/SLAM-Hive/slam_hive_results/mapping_results/2900/2108_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-8.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720481223.817209419]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720481223.819186813]: init begins[0m
[31m[ERROR] [1720481223.820216500]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/956acb52-3d81-11ef-91fb-0242ac110005/roslaunch-a8fb511662ea-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://a8fb511662ea:39767/[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] [1720481224.923885018]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720481224.929483642]: 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] [1720481224.935262890]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720481224.935438543]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720481224.935466838]: 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] [1720481224.935637866]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720481224.935870111]: 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://a8fb511662ea:11311/[0m
]2;roscore http://a8fb511662ea:11311/
[1msetting /run_id to 956acb52-3d81-11ef-91fb-0242ac110005[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720481233.933872231]: 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: 316843106.82 
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 ... 
[0m[ INFO] [1720481236.366916480]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720481236.736853054]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481236.971483452]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481237.152019343]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[33m[ WARN] [1720481237.838600101]: gyroscope bias initial calibration -0.00386416   0.0263988   0.0720623[0m
[0m[ INFO] [1720481237.862615838]: Initialization finish![0m
wait for imu ... 
wait for imu ... 
time: 1403638130.945097, t: 0.021626 0.012992 0.460884 q: -0.079313 0.802580 -0.011399 0.591138 
wait for imu ... 
time: 1403638131.145097, t: 0.014135 0.011277 0.448087 q: -0.071876 0.792401 -0.015765 0.605546 
time: 1403638131.345097, t: 0.016716 0.016845 0.401105 q: -0.051990 0.811326 0.007276 0.582232 
time: 1403638131.545097, t: 0.015298 0.017661 0.335885 q: -0.043343 0.812896 0.008421 0.580732 
time: 1403638131.745097, t: 0.010237 0.014873 0.254736 q: -0.036392 0.816293 0.014403 0.576311 
time: 1403638131.945097, t: 0.009629 0.012178 0.176604 q: -0.019207 0.818518 0.022534 0.573717 
time: 1403638132.145097, t: 0.006409 0.018680 0.152355 q: -0.004010 0.827258 0.048745 0.559689 
wait for imu ... 
time: 1403638132.345097, t: 0.004156 0.021001 0.228570 q: -0.022293 0.814860 0.040141 0.577837 
time: 1403638132.545097, t: 0.008398 0.027710 0.344870 q: -0.061111 0.797862 0.018448 0.599450 
time: 1403638132.745097, t: 0.021687 0.046713 0.436230 q: -0.077509 0.795199 0.008185 0.601319 
time: 1403638132.945097, t: 0.025176 0.060821 0.458874 q: -0.088359 0.784992 -0.004489 0.613156 
time: 1403638133.145097, t: 0.020894 0.042388 0.415626 q: -0.077129 0.790263 0.014957 0.607710 
time: 1403638133.345097, t: 0.022315 -0.026279 0.357735 q: -0.046365 0.796292 0.000466 0.603132 
time: 1403638133.545097, t: 0.007933 -0.118451 0.316177 q: -0.012263 0.803116 -0.028654 0.595007 
time: 1403638133.745097, t: -0.022512 -0.202126 0.279458 q: -0.003324 0.809528 -0.064647 0.583502 
time: 1403638133.945097, t: -0.036733 -0.253580 0.250931 q: 0.025221 0.812519 -0.082457 0.576521 
time: 1403638134.145097, t: -0.005593 -0.232116 0.244592 q: 0.032554 0.816662 -0.074225 0.571396 
time: 1403638134.345097, t: 0.062205 -0.168352 0.256287 q: 0.025468 0.806772 -0.083725 0.584347 
time: 1403638134.545097, t: 0.121226 -0.084600 0.259186 q: 0.008955 0.808775 -0.092579 0.580716 
time: 1403638134.745097, t: 0.155998 0.007907 0.265202 q: -0.003928 0.814709 -0.091195 0.572641 
time: 1403638134.945097, t: 0.177153 0.088606 0.283696 q: -0.001034 0.818403 -0.084187 0.568443 
time: 1403638135.145097, t: 0.187934 0.144027 0.282878 q: 0.002419 0.823150 -0.072282 0.563199 
time: 1403638135.345097, t: 0.177417 0.150323 0.264025 q: 0.007388 0.825141 -0.068110 0.560757 
time: 1403638135.545097, t: 0.158843 0.109444 0.240620 q: 0.021288 0.829150 -0.068782 0.554370 
time: 1403638135.745097, t: 0.129636 0.038247 0.238940 q: 0.030565 0.823851 -0.086218 0.559376 
time: 1403638135.945097, t: 0.092184 -0.025385 0.235107 q: 0.045248 0.832698 -0.083538 0.545517 
time: 1403638136.145097, t: 0.052789 -0.098837 0.267944 q: 0.059307 0.821417 -0.095786 0.559090 
time: 1403638136.345097, t: 0.003694 -0.181271 0.270187 q: 0.069636 0.814411 -0.107785 0.565922 
time: 1403638136.545097, t: -0.023485 -0.222221 0.259159 q: 0.076623 0.818823 -0.116170 0.556923 
time: 1403638136.745097, t: -0.018662 -0.188264 0.279653 q: 0.051962 0.817413 -0.120933 0.560813 
time: 1403638136.945097, t: -0.000328 -0.112576 0.296972 q: 0.006348 0.803614 -0.122481 0.582376 
time: 1403638137.145097, t: 0.015373 -0.034288 0.254372 q: -0.006524 0.803418 -0.111623 0.584822 
time: 1403638137.345097, t: 0.020435 0.021378 0.174805 q: -0.001995 0.819856 -0.086898 0.565933 
time: 1403638137.545097, t: 0.020340 0.052060 0.097609 q: 0.017782 0.835468 -0.069337 0.544858 
wait for imu ... 
