/SLAM-Hive/slam_hive_results/mapping_results/2899/2107_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-7.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720481082.938065055]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720481082.939801036]: init begins[0m
[31m[ERROR] [1720481082.940835775]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/4171631c-3d81-11ef-8a2d-0242ac110005/roslaunch-eace1aa86365-119.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://eace1aa86365:39485/[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] [1720481084.045965889]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720481084.047291333]: 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] [1720481084.058669684]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720481084.059006061]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720481084.059059504]: 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] [1720481084.059325217]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720481084.059811547]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://eace1aa86365:11311/[0m
]2;roscore http://eace1aa86365:11311/
[1msetting /run_id to 4171631c-3d81-11ef-8a2d-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720481093.099358663]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316842965.99 
init first imu pose
averge acc 8.949590 -0.194601 -3.927257
init R0 
  0.402246  0.0453102    0.91441
         0  -0.998775  0.0494906
  0.915532 -0.0199074  -0.401753
wait for imu ... 
wait for imu ... 
[33m[ WARN] [1720481095.659391033]: gyroscope bias initial calibration -0.00221103   0.0210634   0.0773254[0m
[0m[ INFO] [1720481095.761717879]: Initialization finish![0m
time: 1403638129.345097, t: 0.000868 -0.003007 0.017760 q: -0.036431 0.820283 -0.021813 0.570380 
time: 1403638129.545097, t: 0.000611 -0.004406 0.032908 q: -0.042156 0.828411 -0.022806 0.558066 
time: 1403638129.745097, t: 0.003396 -0.001397 0.054613 q: -0.021260 0.833622 0.001929 0.551922 
time: 1403638129.945097, t: 0.006143 0.004364 0.095272 q: -0.020399 0.841813 0.011239 0.539266 
time: 1403638130.145097, t: 0.010212 0.008785 0.169310 q: -0.035617 0.828228 0.002206 0.559254 
time: 1403638130.345097, t: 0.012618 0.012415 0.250564 q: -0.048433 0.821860 0.002567 0.567621 
time: 1403638130.545097, t: 0.015017 0.014707 0.330417 q: -0.053582 0.820707 0.010476 0.568734 
time: 1403638130.745097, t: 0.009391 0.017106 0.406873 q: -0.063418 0.809568 0.000111 0.583590 
time: 1403638130.945097, t: 0.004411 0.011862 0.457202 q: -0.078211 0.801438 -0.009330 0.592868 
time: 1403638131.145097, t: -0.001589 0.005809 0.444692 q: -0.070997 0.791475 -0.014349 0.606894 
time: 1403638131.345097, t: 0.001187 0.009900 0.389900 q: -0.051270 0.810551 0.008372 0.583360 
time: 1403638131.545097, t: 0.000353 0.009235 0.321365 q: -0.042752 0.812178 0.008945 0.581772 
time: 1403638131.745097, t: -0.009416 0.002451 0.238874 q: -0.036215 0.815570 0.014974 0.577330 
wait for imu ... 
