/SLAM-Hive/slam_hive_results/mapping_results/2901/2109_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-9.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720481365.146721869]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720481365.147942001]: init begins[0m
[31m[ERROR] [1720481365.148978780]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e9a7f780-3d81-11ef-b15a-0242ac110005/roslaunch-35777187df9f-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://35777187df9f:37995/[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
[1mROS_MASTER_URI=http://35777187df9f:11311/[0m
]2;roscore http://35777187df9f:11311/
[1msetting /run_id to e9a7f780-3d81-11ef-b15a-0242ac110005[0m
[0m[ INFO] [1720481366.302275682]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720481366.304457632]: 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] [1720481366.310544944]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720481366.310755609]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720481366.310786656]: 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] [1720481366.311054019]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720481366.311347620]: 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 [214][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720481375.303571403]: 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: 316843248.20 
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 ... 
[0m[ INFO] [1720481377.715398880]: IMU excitation not enouth![0m
[0m[ INFO] [1720481377.767634213]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481377.905260258]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481378.127373123]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481378.334511291]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481378.526153605]: Not enough features or parallax; Move device around[0m
wait for imu ... 
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720481378.920992921]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481379.140308364]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720481379.315626450]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481379.510019152]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481379.706494458]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481379.937359714]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481380.150114949]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720481380.349377563]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720481380.626903543]: gyroscope bias initial calibration -0.000969992     0.020862    0.0775459[0m
[0m[ INFO] [1720481380.650411112]: Initialization finish![0m
time: 1403638132.145097, t: -0.000672 0.016066 -0.053740 q: -0.033190 0.823087 0.090731 0.559638 
time: 1403638132.345097, t: -0.002508 0.020325 0.037457 q: -0.052449 0.811419 0.081599 0.576359 
time: 1403638132.545097, t: -0.010517 0.016687 0.162769 q: -0.093401 0.795193 0.059764 0.596131 
time: 1403638132.745097, t: -0.008988 0.030800 0.243932 q: -0.109735 0.792885 0.049118 0.597393 
time: 1403638132.945097, t: -0.009792 0.048575 0.263411 q: -0.120581 0.783369 0.035500 0.608714 
wait for imu ... 
wait for imu ... 
time: 1403638133.145097, t: -0.000497 0.037903 0.227715 q: -0.108187 0.788018 0.054405 0.603626 
time: 1403638133.345097, t: 0.007079 -0.020878 0.181829 q: -0.076874 0.794838 0.040085 0.600596 
time: 1403638133.545097, t: 0.002491 -0.111172 0.138819 q: -0.042517 0.803027 0.011389 0.594314 
time: 1403638133.745097, t: -0.019636 -0.194919 0.099947 q: -0.033214 0.811114 -0.024137 0.583445 
time: 1403638133.945097, t: -0.029434 -0.246132 0.070045 q: -0.004508 0.814925 -0.041713 0.578045 
time: 1403638134.145097, t: 0.005574 -0.218632 0.059729 q: 0.002994 0.818650 -0.033278 0.573321 
wait for imu ... 
time: 1403638134.345097, t: 0.065442 -0.151642 0.071586 q: -0.005050 0.809200 -0.043116 0.585928 
time: 1403638134.545097, t: 0.118656 -0.060676 0.077206 q: -0.021315 0.811588 -0.051749 0.581543 
time: 1403638134.745097, t: 0.143970 0.029592 0.089191 q: -0.034096 0.817454 -0.049604 0.572840 
time: 1403638134.945097, t: 0.153744 0.111288 0.110543 q: -0.031184 0.820707 -0.042004 0.568949 
time: 1403638135.145097, t: 0.157970 0.167799 0.109946 q: -0.027368 0.824730 -0.029757 0.564079 
time: 1403638135.545097, t: 0.125200 0.124037 0.068507 q: -0.008285 0.830351 -0.025589 0.556592 
time: 1403638135.745097, t: 0.108573 0.047988 0.065176 q: 0.000878 0.825912 -0.043408 0.562124 
wait for imu ... 
