201 -0.408356 0.712145 -0.304323 
time: 1403637244.338319, t: -1.415714 -5.837898 -0.440725 q: -0.483678 -0.402274 0.717329 -0.299452 
time: 1403637244.738319, t: -0.992595 -5.873908 -0.200949 q: -0.473219 -0.450114 0.699624 -0.289807 
time: 1403637245.138319, t: -0.614819 -5.973871 -0.045713 q: -0.435436 -0.468637 0.703265 -0.310149 
time: 1403637245.538319, t: -0.324591 -6.181290 0.042726 q: -0.449396 -0.484309 0.686182 -0.304372 
time: 1403637245.938319, t: -0.037547 -6.472434 0.058352 q: -0.440816 -0.529662 0.630620 -0.357013 
time: 1403637246.338319, t: 0.269639 -6.799809 -0.014717 q: 0.383496 0.625188 -0.518459 0.439627 
time: 1403637246.738319, t: 0.606862 -7.052808 -0.147777 q: 0.324650 0.704431 -0.369755 0.511528 
time: 1403637247.138319, t: 0.958844 -7.124232 -0.251557 q: 0.243468 0.760883 -0.290727 0.526554 
time: 1403637247.538319, t: 1.353470 -7.041751 -0.344248 q: 0.235855 0.743820 -0.277921 0.560236 
time: 1403637247.938319, t: 1.720574 -6.837600 -0.465914 q: 0.229327 0.755342 -0.230239 0.569085 
time: 1403637248.338319, t: 2.044329 -6.474090 -0.529157 q: 0.169365 0.786293 -0.200653 0.559283 
time: 1403637248.738319, t: 2.338291 -6.032219 -0.629603 q: 0.165381 0.784735 -0.195092 0.564605 
time: 1403637249.138319, t: 2.595659 -5.521529 -0.618345 q: 0.168873 0.789186 -0.210226 0.551790 
time: 1403637249.538319, t: 2.859882 -5.010501 -0.547926 q: 0.171483 0.785884 -0.216193 0.553390 
time: 1403637249.938319, t: 3.051415 -4.476525 -0.576045 q: 0.165496 0.778441 -0.201758 0.570907 
time: 1403637250.338319, t: 3.228799 -3.881876 -0.573061 q: 0.107732 0.793416 -0.182213 0.570687 
time: 1403637250.738319, t: 3.434052 -3.377847 -0.607291 q: 0.080840 0.803314 -0.173131 0.564072 
time: 1403637251.138319, t: 3.579510 -2.988234 -0.534966 q: 0.065266 0.805580 -0.166339 0.564901 
time: 1403637251.538319, t: 3.701083 -2.684378 -0.359066 q: 0.055976 0.807235 -0.124622 0.574202 
time: 1403637251.938319, t: 3.776383 -2.470671 -0.228041 q: 0.042777 0.805747 -0.084820 0.584592 
time: 1403637252.338319, t: 3.793638 -2.342254 -0.175587 q: 0.042133 0.796543 -0.075943 0.598311 
time: 1403637252.738319, t: 3.732622 -2.217552 -0.228582 q: 0.028992 0.814463 -0.087286 0.572880 
time: 1403637253.138319, t: 3.661422 -2.156006 -0.241691 q: 0.043132 0.809636 -0.080867 0.579732 
time: 1403637253.538319, t: 3.582968 -2.115556 -0.251598 q: 0.045117 0.808295 -0.082679 0.581195 
time: 1403637253.938319, t: 3.470331 -2.089370 -0.252272 q: 0.055930 0.806220 -0.075639 0.584090 
time: 1403637254.338319, t: 3.330679 -2.040071 -0.164041 q: 0.047805 0.811091 -0.056456 0.580224 
time: 1403637254.738319, t: 3.179333 -1.957503 -0.082959 q: 0.034121 0.814984 -0.036464 0.577327 
time: 1403637255.138319, t: 3.031423 -1.856373 -0.084452 q: 0.023421 0.808173 -0.031428 0.587639 
time: 1403637255.538319, t: 2.854063 -1.735738 -0.069379 q: -0.004363 0.809824 0.002859 0.586650 
time: 1403637255.938319, t: 2.649603 -1.608048 -0.075614 q: -0.041597 0.813677 0.073107 0.575200 
time: 1403637256.338319, t: 2.436438 -1.464287 -0.002771 q: -0.062539 0.805395 0.106626 0.579706 
time: 1403637256.738319, t: 2.212777 -1.296163 -0.014872 q: -0.068904 0.812443 0.096711 0.570820 
time: 1403637257.138319, t: 1.982078 -1.125210 -0.056794 q: -0.078913 0.808258 0.107309 0.573565 
time: 1403637257.538319, t: 1.753156 -0.957968 -0.015961 q: -0.081557 0.807766 0.133752 0.568307 
time: 1403637257.938319, t: 1.532121 -0.772441 -0.032256 q: -0.098799 0.818328 0.146254 0.546980 
time: 1403637258.338319, t: 1.383211 -0.555675 -0.053079 q: -0.136905 0.795186 0.202162 0.555037 
time: 1403637258.738319, t: 1.278271 -0.329210 -0.109858 q: -0.165958 0.789071 0.212844 0.551836 
time: 1403637259.138319, t: 1.280636 -0.143953 -0.148670 q: -0.168439 0.787248 0.207513 0.555705 
time: 1403637259.538319, t: 1.220085 -0.026672 -0.097774 q: -0.179936 0.788230 0.193526 0.555756 
time: 1403637260.338319, t: 1.120797 -0.005905 -0.157897 q: -0.152458 0.786336 0.212742 0.559619 
time: 1403637260.738319, t: 1.069260 -0.034788 -0.239230 q: -0.145465 0.795436 0.219470 0.545852 
time: 1403637261.138319, t: 1.011317 -0.004935 -0.331069 q: -0.152453 0.789054 0.217045 0.554115 
time: 1403637261.538319, t: 0.972654 0.042424 -0.382130 q: -0.157514 0.792206 0.212796 0.549834 
time: 1403637261.938319, t: 0.985253 0.117710 -0.368715 q: -0.153273 0.789487 0.213507 0.554646 
time: 1403637262.338319, t: 1.000464 0.171877 -0.418094 q: -0.195086 0.774072 0.179065 0.575057 
time: 1403637262.738319, t: 0.991419 0.157405 -0.430223 q: -0.158656 0.786124 0.160467 0.575402 
time: 1403637263.138319, t: 0.994747 0.152821 -0.438195 q: -0.162387 0.782621 0.159265 0.579457 
time: 1403637263.538319, t: 0.996293 0.161132 -0.424099 q: -0.162085 0.782848 0.159033 0.579298 
time: 1403637263.938319, t: 0.990553 0.154742 -0.417007 q: -0.161853 0.782823 0.158997 0.579406 
time: 1403637264.338319, t: 0.989296 0.152328 -0.415759 q: -0.161987 0.782860 0.158881 0.579351 
time: 1403637264.738319, t: 0.989626 0.151846 -0.416223 q: -0.162016 0.782889 0.158832 0.579317 
time: 1403637265.138319, t: 0.989352 0.150875 -0.415935 q: -0.162009 0.782980 0.158861 0.579187 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720477596.813633867]: Shutdown request received.[0m
[33m[ WARN] [1720477596.813664308]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720477596.814623271]: Shutdown request received.[0m
[33m[ WARN] [1720477596.814644614]: Reason given for shutdown: [user request][0m
killed