time: 1403638131.945097, t: -0.009059 -0.011088 0.156321 q: -0.019603 0.817906 0.023264 0.574546 
time: 1403638132.145097, t: -0.011273 -0.011181 0.132913 q: -0.004492 0.826759 0.049516 0.560354 
time: 1403638132.345097, t: -0.006705 -0.004756 0.211861 q: -0.022162 0.814626 0.040612 0.578138 
time: 1403638132.545097, t: -0.003171 0.002078 0.324857 q: -0.060699 0.797642 0.018815 0.599774 
time: 1403638132.745097, t: -0.000139 0.018721 0.406582 q: -0.077124 0.794812 0.008551 0.601874 
time: 1403638132.945097, t: -0.001541 0.034616 0.427662 q: -0.087500 0.784602 -0.004480 0.613778 
time: 1403638133.145097, t: -0.003726 0.010063 0.395672 q: -0.075939 0.790164 0.014503 0.608000 
time: 1403638133.345097, t: 0.004368 -0.049062 0.345504 q: -0.044286 0.796399 -0.000512 0.603147 
time: 1403638133.545097, t: -0.006624 -0.139981 0.301709 q: -0.009937 0.803078 -0.029781 0.595046 
time: 1403638133.745097, t: -0.035646 -0.221724 0.265650 q: -0.000546 0.809316 -0.066045 0.583648 
time: 1403638133.945097, t: -0.050607 -0.272734 0.235818 q: 0.028427 0.812115 -0.084126 0.576700 
time: 1403638134.145097, t: -0.017720 -0.253315 0.229989 q: 0.035998 0.816254 -0.076051 0.571532 
time: 1403638134.345097, t: 0.050892 -0.189392 0.240046 q: 0.029092 0.806269 -0.085600 0.584600 
time: 1403638134.545097, t: 0.114069 -0.106126 0.243001 q: 0.012556 0.808176 -0.094452 0.581182 
time: 1403638134.745097, t: 0.150001 -0.014573 0.248728 q: -0.000397 0.814088 -0.093003 0.573247 
time: 1403638134.945097, t: 0.169206 0.068750 0.268047 q: 0.002413 0.817737 -0.085788 0.569157 
time: 1403638135.145097, t: 0.179459 0.127007 0.268546 q: 0.005885 0.822480 -0.073903 0.563942 
time: 1403638135.345097, t: 0.164231 0.132545 0.251714 q: 0.010423 0.824443 -0.069261 0.561595 
time: 1403638135.545097, t: 0.142253 0.092004 0.231944 q: 0.024164 0.828402 -0.069857 0.555235 
time: 1403638135.745097, t: 0.115639 0.020437 0.230205 q: 0.033237 0.823030 -0.087129 0.560290 
time: 1403638135.945097, t: 0.074625 -0.042270 0.229709 q: 0.047802 0.831869 -0.084475 0.546418 
time: 1403638136.145097, t: 0.033346 -0.116295 0.262518 q: 0.061571 0.820505 -0.096475 0.560066 
time: 1403638136.345097, t: -0.010602 -0.199865 0.265914 q: 0.071579 0.813568 -0.108310 0.566791 
time: 1403638136.545097, t: -0.038639 -0.241861 0.253306 q: 0.078530 0.817975 -0.116626 0.557807 
time: 1403638136.745097, t: -0.033760 -0.205399 0.272425 q: 0.053896 0.816588 -0.121255 0.561761 
time: 1403638136.945097, t: -0.013299 -0.124534 0.289669 q: 0.008399 0.802823 -0.122780 0.583378 
time: 1403638137.145097, t: 0.004294 -0.045185 0.246515 q: -0.004556 0.802687 -0.111839 0.585803 
time: 1403638137.345097, t: 0.010463 0.009295 0.166250 q: -0.000467 0.819259 -0.086904 0.566801 
time: 1403638137.545097, t: 0.011693 0.036686 0.089119 q: 0.018887 0.834896 -0.069172 0.545717 
wait for imu ... 
wait for imu ... 