time: 1403638135.945097, t: 0.076867 -0.018764 0.060901 q: 0.016517 0.834607 -0.040534 0.549105 
time: 1403638136.145097, t: 0.047731 -0.093531 0.094063 q: 0.029817 0.823901 -0.053373 0.563427 
time: 1403638136.345097, t: 0.009172 -0.180478 0.095045 q: 0.039352 0.817468 -0.065495 0.570884 
time: 1403638136.545097, t: -0.016995 -0.226628 0.085690 q: 0.047164 0.822395 -0.073897 0.562122 
time: 1403638136.745097, t: -0.018157 -0.188294 0.108885 q: 0.023181 0.821291 -0.079216 0.564508 
time: 1403638136.945097, t: -0.003879 -0.101566 0.127616 q: -0.022809 0.807650 -0.081907 0.583500 
time: 1403638137.145097, t: 0.007252 -0.020430 0.083381 q: -0.035331 0.806965 -0.071323 0.585212 
time: 1403638137.345097, t: 0.010915 0.037684 0.002426 q: -0.029903 0.822309 -0.045848 0.566403 
time: 1403638137.545097, t: 0.011031 0.067447 -0.074657 q: -0.009514 0.837084 -0.027327 0.546309 
time: 1403638137.745097, t: 0.009398 0.077983 -0.123380 q: 0.009227 0.840108 -0.024200 0.541801 
time: 1403638137.945097, t: 0.011532 0.080571 -0.154237 q: 0.020411 0.850987 -0.018776 0.524454 
time: 1403638138.145097, t: 0.005407 0.076322 -0.163158 q: 0.021271 0.850228 -0.015630 0.525753 
time: 1403638138.345097, t: 0.000084 0.076853 -0.168099 q: 0.017802 0.841701 -0.022606 0.539177 
time: 1403638138.545097, t: -0.000800 0.076008 -0.166497 q: 0.017160 0.838580 -0.022546 0.544041 
time: 1403638138.745097, t: -0.000575 0.076308 -0.167821 q: 0.016155 0.838670 -0.022548 0.543933 
time: 1403638138.945097, t: -0.000758 0.077039 -0.167906 q: 0.015208 0.838866 -0.022041 0.543679 
time: 1403638139.145097, t: -0.000852 0.078035 -0.168097 q: 0.013655 0.838790 -0.022013 0.543838 
time: 1403638139.545097, t: -0.001082 0.079258 -0.167975 q: 0.012187 0.838847 -0.021089 0.543822 
time: 1403638139.745097, t: -0.001140 0.079829 -0.167880 q: 0.011463 0.838883 -0.020669 0.543799 
time: 1403638139.945097, t: -0.001239 0.080323 -0.167748 q: 0.010723 0.838916 -0.020383 0.543773 
time: 1403638140.145097, t: -0.001307 0.080716 -0.167631 q: 0.010017 0.838952 -0.020007 0.543745 
time: 1403638140.345097, t: -0.001385 0.081043 -0.167594 q: 0.009359 0.838923 -0.019727 0.543812 
time: 1403638140.545097, t: -0.001470 0.081312 -0.167508 q: 0.008842 0.838923 -0.019426 0.543831 
time: 1403638140.745097, t: -0.001522 0.081525 -0.167452 q: 0.008317 0.838887 -0.019198 0.543904 
time: 1403638140.945097, t: -0.001591 0.081680 -0.167342 q: 0.007945 0.838900 -0.018911 0.543899 
time: 1403638141.145097, t: -0.001676 0.081794 -0.167309 q: 0.007575 0.838807 -0.018680 0.544056 
time: 1403638141.345097, t: -0.001722 0.081898 -0.167243 q: 0.007182 0.838791 -0.018487 0.544092 
time: 1403638141.545097, t: -0.001775 0.081952 -0.167136 q: 0.006869 0.838766 -0.018292 0.544141 
time: 1403638141.745097, t: -0.001829 0.082000 -0.167054 q: 0.006617 0.838748 -0.018193 0.544176 
time: 1403638141.945097, t: -0.001871 0.082009 -0.166996 q: 0.006457 0.838728 -0.018042 0.544214 
wait for imu ... 
wait for imu ... 