wait for imu ... 
time: 1403638137.745097, t: 0.020134 0.062471 0.047414 q: 0.036326 0.838644 -0.066404 0.539395 
time: 1403638137.945097, t: 0.021110 0.066829 0.016269 q: 0.046649 0.849768 -0.061516 0.521474 
time: 1403638138.145097, t: 0.024704 0.065400 0.006233 q: 0.047845 0.849291 -0.058503 0.522487 
time: 1403638138.345097, t: 0.022389 0.067290 0.000217 q: 0.044910 0.840478 -0.064964 0.536059 
time: 1403638138.545097, t: 0.015694 0.062602 0.003155 q: 0.044423 0.837416 -0.064702 0.540902 
time: 1403638138.745097, t: 0.016697 0.059135 0.009571 q: 0.043564 0.837620 -0.064671 0.540660 
time: 1403638138.945097, t: 0.014630 0.062350 0.002196 q: 0.042815 0.837659 -0.064337 0.540699 
time: 1403638139.145097, t: 0.015161 0.062409 0.001868 q: 0.041577 0.837553 -0.064515 0.540938 
wait for imu ... 
wait for imu ... 
time: 1403638139.345097, t: 0.015092 0.062760 0.001918 q: 0.040852 0.837594 -0.064373 0.540948 
time: 1403638139.545097, t: 0.015145 0.063104 0.002026 q: 0.040394 0.837644 -0.063818 0.540970 
time: 1403638139.745097, t: 0.015277 0.063613 0.002193 q: 0.039724 0.837710 -0.063438 0.540961 
time: 1403638139.945097, t: 0.015372 0.064123 0.002330 q: 0.038985 0.837766 -0.063161 0.540962 
time: 1403638140.145097, t: 0.015494 0.064580 0.002454 q: 0.038246 0.837829 -0.062765 0.540962 
time: 1403638140.345097, t: 0.015610 0.064996 0.002543 q: 0.037548 0.837826 -0.062445 0.541053 
time: 1403638140.545097, t: 0.015711 0.065355 0.002671 q: 0.036985 0.837849 -0.062111 0.541094 
time: 1403638140.745097, t: 0.015806 0.065648 0.002740 q: 0.036406 0.837832 -0.061838 0.541191 
wait for imu ... 
time: 1403638140.945097, t: 0.015841 0.065844 0.002867 q: 0.035972 0.837865 -0.061504 0.541208 
time: 1403638141.145097, t: 0.015863 0.066027 0.002912 q: 0.035553 0.837793 -0.061218 0.541379 
time: 1403638141.345097, t: 0.015916 0.066171 0.002997 q: 0.035110 0.837793 -0.060980 0.541434 
time: 1403638141.545097, t: 0.015900 0.066230 0.003107 q: 0.034745 0.837779 -0.060742 0.541506 
time: 1403638141.745097, t: 0.015892 0.066286 0.003202 q: 0.034434 0.837777 -0.060606 0.541545 
wait for imu ... 
time: 1403638141.945097, t: 0.015891 0.066181 0.003138 q: 0.034226 0.837765 -0.060413 0.541599 
time: 1403638142.145097, t: 0.015860 0.066190 0.003297 q: 0.033914 0.837761 -0.060172 0.541652 
wait for imu ... 
time: 1403638142.345097, t: 0.015818 0.066161 0.003394 q: 0.034306 0.837784 -0.060519 0.541552 
time: 1403638142.545097, t: 0.015778 0.066132 0.003562 q: 0.034051 0.837870 -0.060314 0.541457 
time: 1403638142.745097, t: 0.015798 0.066159 0.003710 q: 0.033865 0.837952 -0.060015 0.541376 
wait for imu ... 
time: 1403638142.945097, t: 0.015804 0.066278 0.003834 q: 0.034157 0.838070 -0.060017 0.541175 
wait for imu ... 
time: 1403638143.145097, t: 0.015727 0.066198 0.003860 q: 0.034176 0.838080 -0.059882 0.541172 
time: 1403638143.345097, t: 0.015676 0.066112 0.003917 q: 0.034293 0.838137 -0.059886 0.541076 
time: 1403638143.545097, t: 0.015635 0.066066 0.003954 q: 0.034455 0.838084 -0.060074 0.541128 
time: 1403638143.745097, t: 0.015613 0.065855 0.003903 q: 0.034450 0.838074 -0.060205 0.541129 
time: 1403638143.945097, t: 0.015544 0.065640 0.003863 q: 0.034452 0.838037 -0.060209 0.541186 
time: 1403638144.145097, t: 0.015446 0.065462 0.003873 q: 0.034445 0.838041 -0.060248 0.541176 
time: 1403638144.345097, t: 0.015392 0.065357 0.003848 q: 0.034331 0.837986 -0.060237 0.541270 
time: 1403638144.745097, t: 0.015258 0.065131 0.003757 q: 0.034353 0.837897 -0.060149 0.541415 
time: 1403638144.945097, t: 0.015258 0.065026 0.003839 q: 0.034357 0.837940 -0.060097 0.541354 
time: 1403638145.145097, t: 0.015217 0.064943 0.003872 q: 0.034422 0.837910 -0.060106 0.541395 
time: 1403638145.345097, t: 0.015188 0.064823 0.003847 q: 0.034355 0.837842 -0.060066 0.541510 
time: 1403638145.545097, t: 0.015160 0.064714 0.003940 q: 0.034427 0.837783 -0.060028 0.541601 
time: 1403638145.745097, t: 0.015115 0.064608 0.004028 q: 0.034254 0.837835 -0.059949 0.541540 
time: 1403638145.945097, t: 0.015089 0.064502 0.004034 q: 0.034333 0.837803 -0.059954 0.541583 
time: 1403638146.145097, t: 0.015116 0.064428 0.004100 q: 0.034254 0.837778 -0.059800 0.541644 
time: 1403638146.345097, t: 0.015140 0.064406 0.004190 q: 0.034376 0.837774 -0.059769 0.541646 
time: 1403638146.545097, t: 0.015094 0.064339 0.004266 q: 0.034506 0.837774 -0.059787 0.541636 
time: 1403638146.745097, t: 0.015133 0.064325 0.004294 q: 0.034677 0.837793 -0.059717 0.541603 
wait for imu ... 