time: 1403638137.745097, t: 0.013027 0.045766 0.039394 q: 0.037332 0.838045 -0.066133 0.540290 
time: 1403638137.945097, t: 0.016302 0.050273 0.010295 q: 0.047758 0.849164 -0.061329 0.522377 
time: 1403638138.145097, t: 0.020136 0.047267 -0.000557 q: 0.049005 0.848622 -0.058262 0.523493 
time: 1403638138.345097, t: 0.014761 0.047382 -0.004064 q: 0.045948 0.839670 -0.064531 0.537288 
time: 1403638138.545097, t: 0.008971 0.046946 -0.001078 q: 0.045545 0.836516 -0.064317 0.542245 
time: 1403638138.745097, t: 0.009660 0.046999 -0.001875 q: 0.044561 0.836490 -0.064180 0.542384 
time: 1403638138.945097, t: 0.009604 0.046931 -0.001914 q: 0.043914 0.836616 -0.063803 0.542287 
time: 1403638139.145097, t: 0.009516 0.047144 -0.002075 q: 0.042664 0.836456 -0.063898 0.542621 
time: 1403638139.345097, t: 0.009342 0.047250 -0.001977 q: 0.041988 0.836446 -0.063709 0.542712 
time: 1403638139.545097, t: 0.009198 0.047346 -0.001840 q: 0.041571 0.836445 -0.063125 0.542814 
time: 1403638139.745097, t: 0.009086 0.047587 -0.001681 q: 0.040943 0.836463 -0.062733 0.542879 
time: 1403638139.945097, t: 0.008962 0.047921 -0.001491 q: 0.040229 0.836485 -0.062437 0.542932 
time: 1403638140.145097, t: 0.008878 0.048244 -0.001306 q: 0.039511 0.836524 -0.062029 0.542972 
time: 1403638140.345097, t: 0.008794 0.048561 -0.001193 q: 0.038817 0.836506 -0.061700 0.543087 
time: 1403638140.545097, t: 0.008715 0.048850 -0.001056 q: 0.038254 0.836517 -0.061353 0.543149 
time: 1403638140.745097, t: 0.008660 0.049119 -0.000952 q: 0.037675 0.836496 -0.061071 0.543254 
wait for imu ... 
time: 1403638140.945097, t: 0.008601 0.049352 -0.000809 q: 0.037237 0.836531 -0.060737 0.543269 
wait for imu ... 
time: 1403638141.145097, t: 0.008529 0.049558 -0.000746 q: 0.036817 0.836465 -0.060458 0.543429 
time: 1403638141.345097, t: 0.008482 0.049718 -0.000666 q: 0.036374 0.836473 -0.060230 0.543473 
time: 1403638141.545097, t: 0.008442 0.049820 -0.000582 q: 0.036051 0.836469 -0.060033 0.543522 
time: 1403638141.745097, t: 0.008395 0.049943 -0.000491 q: 0.035744 0.836469 -0.059900 0.543557 
time: 1403638141.945097, t: 0.008355 0.050032 -0.000422 q: 0.035525 0.836478 -0.059709 0.543579 
time: 1403638142.145097, t: 0.008313 0.050151 -0.000346 q: 0.035187 0.836490 -0.059468 0.543608 
time: 1403638142.345097, t: 0.008186 0.049977 -0.000352 q: 0.035653 0.836511 -0.059893 0.543499 
time: 1403638142.545097, t: 0.008136 0.050042 -0.000191 q: 0.035408 0.836602 -0.059701 0.543396 
time: 1403638142.745097, t: 0.008130 0.050012 -0.000013 q: 0.035211 0.836680 -0.059400 0.543321 
time: 1403638142.945097, t: 0.008082 0.050004 0.000101 q: 0.035470 0.836795 -0.059374 0.543130 
time: 1403638143.145097, t: 0.008056 0.049954 0.000158 q: 0.035494 0.836811 -0.059257 0.543117 
time: 1403638143.345097, t: 0.008065 0.049885 0.000195 q: 0.035627 0.836871 -0.059284 0.543012 
time: 1403638143.545097, t: 0.008076 0.049905 0.000185 q: 0.035795 0.836832 -0.059522 0.543035 
time: 1403638143.745097, t: 0.008082 0.049808 0.000122 q: 0.035798 0.836838 -0.059670 0.543010 
wait for imu ... 
time: 1403638143.945097, t: 0.008085 0.049710 0.000072 q: 0.035815 0.836820 -0.059702 0.543034 
wait for imu ... 
time: 1403638144.145097, t: 0.008118 0.049624 0.000046 q: 0.035827 0.836838 -0.059765 0.542998 
time: 1403638144.345097, t: 0.008096 0.049537 -0.000029 q: 0.035729 0.836792 -0.059781 0.543073 
time: 1403638144.545097, t: 0.008052 0.049453 -0.000121 q: 0.035791 0.836763 -0.059889 0.543102 
time: 1403638144.745097, t: 0.008025 0.049413 -0.000130 q: 0.035796 0.836734 -0.059765 0.543160 
time: 1403638144.945097, t: 0.008041 0.049353 -0.000100 q: 0.035821 0.836791 -0.059753 0.543071 
time: 1403638145.145097, t: 0.008025 0.049300 -0.000100 q: 0.035903 0.836774 -0.059797 0.543088 
time: 1403638145.345097, t: 0.008006 0.049233 -0.000113 q: 0.035861 0.836722 -0.059797 0.543171 
wait for imu ... 