time: 1403638142.145097, t: -0.001940 0.082076 -0.166917 q: 0.006163 0.838716 -0.017815 0.544243 
time: 1403638142.345097, t: -0.002055 0.081988 -0.166847 q: 0.006588 0.838752 -0.018175 0.544170 
time: 1403638142.545097, t: -0.002069 0.082161 -0.166618 q: 0.006364 0.838843 -0.017968 0.544039 
time: 1403638142.745097, t: -0.002053 0.082293 -0.166438 q: 0.006183 0.838919 -0.017647 0.543936 
time: 1403638142.945097, t: -0.002081 0.082347 -0.166280 q: 0.006467 0.839041 -0.017594 0.543745 
time: 1403638143.145097, t: -0.002079 0.082299 -0.166208 q: 0.006503 0.839049 -0.017456 0.543737 
time: 1403638143.345097, t: -0.002099 0.082232 -0.166172 q: 0.006646 0.839109 -0.017470 0.543642 
wait for imu ... 
time: 1403638143.545097, t: -0.002105 0.082149 -0.166174 q: 0.006831 0.839068 -0.017683 0.543697 
wait for imu ... 
time: 1403638143.745097, t: -0.002060 0.081959 -0.166213 q: 0.006862 0.839068 -0.017853 0.543690 
time: 1403638143.945097, t: -0.002031 0.081810 -0.166254 q: 0.006897 0.839040 -0.017898 0.543731 
time: 1403638144.345097, t: -0.001991 0.081445 -0.166335 q: 0.006822 0.838995 -0.017970 0.543799 
time: 1403638144.545097, t: -0.002105 0.081241 -0.166411 q: 0.006897 0.838958 -0.018090 0.543852 
time: 1403638144.745097, t: -0.002145 0.081104 -0.166406 q: 0.006917 0.838923 -0.017997 0.543909 
time: 1403638144.945097, t: -0.002099 0.081105 -0.166373 q: 0.006946 0.838981 -0.017975 0.543820 
time: 1403638145.145097, t: -0.002135 0.081023 -0.166342 q: 0.007025 0.838964 -0.018012 0.543844 
time: 1403638145.345097, t: -0.002168 0.080922 -0.166326 q: 0.006980 0.838908 -0.018011 0.543930 
time: 1403638145.545097, t: -0.002143 0.080915 -0.166211 q: 0.007089 0.838869 -0.018037 0.543988 
time: 1403638145.745097, t: -0.002152 0.080838 -0.166164 q: 0.006950 0.838932 -0.018000 0.543895 
time: 1403638145.945097, t: -0.002174 0.080744 -0.166162 q: 0.007043 0.838915 -0.018040 0.543918 
time: 1403638146.145097, t: -0.002145 0.080781 -0.166112 q: 0.006978 0.838901 -0.017912 0.543944 
time: 1403638146.345097, t: -0.002139 0.080739 -0.166086 q: 0.007096 0.838901 -0.017885 0.543944 
time: 1403638146.545097, t: -0.002177 0.080689 -0.166010 q: 0.007229 0.838908 -0.017919 0.543930 
time: 1403638146.745097, t: -0.002126 0.080769 -0.165942 q: 0.007397 0.838924 -0.017827 0.543907 
time: 1403638146.945097, t: -0.002013 0.080882 -0.165947 q: 0.007563 0.838966 -0.017808 0.543840 
time: 1403638147.145097, t: -0.002016 0.080799 -0.165943 q: 0.007539 0.839203 -0.017800 0.543475 
time: 1403638147.345097, t: -0.002040 0.080797 -0.165868 q: 0.007772 0.839037 -0.017746 0.543730 
time: 1403638147.545097, t: -0.001876 0.080699 -0.165614 q: 0.007514 0.838507 -0.017834 0.544548 
time: 1403638147.745097, t: -0.000688 0.080354 -0.165397 q: 0.006466 0.837731 -0.016851 0.545784 
time: 1403638147.945097, t: 0.009571 0.078649 -0.155234 q: 0.010216 0.825338 -0.022523 0.564097 
time: 1403638148.145097, t: 0.029199 0.076475 -0.118439 q: 0.010830 0.815604 -0.021577 0.578107 
time: 1403638148.345097, t: 0.046254 0.074442 -0.034870 q: 0.007641 0.813147 -0.016110 0.581785 