time: 1403638146.945097, t: 0.015180 0.064378 0.004358 q: 0.034805 0.837838 -0.059689 0.541529 
time: 1403638147.145097, t: 0.015204 0.064434 0.004354 q: 0.034727 0.838075 -0.059657 0.541171 
time: 1403638147.345097, t: 0.015155 0.064390 0.004316 q: 0.034944 0.837897 -0.059551 0.541444 
time: 1403638147.545097, t: 0.015203 0.064248 0.004580 q: 0.034676 0.837379 -0.059583 0.542258 
time: 1403638147.745097, t: 0.016162 0.063874 0.004974 q: 0.033636 0.836662 -0.058502 0.543546 
time: 1403638147.945097, t: 0.025926 0.061090 0.015367 q: 0.038076 0.824054 -0.063230 0.561683 
time: 1403638148.145097, t: 0.045485 0.057455 0.052083 q: 0.039333 0.814357 -0.061712 0.575732 
time: 1403638148.345097, t: 0.062182 0.054001 0.135105 q: 0.036263 0.812139 -0.056065 0.579630 
time: 1403638148.545097, t: 0.071555 0.053269 0.202651 q: 0.035980 0.818247 -0.049784 0.571576 
time: 1403638148.745097, t: 0.082964 0.056345 0.190484 q: 0.033352 0.825436 -0.045970 0.561631 
time: 1403638148.945097, t: 0.105385 0.058560 0.193502 q: 0.030257 0.826533 -0.043487 0.560389 
time: 1403638149.145097, t: 0.142293 0.066729 0.245942 q: 0.029347 0.820280 -0.040456 0.569774 
time: 1403638149.345097, t: 0.180653 0.076914 0.304671 q: 0.026261 0.817404 -0.042141 0.573921 
time: 1403638149.545097, t: 0.217246 0.087772 0.345033 q: 0.027484 0.815890 -0.040936 0.576102 
time: 1403638149.745097, t: 0.257501 0.098673 0.362641 q: 0.023929 0.816164 -0.032156 0.576429 
time: 1403638149.945097, t: 0.289046 0.110870 0.370275 q: 0.018363 0.816781 -0.024231 0.576146 
time: 1403638150.145097, t: 0.334945 0.131999 0.373044 q: 0.028807 0.817182 -0.012326 0.575527 
wait for imu ... 
time: 1403638150.345097, t: 0.393092 0.172132 0.363876 q: 0.036160 0.820008 -0.007718 0.571156 
time: 1403638150.545097, t: 0.451123 0.232747 0.347801 q: 0.018250 0.830507 -0.006846 0.556667 
time: 1403638150.745097, t: 0.517273 0.303952 0.361427 q: 0.006344 0.831686 0.002110 0.555207 
time: 1403638150.945097, t: 0.598998 0.380170 0.393671 q: -0.000683 0.826522 0.019020 0.562582 
time: 1403638151.145097, t: 0.684308 0.464654 0.407120 q: -0.012520 0.819925 0.043884 0.570649 
time: 1403638151.345097, t: 0.771706 0.562027 0.396783 q: -0.039269 0.818378 0.081815 0.567470 
time: 1403638151.545097, t: 0.856262 0.670320 0.394852 q: -0.070530 0.813731 0.119681 0.564397 
time: 1403638151.745097, t: 0.944727 0.783639 0.417357 q: -0.087985 0.809785 0.144812 0.561727 
wait for imu ... 
time: 1403638151.945097, t: 1.026958 0.902257 0.467713 q: -0.093429 0.809239 0.156201 0.558573 
time: 1403638152.145097, t: 1.106854 1.027399 0.520330 q: -0.093519 0.809441 0.159302 0.557389 
time: 1403638152.345097, t: 1.185681 1.161487 0.547762 q: -0.088983 0.808875 0.160930 0.558484 
time: 1403638152.545097, t: 1.260749 1.307333 0.546891 q: -0.083453 0.809269 0.162142 0.558416 
time: 1403638152.745097, t: 1.329323 1.465741 0.536082 q: -0.091618 0.811021 0.161454 0.554783 
time: 1403638152.945097, t: 1.410232 1.643059 0.553445 q: -0.112810 0.803153 0.173886 0.558554 
time: 1403638153.145097, t: 1.484775 1.819789 0.594374 q: -0.129393 0.802691 0.197265 0.547751 
time: 1403638153.345097, t: 1.569157 2.001967 0.630268 q: -0.137994 0.801377 0.214958 0.540875 
time: 1403638153.545097, t: 1.649538 2.181178 0.653665 q: -0.144124 0.794282 0.247357 0.535872 
time: 1403638153.745097, t: 1.729040 2.380236 0.695001 q: -0.163649 0.782720 0.279916 0.531240 
time: 1403638153.945097, t: 1.816989 2.604849 0.720351 q: -0.185276 0.770236 0.298616 0.532201 
time: 1403638154.145097, t: 1.887075 2.824689 0.725488 q: -0.197147 0.761786 0.304472 0.536761 
time: 1403638154.345097, t: 1.966928 3.066851 0.717085 q: -0.199781 0.753118 0.304802 0.547719 
wait for imu ... 