time: 1403638145.545097, t: 0.008012 0.049168 -0.000028 q: 0.035968 0.836678 -0.059823 0.543229 
time: 1403638145.745097, t: 0.008008 0.049105 0.000008 q: 0.035823 0.836740 -0.059793 0.543146 
time: 1403638145.945097, t: 0.007974 0.049025 -0.000000 q: 0.035914 0.836724 -0.059834 0.543161 
time: 1403638146.145097, t: 0.007976 0.048960 0.000033 q: 0.035856 0.836714 -0.059718 0.543192 
time: 1403638146.345097, t: 0.007990 0.048942 0.000052 q: 0.036004 0.836715 -0.059737 0.543179 
time: 1403638146.545097, t: 0.007981 0.048905 0.000102 q: 0.036154 0.836721 -0.059797 0.543153 
time: 1403638146.745097, t: 0.007981 0.048858 0.000135 q: 0.036326 0.836746 -0.059741 0.543109 
time: 1403638146.945097, t: 0.008062 0.048928 0.000113 q: 0.036534 0.836799 -0.059791 0.543008 
time: 1403638147.145097, t: 0.008125 0.048988 0.000086 q: 0.036464 0.837038 -0.059771 0.542646 
time: 1403638147.345097, t: 0.008103 0.048932 0.000130 q: 0.036679 0.836876 -0.059690 0.542890 
time: 1403638147.545097, t: 0.008122 0.048788 0.000398 q: 0.036423 0.836360 -0.059769 0.543694 
time: 1403638147.745097, t: 0.009162 0.048640 0.000592 q: 0.035382 0.835665 -0.058708 0.544946 
time: 1403638147.945097, t: 0.019093 0.046259 0.010296 q: 0.039940 0.823028 -0.063596 0.563015 
time: 1403638148.145097, t: 0.038846 0.042430 0.046821 q: 0.041247 0.813323 -0.062105 0.577017 
time: 1403638148.345097, t: 0.055844 0.038804 0.130062 q: 0.038250 0.811139 -0.056527 0.580858 
time: 1403638148.545097, t: 0.066508 0.037778 0.197570 q: 0.038012 0.817339 -0.050312 0.572696 
time: 1403638148.745097, t: 0.082255 0.042156 0.186780 q: 0.035536 0.824575 -0.046512 0.562716 
time: 1403638148.945097, t: 0.108673 0.045455 0.188370 q: 0.032680 0.825685 -0.044181 0.561448 
time: 1403638149.145097, t: 0.141542 0.051616 0.241133 q: 0.031812 0.819432 -0.041192 0.570808 
time: 1403638149.345097, t: 0.182224 0.063840 0.300666 q: 0.028828 0.816585 -0.042857 0.574910 
time: 1403638149.545097, t: 0.220278 0.075063 0.343449 q: 0.030140 0.815075 -0.041677 0.577067 
time: 1403638149.745097, t: 0.263828 0.089078 0.363822 q: 0.026717 0.815373 -0.032914 0.577382 
time: 1403638149.945097, t: 0.299802 0.102253 0.373156 q: 0.021221 0.816033 -0.025010 0.577073 
time: 1403638150.145097, t: 0.350014 0.125648 0.376315 q: 0.031787 0.816439 -0.013173 0.576405 
time: 1403638150.345097, t: 0.408600 0.166877 0.364133 q: 0.039021 0.819230 -0.008488 0.572072 
time: 1403638150.545097, t: 0.464758 0.228283 0.344667 q: 0.020609 0.829796 -0.007328 0.557638 
time: 1403638150.745097, t: 0.529908 0.299820 0.358130 q: 0.008696 0.831015 0.001650 0.556180 
time: 1403638150.945097, t: 0.611196 0.377926 0.389304 q: 0.001816 0.825875 0.018553 0.563545 
time: 1403638151.145097, t: 0.698191 0.463630 0.401388 q: -0.010003 0.819377 0.043468 0.571517 
time: 1403638151.345097, t: 0.781705 0.562939 0.390187 q: -0.036885 0.817880 0.081622 0.568374 
time: 1403638151.545097, t: 0.864175 0.670724 0.385346 q: -0.068297 0.813280 0.119703 0.565317 
time: 1403638151.745097, t: 0.947711 0.785648 0.406763 q: -0.085670 0.809478 0.144787 0.562533 
wait for imu ... 