time: 1403638148.545097, t: 0.055958 0.074069 0.032945 q: 0.007726 0.818983 -0.009486 0.573688 
time: 1403638148.745097, t: 0.067079 0.078682 0.021486 q: 0.005624 0.825967 -0.005212 0.563666 
time: 1403638148.945097, t: 0.089835 0.087302 0.023242 q: 0.002663 0.826959 -0.002626 0.562250 
time: 1403638149.145097, t: 0.125509 0.098862 0.074524 q: 0.001064 0.820600 0.000232 0.571502 
time: 1403638149.345097, t: 0.166491 0.115058 0.132241 q: -0.002424 0.817862 -0.001408 0.575407 
time: 1403638149.545097, t: 0.205120 0.131853 0.172908 q: -0.001454 0.816318 -0.000156 0.577601 
time: 1403638149.745097, t: 0.250661 0.149406 0.189399 q: -0.004976 0.816179 0.008620 0.577713 
time: 1403638149.945097, t: 0.284936 0.163793 0.194916 q: -0.010435 0.816408 0.016530 0.577145 
time: 1403638150.145097, t: 0.329911 0.191511 0.195083 q: -0.000294 0.816221 0.028658 0.577029 
time: 1403638150.345097, t: 0.382859 0.238106 0.180273 q: 0.007132 0.818793 0.033514 0.573066 
time: 1403638150.545097, t: 0.435062 0.305781 0.164002 q: -0.010466 0.829263 0.035251 0.557647 
time: 1403638150.745097, t: 0.498200 0.385362 0.179723 q: -0.021951 0.829992 0.044017 0.555602 
time: 1403638150.945097, t: 0.577298 0.473387 0.209856 q: -0.029005 0.823995 0.060420 0.562620 
time: 1403638151.145097, t: 0.662444 0.571791 0.221074 q: -0.040953 0.816207 0.084712 0.570047 
time: 1403638151.345097, t: 0.741216 0.682908 0.208948 q: -0.067720 0.812680 0.122729 0.565599 
time: 1403638151.545097, t: 0.823875 0.806296 0.205522 q: -0.098826 0.806127 0.160371 0.560957 
wait for imu ... 
time: 1403638151.745097, t: 0.900202 0.931065 0.225724 q: -0.116278 0.800875 0.185361 0.557423 
time: 1403638151.945097, t: 0.969184 1.060691 0.276388 q: -0.121510 0.799689 0.196675 0.554122 
time: 1403638152.145097, t: 1.046163 1.198597 0.326304 q: -0.121186 0.799848 0.199533 0.552940 
time: 1403638152.345097, t: 1.108501 1.345267 0.357312 q: -0.116816 0.799199 0.201181 0.554221 
time: 1403638152.545097, t: 1.162063 1.494403 0.357159 q: -0.111354 0.799538 0.202459 0.554391 
time: 1403638152.745097, t: 1.220189 1.667034 0.344734 q: -0.119349 0.801407 0.201815 0.550248 
time: 1403638152.945097, t: 1.277062 1.850710 0.362728 q: -0.140940 0.792843 0.213991 0.552941 
wait for imu ... 
time: 1403638153.145097, t: 1.336654 2.043151 0.404684 q: -0.156997 0.791204 0.237328 0.541316 
time: 1403638153.345097, t: 1.399657 2.232488 0.439924 q: -0.165367 0.788980 0.254959 0.534004 
time: 1403638153.545097, t: 1.468265 2.424087 0.463408 q: -0.170743 0.780433 0.286617 0.528792 
time: 1403638153.745097, t: 1.540660 2.640508 0.504473 q: -0.189308 0.767533 0.318120 0.523312 
time: 1403638153.945097, t: 1.605817 2.868035 0.529359 q: -0.210448 0.754371 0.335819 0.523318 
time: 1403638154.145097, t: 1.669115 3.111769 0.536199 q: -0.221861 0.745975 0.340755 0.527433 
time: 1403638154.345097, t: 1.725385 3.362675 0.529647 q: -0.225040 0.737294 0.340567 0.538302 
time: 1403638154.545097, t: 1.760956 3.599996 0.506888 q: -0.229638 0.731416 0.335610 0.547415 
wait for imu ... 