time: 1403638154.545097, t: 2.027129 3.302828 0.693775 q: -0.203784 0.747010 0.300095 0.557128 
time: 1403638154.745097, t: 2.065911 3.529723 0.685494 q: -0.207791 0.751201 0.309752 0.544586 
time: 1403638154.945097, t: 2.087072 3.747406 0.704371 q: -0.205956 0.748766 0.328816 0.537412 
time: 1403638155.145097, t: 2.090466 3.971659 0.750539 q: -0.218003 0.738311 0.347231 0.535539 
time: 1403638155.345097, t: 2.067723 4.191217 0.786614 q: -0.231795 0.726499 0.358539 0.538443 
time: 1403638155.545097, t: 2.033463 4.424816 0.795786 q: -0.246939 0.713466 0.375341 0.537686 
time: 1403638155.745097, t: 1.967009 4.636213 0.782588 q: -0.280906 0.698144 0.392757 0.528610 
time: 1403638155.945097, t: 1.884895 4.827941 0.750809 q: -0.306576 0.685723 0.426174 0.504154 
time: 1403638156.145097, t: 1.786260 4.989023 0.737627 q: -0.326143 0.674033 0.468631 0.468716 
time: 1403638156.345097, t: 1.690018 5.134203 0.752507 q: -0.343674 0.660643 0.498892 0.443335 
time: 1403638156.545097, t: 1.602832 5.274567 0.757166 q: -0.352947 0.653683 0.514150 0.428691 
time: 1403638156.745097, t: 1.529822 5.427641 0.739619 q: -0.355377 0.650786 0.518428 0.425932 
time: 1403638156.945097, t: 1.463371 5.612100 0.712849 q: -0.352797 0.652213 0.518061 0.426339 
time: 1403638157.145097, t: 1.410364 5.806304 0.704037 q: -0.347800 0.657694 0.516178 0.424304 
time: 1403638157.345097, t: 1.363818 6.025928 0.719898 q: -0.346235 0.657362 0.516665 0.425504 
time: 1403638157.545097, t: 1.322079 6.259548 0.742909 q: -0.349878 0.645433 0.523115 0.432843 
time: 1403638157.745097, t: 1.289271 6.496070 0.745364 q: -0.364342 0.619416 0.541220 0.436646 
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wait for imu ... 
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time: 1403638158.945097, t: 1.009278 7.891650 0.792828 q: -0.409355 0.577633 0.590645 0.387178 
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time: 1403638159.345097, t: 0.927594 8.369072 0.844514 q: -0.398252 0.591260 0.592693 0.374863 
wait for imu ... 
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wait for imu ... 
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time: 1403638160.345097, t: 1.040219 9.280661 1.242870 q: -0.410789 0.575044 0.588767 0.392340 
time: 1403638160.545097, t: 1.101043 9.432772 1.392726 q: -0.404053 0.579127 0.593600 0.385995 
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time: 1403638160.945097, t: 1.222929 9.723960 1.642058 q: -0.426718 0.582607 0.564265 0.400108 
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time: 1403638161.345097, t: 1.399060 9.944225 1.814871 q: -0.385862 0.629789 0.512394 0.438096 
time: 1403638161.545097, t: 1.498208 10.031958 1.891821 q: -0.355506 0.656917 0.497670 0.440907 
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time: 1403638161.945097, t: 1.716315 10.223303 1.988149 q: -0.346149 0.674491 0.467678 0.454445 
time: 1403638162.145097, t: 1.843884 10.323045 2.032982 q: -0.339753 0.682432 0.456907 0.458357 
time: 1403638162.345097, t: 1.986662 10.426167 2.091662 q: -0.338973 0.691202 0.450474 0.452118 
time: 1403638162.545097, t: 2.138908 10.517100 2.132475 q: -0.340436 0.689419 0.447876 0.456301 
time: 1403638162.745097, t: 2.303783 10.596011 2.186935 q: -0.331854 0.685873 0.456040 0.459868 
time: 1403638162.945097, t: 2.483399 10.670090 2.269344 q: -0.336594 0.691866 0.444105 0.459126 
time: 1403638163.145097, t: 2.680703 10.731155 2.353027 q: -0.341090 0.689997 0.427049 0.474542 
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time: 1403638163.545097, t: 3.103437 10.808941 2.381274 q: -0.297870 0.711689 0.394777 0.498922 
time: 1403638163.745097, t: 3.316083 10.835773 2.415943 q: -0.287888 0.718417 0.384879 0.502858 
time: 1403638163.945097, t: 3.522473 10.855333 2.483415 q: -0.288529 0.720625 0.379619 0.503329 
time: 1403638164.145097, t: 3.733821 10.870499 2.578858 q: -0.297307 0.723537 0.375418 0.497156 
time: 1403638164.345097, t: 3.947252 10.860553 2.676040 q: -0.305939 0.720622 0.373297 0.497749 
time: 1403638164.545097, t: 4.167154 10.832316 2.747779 q: -0.310944 0.719583 0.373290 0.496154 
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time: 1403638164.945097, t: 4.644314 10.708093 2.838309 q: -0.282095 0.713423 0.372469 0.522223 
time: 1403638165.145097, t: 4.867010 10.610989 2.853134 q: -0.289983 0.718730 0.350972 0.525505 
time: 1403638165.345097, t: 5.081811 10.498570 2.844717 q: -0.278503 0.738850 0.344864 0.507549 
time: 1403638165.545097, t: 5.308245 10.378845 2.823026 q: -0.276984 0.735742 0.336642 0.518301 
time: 1403638165.745097, t: 5.533165 10.237672 2.788107 q: -0.273883 0.718888 0.334091 0.544583 
time: 1403638165.945097, t: 5.729899 10.070812 2.737329 q: -0.263422 0.727282 0.341837 0.533682 
time: 1403638166.145097, t: 5.918825 9.894330 2.717283 q: -0.252180 0.736988 0.352452 0.518682 
wait for imu ... 