time: 1403638151.945097, t: 1.031785 0.908513 0.457957 q: -0.091102 0.809011 0.156173 0.559296 
time: 1403638152.145097, t: 1.112205 1.037769 0.511852 q: -0.091265 0.809231 0.159311 0.558065 
optimize pose graph 
time: 1403638152.345097, t: 1.192371 1.173727 0.540422 q: -0.087389 0.808649 0.161365 0.558938 
time: 1403638152.545097, t: 1.267793 1.323283 0.539399 q: -0.082044 0.809038 0.162705 0.558796 
time: 1403638152.745097, t: 1.332122 1.482794 0.529322 q: -0.091292 0.810680 0.162703 0.554970 
time: 1403638152.945097, t: 1.404498 1.657554 0.547235 q: -0.113429 0.802715 0.175708 0.558489 
time: 1403638153.145097, t: 1.484703 1.842154 0.588560 q: -0.130118 0.802252 0.199154 0.547538 
time: 1403638153.345097, t: 1.559425 2.023045 0.624709 q: -0.139614 0.800700 0.217391 0.540489 
time: 1403638153.545097, t: 1.639975 2.203058 0.647280 q: -0.145797 0.793472 0.249791 0.535490 
time: 1403638153.745097, t: 1.728651 2.408857 0.689729 q: -0.164830 0.781960 0.281983 0.530900 
time: 1403638153.945097, t: 1.809596 2.622135 0.714819 q: -0.186437 0.769470 0.300658 0.531754 
time: 1403638154.145097, t: 1.897210 2.855757 0.722885 q: -0.197753 0.761326 0.306157 0.536231 
time: 1403638154.345097, t: 1.972143 3.088072 0.714056 q: -0.200467 0.752655 0.306422 0.547201 
time: 1403638154.545097, t: 2.032061 3.317471 0.693259 q: -0.204485 0.746618 0.301710 0.556524 
time: 1403638154.745097, t: 2.064021 3.534185 0.690841 q: -0.208703 0.750737 0.311411 0.543930 
time: 1403638154.945097, t: 2.079678 3.747613 0.715809 q: -0.207257 0.748115 0.330607 0.536719 
time: 1403638155.145097, t: 2.073451 3.961049 0.765638 q: -0.219506 0.737492 0.349048 0.534872 
time: 1403638155.345097, t: 2.050947 4.179727 0.802040 q: -0.233331 0.725656 0.360277 0.537754 
time: 1403638155.545097, t: 2.007449 4.397729 0.813280 q: -0.248488 0.712559 0.377083 0.536956 
time: 1403638155.745097, t: 1.927410 4.597049 0.807053 q: -0.282425 0.697154 0.394543 0.527777 
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time: 1403638208.345097, t: 5.719897 10.685429 2.932477 q: -0.316689 0.690716 0.420502 0.495780 
time: 1403638208.545097, t: 5.488072 10.705731 2.909802 q: -0.314942 0.693248 0.426581 0.488106 
time: 1403638208.745097, t: 5.265105 10.715302 2.905803 q: -0.326914 0.684041 0.442272 0.479177 
time: 1403638208.945097, t: 5.056795 10.712186 2.917586 q: -0.335285 0.674072 0.453672 0.476858 
time: 1403638209.145097, t: 4.856000 10.696512 2.906648 q: -0.339267 0.670134 0.459049 0.474439 
time: 1403638209.345097, t: 4.665948 10.669461 2.868736 q: -0.341583 0.670560 0.459900 0.471341 
time: 1403638209.545097, t: 4.491560 10.633770 2.805517 q: -0.345363 0.668745 0.457559 0.473438 
time: 1403638209.745097, t: 4.324776 10.590375 2.682901 q: -0.344805 0.670364 0.455713 0.473336 
time: 1403638209.945097, t: 4.165379 10.534396 2.497845 q: -0.341511 0.665240 0.456654 0.481968 