time: 1403638154.745097, t: 1.778741 3.832201 0.499835 q: -0.233140 0.735136 0.345477 0.534665 
time: 1403638154.945097, t: 1.766447 4.037869 0.522266 q: -0.231445 0.731587 0.364609 0.527517 
time: 1403638155.145097, t: 1.736173 4.252739 0.574427 q: -0.243657 0.720118 0.382639 0.525023 
time: 1403638155.345097, t: 1.690745 4.472545 0.615006 q: -0.257783 0.707718 0.393507 0.527101 
time: 1403638155.545097, t: 1.619717 4.682524 0.633334 q: -0.273012 0.693797 0.409773 0.525543 
time: 1403638155.745097, t: 1.518912 4.876559 0.623714 q: -0.306516 0.677578 0.426451 0.514854 
time: 1403638155.945097, t: 1.412881 5.077750 0.596863 q: -0.331023 0.663455 0.459390 0.489093 
time: 1403638156.345097, t: 1.173892 5.370020 0.602395 q: -0.365045 0.634845 0.530999 0.426328 
time: 1403638156.545097, t: 1.068441 5.515536 0.609399 q: -0.373362 0.627338 0.545802 0.411276 
time: 1403638156.745097, t: 0.978198 5.675108 0.591926 q: -0.375642 0.624300 0.550022 0.408189 
time: 1403638156.945097, t: 0.891411 5.843331 0.560325 q: -0.373204 0.625731 0.549850 0.408466 
time: 1403638157.145097, t: 0.811993 6.038782 0.549411 q: -0.368433 0.631123 0.548431 0.406405 
time: 1403638157.345097, t: 0.749814 6.260825 0.560663 q: -0.366856 0.630905 0.548866 0.407581 
time: 1403638157.545097, t: 0.690055 6.500977 0.573991 q: -0.370952 0.618733 0.554714 0.414557 
time: 1403638157.745097, t: 0.634503 6.738791 0.573286 q: -0.385548 0.591874 0.571512 0.417626 
time: 1403638157.945097, t: 0.561540 6.984597 0.594249 q: -0.407656 0.564794 0.595156 0.400767 
time: 1403638158.145097, t: 0.490677 7.212639 0.625916 q: -0.425023 0.550833 0.610584 0.378319 
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time: 1403638158.545097, t: 0.356968 7.674659 0.630894 q: -0.429004 0.534084 0.623223 0.377230 
time: 1403638158.745097, t: 0.289457 7.872265 0.615530 q: -0.430260 0.535272 0.620827 0.378067 
time: 1403638158.945097, t: 0.218553 8.084604 0.614875 q: -0.428955 0.546989 0.618826 0.365862 
wait for imu ... 
wait for imu ... 
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time: 1403638159.345097, t: 0.090388 8.560680 0.673409 q: -0.417171 0.560456 0.621575 0.354263 
time: 1403638159.545097, t: 0.039040 8.819233 0.693747 q: -0.454036 0.547362 0.594870 0.374669 
time: 1403638159.745097, t: 0.008861 9.070953 0.739782 q: -0.480660 0.548938 0.575437 0.369466 
time: 1403638159.945097, t: 0.021861 9.271281 0.817908 q: -0.468343 0.537128 0.585458 0.386507 
time: 1403638160.145097, t: 0.061621 9.408511 0.930121 q: -0.453592 0.533386 0.598420 0.389419 
time: 1403638160.345097, t: 0.112345 9.527805 1.071258 q: -0.430544 0.544369 0.617093 0.370797 
time: 1403638160.545097, t: 0.158769 9.667339 1.219991 q: -0.423553 0.548158 0.622100 0.364853 
time: 1403638160.745097, t: 0.204026 9.815206 1.347582 q: -0.427346 0.548644 0.619392 0.364305 
time: 1403638160.945097, t: 0.250092 9.974371 1.469618 q: -0.446805 0.553214 0.592882 0.377901 
time: 1403638161.145097, t: 0.321094 10.096436 1.562002 q: -0.437861 0.571084 0.568266 0.399017 
time: 1403638161.345097, t: 0.406271 10.210324 1.643232 q: -0.407968 0.603139 0.543323 0.417834 
wait for imu ... 
wait for imu ... 