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time: 1403638166.545097, t: 6.275068 9.565471 2.856733 q: -0.248651 0.735161 0.364621 0.514551 
time: 1403638166.745097, t: 6.427900 9.430122 2.931886 q: -0.255181 0.736646 0.362918 0.510418 
time: 1403638166.945097, t: 6.566010 9.319441 2.971014 q: -0.265678 0.755603 0.356742 0.480848 
time: 1403638167.145097, t: 6.732013 9.208134 2.996472 q: -0.254736 0.761402 0.364380 0.471809 
time: 1403638167.345097, t: 6.933269 9.115014 3.054467 q: -0.247544 0.756163 0.369662 0.479884 
wait for imu ... 
time: 1403638167.545097, t: 7.156570 9.046517 3.117335 q: -0.252821 0.751888 0.364576 0.487679 
time: 1403638167.745097, t: 7.392055 8.984623 3.159077 q: -0.266659 0.752481 0.343985 0.494307 
time: 1403638167.945097, t: 7.646891 8.926814 3.179094 q: -0.263810 0.762123 0.315268 0.500179 
time: 1403638168.145097, t: 7.914388 8.858275 3.197966 q: -0.249209 0.770072 0.291915 0.509579 
time: 1403638168.345097, t: 8.197942 8.771817 3.242962 q: -0.225145 0.777302 0.271958 0.520721 
time: 1403638168.745097, t: 8.804601 8.565259 3.339094 q: -0.165020 0.792956 0.263801 0.523831 
time: 1403638168.945097, t: 9.099224 8.493827 3.347726 q: -0.158722 0.795819 0.264780 0.520933 
wait for imu ... 
time: 1403638169.145097, t: 9.392892 8.454264 3.338253 q: -0.170483 0.786916 0.263066 0.531502 
time: 1403638169.345097, t: 9.688978 8.429928 3.306217 q: -0.199357 0.782599 0.241161 0.538180 
time: 1403638169.545097, t: 10.005138 8.383933 3.267199 q: -0.208063 0.780888 0.205102 0.552139 
time: 1403638169.745097, t: 10.300838 8.302201 3.250782 q: -0.174136 0.787991 0.180460 0.562299 
time: 1403638169.945097, t: 10.575203 8.193708 3.265927 q: -0.117691 0.791728 0.160188 0.577629 
time: 1403638170.145097, t: 10.826559 8.085825 3.301933 q: -0.088420 0.788805 0.118597 0.596576 
time: 1403638170.345097, t: 11.059952 7.988414 3.317272 q: -0.071574 0.796905 0.067178 0.596076 
time: 1403638170.545097, t: 11.248065 7.863312 3.308451 q: -0.055790 0.804091 0.017798 0.591615 
wait for imu ... 
time: 1403638170.745097, t: 11.445352 7.730501 3.323794 q: -0.037555 0.799776 -0.025359 0.598585 
time: 1403638171.145097, t: 11.659585 7.377753 3.362636 q: 0.013790 0.793702 -0.090592 0.601366 
time: 1403638171.345097, t: 11.745458 7.174488 3.358399 q: 0.022656 0.789700 -0.108709 0.603360 
time: 1403638171.545097, t: 11.750107 6.961128 3.348683 q: 0.027165 0.784215 -0.122954 0.607578 
time: 1403638171.745097, t: 11.743058 6.722144 3.331530 q: 0.032347 0.777840 -0.141763 0.611409 
time: 1403638171.945097, t: 11.684678 6.460518 3.317616 q: 0.039485 0.769030 -0.159238 0.617800 
time: 1403638172.145097, t: 11.576056 6.170468 3.326570 q: 0.054099 0.767321 -0.162576 0.617949 
wait for imu ... 
time: 1403638172.345097, t: 11.421998 5.863114 3.313719 q: 0.059662 0.768892 -0.162596 0.615473 
wait for imu ... 
time: 1403638172.545097, t: 11.227858 5.544774 3.258956 q: 0.056277 0.765655 -0.162159 0.619927 
wait for imu ... 