time: 1403638210.145097, t: 4.012607 10.462459 2.301977 q: -0.347880 0.657558 0.451394 0.492788 
optimize pose graph 
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time: 1403638210.545097, t: 3.687279 10.224688 1.952178 q: -0.350131 0.656397 0.448732 0.495167 
time: 1403638210.745097, t: 3.525455 10.064628 1.760756 q: -0.352404 0.656357 0.445906 0.496160 
time: 1403638210.945097, t: 3.364133 9.873221 1.587010 q: -0.350021 0.661486 0.447556 0.489505 
time: 1403638211.145097, t: 3.206463 9.660513 1.444410 q: -0.347627 0.667673 0.450130 0.480367 
time: 1403638211.345097, t: 3.067114 9.443016 1.334666 q: -0.344978 0.671926 0.449419 0.476999 
time: 1403638211.545097, t: 2.940437 9.216320 1.221391 q: -0.333556 0.683987 0.432606 0.483481 
time: 1403638211.745097, t: 2.829054 8.971390 1.091957 q: -0.318251 0.704686 0.397006 0.494490 
time: 1403638211.945097, t: 2.732775 8.713657 0.959852 q: -0.295819 0.730666 0.350838 0.505501 
time: 1403638212.145097, t: 2.654487 8.438054 0.855936 q: -0.265376 0.749862 0.310751 0.520303 
optimize pose graph 
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time: 1403638212.745097, t: 2.473953 7.516215 0.731215 q: -0.170254 0.791283 0.190475 0.555521 
time: 1403638212.945097, t: 2.411998 7.173933 0.739658 q: -0.138764 0.801641 0.142517 0.563742 
time: 1403638213.145097, t: 2.362528 6.825519 0.769288 q: -0.105609 0.812313 0.089517 0.566551 
time: 1403638213.345097, t: 2.319629 6.471393 0.783901 q: -0.081848 0.829245 0.028766 0.552111 
time: 1403638213.545097, t: 2.297362 6.102682 0.778965 q: -0.061087 0.836059 -0.031437 0.544321 
time: 1403638213.745097, t: 2.305637 5.713411 0.776234 q: -0.015841 0.820468 -0.045975 0.569620 
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time: 1403638214.545097, t: 2.410077 4.150011 0.872802 q: 0.004295 0.832005 -0.028395 0.554025 
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time: 1403638214.945097, t: 2.520373 3.395557 0.840030 q: -0.000459 0.812793 -0.015375 0.582350 
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time: 1403638215.745097, t: 2.672812 2.015821 0.662723 q: 0.006318 0.813235 -0.006687 0.581862 
time: 1403638215.945097, t: 2.690342 1.722049 0.638343 q: 0.008001 0.812964 -0.017006 0.582011 
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time: 1403638216.545097, t: 2.687433 0.952924 0.577335 q: 0.020515 0.809812 -0.024682 0.585811 
time: 1403638216.745097, t: 2.671308 0.719639 0.556469 q: 0.026179 0.812640 -0.021240 0.581790 
time: 1403638216.945097, t: 2.647227 0.506087 0.515898 q: 0.034347 0.806659 -0.029806 0.589265 
time: 1403638217.145097, t: 2.607586 0.311598 0.462785 q: 0.042721 0.808884 -0.058725 0.583466 
time: 1403638217.345097, t: 2.559001 0.137393 0.407712 q: 0.055889 0.811041 -0.077985 0.577068 
time: 1403638217.545097, t: 2.507916 -0.013622 0.384492 q: 0.066988 0.812628 -0.084309 0.572748 