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time: 1403638161.745097, t: 0.592477 10.417626 1.779983 q: -0.371010 0.645201 0.516690 0.423202 
time: 1403638161.945097, t: 0.698824 10.525578 1.825546 q: -0.369125 0.650212 0.500690 0.436212 
time: 1403638162.145097, t: 0.817318 10.639776 1.869292 q: -0.362884 0.658695 0.490310 0.440491 
time: 1403638162.345097, t: 0.944653 10.749245 1.931311 q: -0.361744 0.667804 0.484198 0.434431 
wait for imu ... 
wait for imu ... 
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time: 1403638162.745097, t: 1.245774 10.953982 2.027517 q: -0.354937 0.662347 0.489369 0.442532 
time: 1403638162.945097, t: 1.421758 11.050901 2.109041 q: -0.359592 0.669005 0.477689 0.441520 
time: 1403638163.145097, t: 1.614498 11.139935 2.188802 q: -0.364701 0.668159 0.460481 0.456633 
time: 1403638163.345097, t: 1.818639 11.208489 2.204881 q: -0.342284 0.679032 0.448665 0.469529 
time: 1403638163.545097, t: 2.031171 11.261424 2.210567 q: -0.322573 0.691542 0.429156 0.483261 
wait for imu ... 
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time: 1403638163.945097, t: 2.447651 11.338374 2.308747 q: -0.313647 0.701154 0.414189 0.488320 
wait for imu ... 
time: 1403638164.145097, t: 2.650427 11.363694 2.401830 q: -0.322124 0.704215 0.409980 0.481906 
time: 1403638164.345097, t: 2.856785 11.372269 2.496137 q: -0.330632 0.701468 0.407602 0.482167 
time: 1403638164.545097, t: 3.075035 11.366000 2.567173 q: -0.335481 0.700485 0.407493 0.480336 
time: 1403638164.745097, t: 3.315971 11.345707 2.618949 q: -0.330968 0.703350 0.402336 0.483616 
time: 1403638164.945097, t: 3.565646 11.296013 2.656947 q: -0.307831 0.694455 0.406428 0.507729 
time: 1403638165.145097, t: 3.802633 11.226416 2.674009 q: -0.315751 0.700867 0.385208 0.510589 
time: 1403638165.545097, t: 4.259911 11.027744 2.645458 q: -0.302269 0.718540 0.371555 0.504262 
time: 1403638165.745097, t: 4.495776 10.906728 2.610533 q: -0.300376 0.701829 0.368109 0.530760 
time: 1403638165.945097, t: 4.701892 10.756413 2.556282 q: -0.289314 0.709864 0.376172 0.520466 
time: 1403638166.145097, t: 4.914180 10.594736 2.535880 q: -0.277482 0.719042 0.387283 0.505959 
time: 1403638166.345097, t: 5.111010 10.433061 2.578996 q: -0.273642 0.717786 0.395384 0.503561 
time: 1403638166.545097, t: 5.278381 10.284319 2.670637 q: -0.273651 0.716636 0.399051 0.502301 
time: 1403638166.745097, t: 5.445308 10.148906 2.743111 q: -0.280165 0.718133 0.397353 0.497899 
time: 1403638166.945097, t: 5.602703 10.038841 2.782318 q: -0.289512 0.737234 0.392253 0.467767 
time: 1403638167.145097, t: 5.781688 9.941647 2.814628 q: -0.278170 0.742692 0.400319 0.459103 
time: 1403638167.345097, t: 5.989786 9.871631 2.873213 q: -0.271268 0.737324 0.405304 0.467436 
wait for imu ... 
time: 1403638167.545097, t: 6.204298 9.832281 2.936717 q: -0.276631 0.733500 0.399790 0.474995 
time: 1403638167.745097, t: 6.431947 9.806185 2.976886 q: -0.290497 0.735243 0.379122 0.480933 
time: 1403638167.945097, t: 6.683391 9.773350 2.995803 q: -0.287852 0.746224 0.350895 0.486994 
time: 1403638168.145097, t: 6.962179 9.729891 3.010734 q: -0.273774 0.755304 0.328029 0.496952 
time: 1403638168.345097, t: 7.252656 9.665250 3.058204 q: -0.250224 0.763513 0.308370 0.509258 
time: 1403638168.545097, t: 7.568496 9.583063 3.123107 q: -0.218595 0.771928 0.297358 0.517611 
time: 1403638168.745097, t: 7.887430 9.502214 3.161164 q: -0.190272 0.779616 0.300908 0.515218 
time: 1403638168.945097, t: 8.193785 9.451847 3.172425 q: -0.183858 0.782486 0.301994 0.512554 
wait for imu ... 