time: 1403638172.745097, t: 10.987582 5.223976 3.170730 q: 0.049273 0.764580 -0.160704 0.622225 
time: 1403638172.945097, t: 10.704126 4.888560 3.062006 q: 0.039942 0.766230 -0.159346 0.621213 
time: 1403638173.145097, t: 10.377920 4.528527 2.933281 q: 0.028187 0.775313 -0.158882 0.610616 
time: 1403638173.345097, t: 10.018714 4.139426 2.779435 q: 0.037570 0.784264 -0.148198 0.601296 
time: 1403638173.545097, t: 9.638018 3.733980 2.597362 q: 0.064430 0.790282 -0.130455 0.595218 
time: 1403638173.745097, t: 9.252376 3.330939 2.396242 q: 0.069777 0.791644 -0.128101 0.593314 
time: 1403638173.945097, t: 8.852559 2.940647 2.199832 q: 0.070818 0.792331 -0.129541 0.591958 
time: 1403638174.145097, t: 8.434788 2.567979 2.026854 q: 0.071976 0.794075 -0.129613 0.589461 
time: 1403638174.345097, t: 8.011259 2.215338 1.852525 q: 0.071614 0.803623 -0.129443 0.576460 
time: 1403638174.545097, t: 7.607605 1.873439 1.666496 q: 0.068311 0.810146 -0.130316 0.567463 
time: 1403638174.745097, t: 7.224020 1.532309 1.502315 q: 0.073692 0.819004 -0.125865 0.554942 
time: 1403638174.945097, t: 6.863145 1.200921 1.364495 q: 0.076155 0.823493 -0.124412 0.548253 
time: 1403638175.145097, t: 6.541170 0.886687 1.247840 q: 0.080236 0.822211 -0.124321 0.549614 
time: 1403638175.345097, t: 6.253014 0.582479 1.157318 q: 0.083688 0.826807 -0.125377 0.541911 
time: 1403638175.545097, t: 5.992133 0.280706 1.097879 q: 0.091357 0.839544 -0.121569 0.521575 
time: 1403638175.745097, t: 5.806180 0.002027 1.072277 q: 0.086648 0.852258 -0.123950 0.500784 
time: 1403638175.945097, t: 5.688971 -0.265210 1.036500 q: 0.091364 0.856348 -0.118376 0.494275 
time: 1403638176.145097, t: 5.644502 -0.514089 0.983898 q: 0.106844 0.839368 -0.103909 0.522732 
time: 1403638176.345097, t: 5.653982 -0.732660 0.956256 q: 0.103369 0.815272 -0.105980 0.559835 
time: 1403638176.545097, t: 5.650674 -0.939593 0.940985 q: 0.106289 0.813073 -0.105600 0.562551 
time: 1403638176.745097, t: 5.659975 -1.113665 0.954774 q: 0.107269 0.814857 -0.105680 0.559762 
time: 1403638176.945097, t: 5.681531 -1.254552 0.989519 q: 0.100862 0.815329 -0.110312 0.559372 
time: 1403638177.145097, t: 5.714329 -1.372042 1.009143 q: 0.105996 0.817106 -0.107137 0.556439 
time: 1403638177.345097, t: 5.754936 -1.477446 0.995491 q: 0.109334 0.817281 -0.104896 0.555962 
time: 1403638177.545097, t: 5.808053 -1.553448 0.963907 q: 0.100058 0.816701 -0.113169 0.556938 
time: 1403638177.745097, t: 5.875464 -1.612793 0.914259 q: 0.078992 0.813244 -0.131899 0.561246 
time: 1403638177.945097, t: 5.944947 -1.680318 0.860547 q: 0.071945 0.799573 -0.143715 0.578665 
time: 1403638178.145097, t: 5.997686 -1.755223 0.830178 q: 0.086083 0.792178 -0.148439 0.585670 
time: 1403638178.345097, t: 6.024993 -1.839280 0.828457 q: 0.104811 0.782660 -0.175880 0.587813 
wait for imu ... 
time: 1403638178.545097, t: 6.022766 -1.922960 0.836076 q: 0.127608 0.777193 -0.219340 0.575828 
time: 1403638178.745097, t: 5.999349 -2.007867 0.824331 q: 0.148216 0.770186 -0.265367 0.560737 
time: 1403638178.945097, t: 6.065732 -2.128274 0.725337 q: 0.171843 0.766546 -0.298399 0.542065 
time: 1403638179.145097, t: 5.915209 -2.215341 0.755250 q: 0.184335 0.770460 -0.313137 0.523791 
time: 1403638179.545097, t: 5.847085 -2.487544 0.647918 q: 0.225316 0.746706 -0.353757 0.516255 
time: 1403638179.745097, t: 5.817185 -2.638693 0.594209 q: 0.251333 0.722962 -0.388145 0.513323 
time: 1403638179.945097, t: 5.780775 -2.792486 0.564461 q: 0.274482 0.705131 -0.422537 0.498911 
wait for imu ... 