time: 1403638217.745097, t: 2.456637 -0.149964 0.392320 q: 0.081750 0.814261 -0.077541 0.569458 
time: 1403638217.945097, t: 2.408958 -0.254252 0.425484 q: 0.089164 0.814426 -0.070597 0.569013 
time: 1403638218.145097, t: 2.368484 -0.329981 0.444242 q: 0.086350 0.811155 -0.068392 0.574364 
time: 1403638218.345097, t: 2.329450 -0.380874 0.440646 q: 0.080249 0.804690 -0.067392 0.584374 
optimize pose graph 
time: 1403638218.545097, t: 2.284428 -0.397105 0.450976 q: 0.071170 0.805218 -0.069608 0.584563 
time: 1403638218.745097, t: 2.231058 -0.394236 0.478656 q: 0.068327 0.811925 -0.074234 0.574977 
time: 1403638218.945097, t: 2.173759 -0.371801 0.492775 q: 0.069123 0.815481 -0.093205 0.567032 
time: 1403638219.145097, t: 2.128920 -0.343997 0.483201 q: 0.057300 0.811023 -0.115121 0.570707 
time: 1403638219.345097, t: 2.084336 -0.321502 0.465443 q: 0.074308 0.800728 -0.109549 0.584220 
time: 1403638219.545097, t: 2.028052 -0.297580 0.454767 q: 0.079944 0.791099 -0.107002 0.596927 
time: 1403638219.745097, t: 1.950716 -0.266247 0.457768 q: 0.069221 0.796240 -0.113669 0.590161 
time: 1403638219.945097, t: 1.856435 -0.237064 0.447303 q: 0.052078 0.801706 -0.125030 0.582171 
time: 1403638220.145097, t: 1.747225 -0.224269 0.420379 q: 0.049141 0.806319 -0.126854 0.575624 
time: 1403638220.345097, t: 1.634524 -0.231239 0.413140 q: 0.074902 0.810391 -0.109416 0.570687 
optimize pose graph 
time: 1403638220.545097, t: 1.517328 -0.235736 0.435479 q: 0.081672 0.810473 -0.105732 0.570337 
time: 1403638220.745097, t: 1.401367 -0.231454 0.456220 q: 0.083484 0.809964 -0.107674 0.570434 
time: 1403638220.945097, t: 1.291466 -0.219896 0.446936 q: 0.082421 0.810107 -0.111274 0.569694 
time: 1403638221.145097, t: 1.179604 -0.204129 0.419104 q: 0.083172 0.811454 -0.112641 0.567395 
time: 1403638221.345097, t: 1.076678 -0.181772 0.407201 q: 0.080577 0.814319 -0.115671 0.563039 
time: 1403638221.545097, t: 0.974336 -0.161436 0.406724 q: 0.075585 0.814774 -0.120219 0.562118 
time: 1403638221.745097, t: 0.887665 -0.141684 0.390339 q: 0.073578 0.811059 -0.122672 0.567205 
time: 1403638221.945097, t: 0.804301 -0.129539 0.389230 q: 0.076781 0.808757 -0.119027 0.570832 
time: 1403638222.145097, t: 0.724030 -0.117764 0.409549 q: 0.081563 0.812353 -0.115367 0.565793 
time: 1403638222.345097, t: 0.648234 -0.103926 0.416359 q: 0.080376 0.819393 -0.116818 0.555418 
optimize pose graph 
time: 1403638222.545097, t: 0.592736 -0.092454 0.404437 q: 0.079479 0.821707 -0.117682 0.551934 
time: 1403638222.745097, t: 0.553461 -0.083495 0.378987 q: 0.079902 0.812442 -0.117265 0.565511 
time: 1403638222.945097, t: 0.513138 -0.070279 0.346211 q: 0.080996 0.802297 -0.115875 0.579942 
time: 1403638223.145097, t: 0.461716 -0.053062 0.320008 q: 0.080826 0.807723 -0.115769 0.572406 
time: 1403638223.345097, t: 0.408076 -0.035677 0.306941 q: 0.071332 0.819834 -0.123224 0.554617 