time: 1403638169.145097, t: 8.502423 9.429958 3.168599 q: -0.196046 0.773803 0.299776 0.522427 
time: 1403638169.345097, t: 8.805013 9.423854 3.142070 q: -0.225059 0.770633 0.277535 0.527680 
time: 1403638169.545097, t: 9.112469 9.411407 3.104838 q: -0.234080 0.770747 0.241282 0.541238 
wait for imu ... 
time: 1403638169.745097, t: 9.414382 9.357055 3.088343 q: -0.200450 0.779098 0.216929 0.552963 
time: 1403638169.945097, t: 9.701070 9.270017 3.101238 q: -0.144768 0.783795 0.196827 0.570936 
time: 1403638170.145097, t: 9.949696 9.188169 3.139773 q: -0.116245 0.782889 0.155082 0.591203 
time: 1403638170.345097, t: 10.185181 9.105284 3.156101 q: -0.099413 0.793348 0.104065 0.591512 
time: 1403638170.545097, t: 10.381534 8.993353 3.145394 q: -0.083464 0.802783 0.055050 0.587828 
time: 1403638170.745097, t: 10.586266 8.868383 3.157675 q: -0.065683 0.800422 0.011676 0.595713 
time: 1403638170.945097, t: 10.743128 8.708308 3.185287 q: -0.037865 0.800903 -0.022723 0.597164 
time: 1403638171.145097, t: 10.864688 8.533302 3.192068 q: -0.014560 0.797543 -0.053664 0.600694 
time: 1403638171.345097, t: 10.948433 8.337376 3.188638 q: -0.005603 0.794234 -0.072184 0.603283 
time: 1403638171.545097, t: 10.996466 8.121985 3.177096 q: -0.001352 0.789531 -0.086586 0.607571 
time: 1403638171.745097, t: 10.998723 7.884658 3.159880 q: 0.003794 0.783943 -0.105796 0.611740 
time: 1403638171.945097, t: 10.981021 7.612530 3.144519 q: 0.010564 0.775999 -0.123579 0.618419 
time: 1403638172.145097, t: 10.896365 7.316484 3.149718 q: 0.025398 0.774367 -0.127151 0.619308 
time: 1403638172.345097, t: 10.778739 6.996687 3.135194 q: 0.031232 0.775924 -0.127197 0.617080 
time: 1403638172.545097, t: 10.615121 6.669909 3.079669 q: 0.027964 0.772643 -0.127115 0.621355 
time: 1403638172.745097, t: 10.424521 6.320175 2.990670 q: 0.020758 0.771617 -0.125627 0.623213 
time: 1403638172.945097, t: 10.181082 5.958422 2.882142 q: 0.011551 0.773204 -0.124191 0.621771 
time: 1403638173.145097, t: 9.898074 5.569642 2.753299 q: 0.000357 0.782263 -0.123317 0.610621 
time: 1403638173.345097, t: 9.585473 5.149319 2.599717 q: 0.010149 0.790749 -0.112165 0.601691 
wait for imu ... 
time: 1403638173.545097, t: 9.254173 4.707670 2.418670 q: 0.037230 0.795971 -0.094092 0.596818 
time: 1403638173.745097, t: 8.915865 4.270659 2.217973 q: 0.042766 0.797245 -0.091698 0.595115 
wait for imu ... 