time: 1403638180.145097, t: 5.749211 -2.950937 0.549491 q: 0.281046 0.698361 -0.447973 0.482312 
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time: 1403638180.545097, t: 5.691405 -3.308068 0.497323 q: 0.291932 0.697356 -0.453224 0.472291 
time: 1403638180.745097, t: 5.661147 -3.503767 0.460119 q: 0.291130 0.705121 -0.449936 0.464333 
time: 1403638180.945097, t: 5.642976 -3.710240 0.449561 q: 0.284170 0.708521 -0.448191 0.465157 
time: 1403638181.145097, t: 5.632134 -3.933797 0.433202 q: 0.278102 0.706211 -0.446879 0.473524 
time: 1403638181.345097, t: 5.622802 -4.178734 0.399656 q: 0.279706 0.691710 -0.450226 0.490508 
time: 1403638181.545097, t: 5.598366 -4.432587 0.347128 q: 0.292173 0.660236 -0.475215 0.502885 
time: 1403638181.745097, t: 5.543085 -4.678057 0.298165 q: 0.325195 0.635507 -0.499801 0.490487 
time: 1403638181.945097, t: 5.451767 -4.917661 0.285189 q: 0.353148 0.624517 -0.526361 0.456299 
time: 1403638182.145097, t: 5.352022 -5.149693 0.297588 q: 0.357834 0.617976 -0.549914 0.433193 
time: 1403638182.345097, t: 5.252257 -5.367041 0.319072 q: 0.350701 0.611556 -0.566407 0.426838 
time: 1403638182.545097, t: 5.145282 -5.601465 0.342269 q: 0.354023 0.619477 -0.565025 0.414321 
time: 1403638182.745097, t: 5.036958 -5.842191 0.397743 q: 0.357166 0.627144 -0.558478 0.408932 
time: 1403638182.945097, t: 4.939684 -6.094984 0.450919 q: 0.358273 0.625375 -0.553320 0.417592 
wait for imu ... 
time: 1403638183.145097, t: 4.849443 -6.345051 0.486081 q: 0.369304 0.621642 -0.542138 0.428091 
time: 1403638183.345097, t: 4.763412 -6.607954 0.497981 q: 0.367443 0.628866 -0.541367 0.420042 
time: 1403638183.545097, t: 4.686713 -6.881329 0.493240 q: 0.361257 0.638088 -0.544891 0.406731 
time: 1403638183.745097, t: 4.625766 -7.167588 0.486517 q: 0.369230 0.632037 -0.539649 0.415904 
time: 1403638183.945097, t: 4.573292 -7.462285 0.507285 q: 0.382258 0.625015 -0.530758 0.426065 
time: 1403638184.145097, t: 4.538934 -7.738334 0.549661 q: 0.375476 0.629358 -0.536586 0.418333 
time: 1403638184.345097, t: 4.512937 -8.026335 0.583000 q: 0.369930 0.631949 -0.541972 0.412381 
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wait for imu ... 
time: 1403638184.745097, t: 4.524390 -8.566330 0.621522 q: 0.377622 0.624394 -0.538401 0.421496 
time: 1403638184.945097, t: 4.555506 -8.821955 0.640420 q: 0.380749 0.623639 -0.537011 0.421572 
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time: 1403638185.345097, t: 4.646945 -9.346987 0.696929 q: 0.385781 0.628219 -0.532786 0.415516 
time: 1403638185.545097, t: 4.717860 -9.607120 0.729083 q: 0.390328 0.635298 -0.514403 0.423592 
time: 1403638185.745097, t: 4.818580 -9.838457 0.764952 q: 0.380095 0.644048 -0.496723 0.440450 
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wait for imu ... 
time: 1403638186.145097, t: 5.024522 -10.300081 0.802246 q: 0.336963 0.650678 -0.506299 0.454682 
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time: 1403638186.945097, t: 5.422011 -11.188098 0.861543 q: 0.355492 0.673882 -0.475708 0.439557 
time: 1403638187.145097, t: 5.570200 -11.395394 0.869914 q: 0.328815 0.687727 -0.447353 0.467747 
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time: 1403638187.545097, t: 5.888296 -11.789847 0.970016 q: 0.283201 0.712062 -0.376141 0.520848 
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time: 1403638188.545097, t: 6.564577 -12.304297 1.102137 q: 0.298934 0.686034 -0.354403 0.560708 
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wait for imu ... 
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wait for imu ... 
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time: 1403638194.945097, t: 6.960314 -6.840460 2.169250 q: 0.157731 0.797372 -0.233694 0.533578 
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time: 1403638195.545097, t: 6.727522 -6.294132 2.102758 q: 0.152964 0.799060 -0.237424 0.530787 
wait for imu ... 
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wait for imu ... 
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time: 1403638204.545097, t: 8.550316 6.893859 2.476596 q: 0.015680 0.823821 -0.099129 0.557895 
time: 1403638204.745097, t: 8.530288 7.146617 2.507729 q: 0.015597 0.823254 -0.083499 0.561282 
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wait for imu ... 
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time: 1403638206.145097, t: 8.276476 8.744310 2.740535 q: -0.171255 0.748031 0.303071 0.565039 
time: 1403638206.345097, t: 8.136265 9.012723 2.831885 q: -0.207912 0.734796 0.328942 0.555558 
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wait for imu ... 
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time: 1403638207.545097, t: 6.913313 10.159600 2.854237 q: -0.300958 0.686049 0.389306 0.535911 
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time: 1403638209.145097, t: 5.025197 10.389338 2.832611 q: -0.341014 0.668208 0.461397 0.473624 
time: 1403638209.345097, t: 4.833121 10.360932 2.794244 q: -0.343258 0.668661 0.462221 0.470551 
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time: 1403638210.145097, t: 4.177271 10.140880 2.221923 q: -0.349820 0.655534 0.453854 0.491852 
optimize pose graph 
time: 1403638210.345097, t: 4.019556 10.028053 2.044824 q: -0.351197 0.653228 0.452618 0.495067 
time: 1403638210.545097, t: 3.862491 9.891935 1.865559 q: -0.352220 0.654286 0.451209 0.494229 
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time: 1403638210.945097, t: 3.546740 9.538299 1.491621 q: -0.352024 0.659315 0.450115 0.488651 
time: 1403638211.145097, t: 3.390812 9.316531 1.345702 q: -0.349660 0.665372 0.452793 0.479579 
time: 1403638211.345097, t: 3.248838 9.090714 1.233808 q: -0.346982 0.669567 0.452168 0.476264 
time: 1403638211.545097, t: 3.118220 8.854657 1.123896 q: -0.335557 0.681614 0.435410 0.482931 
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wait for imu ... 