time: 1403638223.545097, t: 0.366423 -0.027969 0.290558 q: 0.056340 0.811634 -0.133871 0.565823 
time: 1403638223.745097, t: 0.328066 -0.036955 0.267339 q: 0.075272 0.811355 -0.121033 0.566911 
time: 1403638223.945097, t: 0.290042 -0.050896 0.241108 q: 0.087829 0.812659 -0.112098 0.565071 
time: 1403638224.345097, t: 0.239001 -0.048232 0.176799 q: 0.084956 0.819653 -0.113709 0.554998 
optimize pose graph 
time: 1403638224.545097, t: 0.240153 -0.037124 0.154655 q: 0.079222 0.806092 -0.118153 0.574438 
time: 1403638224.745097, t: 0.226006 -0.025872 0.125767 q: 0.079661 0.818607 -0.117663 0.556500 
time: 1403638224.945097, t: 0.235241 -0.013901 0.122369 q: 0.071911 0.814198 -0.122531 0.562936 
time: 1403638225.145097, t: 0.246365 -0.008843 0.129786 q: 0.069929 0.807052 -0.121834 0.573527 
time: 1403638225.345097, t: 0.251813 -0.010598 0.141655 q: 0.076880 0.817464 -0.115556 0.559007 
time: 1403638225.545097, t: 0.262554 -0.012320 0.142611 q: 0.081604 0.803098 -0.111872 0.579534 
time: 1403638225.745097, t: 0.265406 -0.009173 0.113343 q: 0.084766 0.794920 -0.109331 0.590732 
time: 1403638225.945097, t: 0.252454 0.003185 0.047294 q: 0.081617 0.816466 -0.111709 0.560574 
time: 1403638226.145097, t: 0.258872 0.021734 0.035153 q: 0.053860 0.824540 -0.126048 0.548948 
time: 1403638226.345097, t: 0.265591 0.032048 0.034275 q: 0.077730 0.825664 -0.111040 0.547637 
time: 1403638226.545097, t: 0.264865 0.027579 0.049870 q: 0.077627 0.824783 -0.110702 0.549046 
optimize pose graph 
wait for imu ... 
time: 1403638226.745097, t: 0.255313 0.045475 0.038913 q: 0.077673 0.825099 -0.112002 0.548301 
time: 1403638226.945097, t: 0.250984 0.019905 0.079229 q: 0.077250 0.825131 -0.111098 0.548497 
time: 1403638227.145097, t: 0.249823 0.017273 0.097994 q: 0.077687 0.825288 -0.110966 0.548226 
time: 1403638227.345097, t: 0.245641 0.016421 0.104017 q: 0.076922 0.825414 -0.111420 0.548052 
time: 1403638227.545097, t: 0.237381 0.017153 0.120912 q: 0.077038 0.825405 -0.111277 0.548078 
time: 1403638227.745097, t: 0.230413 0.015811 0.135525 q: 0.077116 0.825450 -0.111276 0.547999 
time: 1403638227.945097, t: 0.225335 0.017872 0.150112 q: 0.076948 0.825538 -0.111445 0.547855 
time: 1403638228.145097, t: 0.220797 0.020251 0.164531 q: 0.076906 0.825579 -0.111484 0.547791 
time: 1403638228.345097, t: 0.216950 0.021834 0.178568 q: 0.076889 0.825624 -0.111555 0.547712 
time: 1403638228.545097, t: 0.204858 0.027001 0.204422 q: 0.076813 0.825620 -0.111615 0.547717 
time: 1403638228.745097, t: 0.199651 0.029065 0.220013 q: 0.076754 0.825699 -0.111659 0.547596 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720481196.552284463]: Shutdown request received.[0m
[33m[ WARN] [1720481196.552324850]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720481196.553187948]: Shutdown request received.[0m
[33m[ WARN] [1720481196.553213506]: Reason given for shutdown: [user request][0m
killed