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wait for imu ... 
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optimize pose graph 
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time: 1403638221.945097, t: 0.966953 -0.450050 0.312420 q: 0.074058 0.809044 -0.115112 0.571587 
time: 1403638222.145097, t: 0.886196 -0.439259 0.331990 q: 0.078864 0.812623 -0.111413 0.566579 
time: 1403638222.345097, t: 0.811374 -0.425772 0.338376 q: 0.077736 0.819683 -0.112820 0.556191 
optimize pose graph 
time: 1403638222.545097, t: 0.760460 -0.417759 0.330486 q: 0.076781 0.822043 -0.113600 0.552670 
time: 1403638222.745097, t: 0.727721 -0.408629 0.303743 q: 0.077158 0.812766 -0.113225 0.566250 
time: 1403638222.945097, t: 0.690267 -0.394636 0.269416 q: 0.078210 0.802602 -0.111921 0.580679 
time: 1403638223.145097, t: 0.643593 -0.378009 0.242465 q: 0.078074 0.808040 -0.111797 0.573129 
time: 1403638223.345097, t: 0.594493 -0.362297 0.231196 q: 0.068617 0.820210 -0.119115 0.555301 
time: 1403638223.545097, t: 0.558160 -0.352891 0.214887 q: 0.053642 0.812056 -0.129839 0.566418 
time: 1403638223.745097, t: 0.522267 -0.364570 0.190460 q: 0.072505 0.811698 -0.117061 0.567614 
time: 1403638223.945097, t: 0.488870 -0.378187 0.160739 q: 0.085132 0.812946 -0.108192 0.565831 
time: 1403638224.145097, t: 0.459316 -0.386719 0.125733 q: 0.083893 0.820811 -0.108548 0.554480 
time: 1403638224.345097, t: 0.442540 -0.386549 0.095120 q: 0.082125 0.819953 -0.109829 0.555761 
optimize pose graph 
wait for imu ... 
time: 1403638224.545097, t: 0.424608 -0.372116 0.071939 q: 0.076348 0.806312 -0.114384 0.575281 
time: 1403638224.745097, t: 0.427727 -0.361634 0.044699 q: 0.077037 0.818903 -0.113958 0.557205 
time: 1403638224.945097, t: 0.434749 -0.349425 0.035455 q: 0.069200 0.814414 -0.118852 0.563751 
time: 1403638225.145097, t: 0.445982 -0.345335 0.043662 q: 0.067136 0.807205 -0.118146 0.574417 
time: 1403638225.345097, t: 0.453238 -0.347002 0.055973 q: 0.074198 0.817682 -0.111874 0.559798 
time: 1403638225.545097, t: 0.463937 -0.348093 0.056531 q: 0.078892 0.803363 -0.108295 0.580221 
time: 1403638225.745097, t: 0.466650 -0.344082 0.026064 q: 0.081992 0.795165 -0.105741 0.591446 
time: 1403638225.945097, t: 0.453962 -0.331431 -0.039688 q: 0.078966 0.816735 -0.108015 0.561285 
time: 1403638226.145097, t: 0.460842 -0.312597 -0.051569 q: 0.051276 0.824875 -0.122323 0.549535 
time: 1403638226.345097, t: 0.467477 -0.301606 -0.051323 q: 0.075183 0.825942 -0.107317 0.548315 
time: 1403638226.545097, t: 0.466552 -0.305683 -0.033933 q: 0.075095 0.825054 -0.106963 0.549733 
time: 1403638226.745097, t: 0.454595 -0.288189 -0.061289 q: 0.075085 0.825292 -0.108211 0.549131 
time: 1403638226.945097, t: 0.453146 -0.315488 0.001089 q: 0.074722 0.825414 -0.107281 0.549180 
time: 1403638227.145097, t: 0.450933 -0.316365 0.021324 q: 0.075201 0.825544 -0.107224 0.548931 
time: 1403638227.345097, t: 0.444125 -0.316384 0.031917 q: 0.074503 0.825615 -0.107664 0.548833 
time: 1403638227.545097, t: 0.434552 -0.317590 0.052957 q: 0.074551 0.825634 -0.107487 0.548833 
time: 1403638227.745097, t: 0.425396 -0.318564 0.071868 q: 0.074615 0.825668 -0.107488 0.548773 
time: 1403638227.945097, t: 0.416778 -0.316770 0.091044 q: 0.074427 0.825743 -0.107652 0.548653 
time: 1403638228.145097, t: 0.403810 -0.312225 0.118128 q: 0.074404 0.825716 -0.107720 0.548683 
time: 1403638228.345097, t: 0.392536 -0.312284 0.150253 q: 0.074328 0.825735 -0.107768 0.548655 
time: 1403638228.545097, t: 0.382524 -0.310288 0.173997 q: 0.074194 0.825787 -0.107790 0.548591 
time: 1403638228.745097, t: 0.387982 -0.300503 0.180564 q: 0.074245 0.825923 -0.107958 0.548346 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720481337.421760109]: Shutdown request received.[0m
[33m[ WARN] [1720481337.421800879]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720481337.422749214]: Shutdown request received.[0m
[33m[ WARN] [1720481337.422778514]: Reason given for shutdown: [user request][0m
killed