time: 1403638173.945097, t: 8.565461 3.851940 2.020307 q: 0.044034 0.798032 -0.093272 0.593723 
time: 1403638174.145097, t: 8.199201 3.433643 1.847554 q: 0.045192 0.799818 -0.093153 0.591245 
time: 1403638174.345097, t: 7.810124 3.025854 1.675077 q: 0.045245 0.809297 -0.092269 0.578341 
time: 1403638174.545097, t: 7.456721 2.638737 1.489099 q: 0.042181 0.815882 -0.092664 0.569184 
time: 1403638174.745097, t: 7.101793 2.265148 1.325653 q: 0.048205 0.824415 -0.087676 0.557072 
time: 1403638174.945097, t: 6.761992 1.892789 1.192784 q: 0.050788 0.828720 -0.085717 0.550723 time: 1403638175.145097, t: 6.470907 1.549623 1.081128 q: 0.054838 0.827390 -0.085654 0.552343 
time: 1403638175.345097, t: 6.209294 1.214696 0.987695 q: 0.058677 0.831979 -0.086452 0.544880 
time: 1403638175.545097, t: 5.966949 0.890264 0.924728 q: 0.067309 0.844425 -0.082022 0.525060 
time: 1403638175.745097, t: 5.800272 0.590139 0.898613 q: 0.063568 0.857184 -0.083727 0.504168 
time: 1403638175.945097, t: 5.676491 0.289516 0.857700 q: 0.068521 0.860921 -0.077858 0.498054 
time: 1403638176.145097, t: 5.636377 0.009504 0.799641 q: 0.082465 0.843231 -0.064029 0.527315 
time: 1403638176.345097, t: 5.656708 -0.220176 0.763949 q: 0.077081 0.819202 -0.067085 0.564328 
time: 1403638176.545097, t: 5.672939 -0.426620 0.750829 q: 0.079992 0.816986 -0.066956 0.567144 
time: 1403638176.745097, t: 5.695707 -0.600119 0.763224 q: 0.081236 0.818757 -0.067142 0.564384 
time: 1403638176.945097, t: 5.735969 -0.742500 0.800898 q: 0.074876 0.819480 -0.071727 0.563650 
time: 1403638177.145097, t: 5.784641 -0.858915 0.823010 q: 0.080154 0.821098 -0.068487 0.560966 
time: 1403638177.345097, t: 5.836843 -0.956100 0.807849 q: 0.083661 0.821165 -0.066304 0.560619 
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time: 1403638178.745097, t: 6.136956 -1.472893 0.648576 q: 0.122012 0.781577 -0.228396 0.567526 
time: 1403638178.945097, t: 6.150537 -1.590890 0.605454 q: 0.144989 0.779285 -0.261080 0.550935 
time: 1403638179.145097, t: 6.088965 -1.682065 0.575371 q: 0.159752 0.784215 -0.275931 0.532305 
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time: 1403638179.545097, t: 6.053008 -1.951654 0.468618 q: 0.200917 0.762471 -0.317357 0.526834 
time: 1403638179.745097, t: 6.044004 -2.107990 0.410789 q: 0.226956 0.740413 -0.352794 0.525182 
time: 1403638179.945097, t: 6.036033 -2.267156 0.378425 q: 0.250819 0.724274 -0.387987 0.511843 
time: 1403638180.145097, t: 6.024863 -2.429501 0.363079 q: 0.258165 0.718695 -0.413717 0.495648 
time: 1403638180.345097, t: 6.019076 -2.597639 0.344841 q: 0.262860 0.715612 -0.422349 0.490332 
time: 1403638180.545097, t: 6.001964 -2.781652 0.308658 q: 0.269595 0.717841 -0.419041 0.486238 
time: 1403638180.745097, t: 5.993926 -2.978053 0.271774 q: 0.269168 0.725443 -0.415399 0.478251 
time: 1403638180.945097, t: 5.995908 -3.192947 0.261205 q: 0.261948 0.728851 -0.413370 0.478837 
time: 1403638181.145097, t: 6.002668 -3.422308 0.246762 q: 0.255303 0.726530 -0.412112 0.486969 
time: 1403638181.345097, t: 6.014560 -3.674212 0.213716 q: 0.255968 0.712191 -0.416195 0.504030 
time: 1403638181.545097, t: 6.011253 -3.916964 0.165006 q: 0.267911 0.681859 -0.442783 0.516949 
time: 1403638181.745097, t: 5.978280 -4.160316 0.115243 q: 0.301525 0.658298 -0.468609 0.506094 
time: 1403638181.945097, t: 5.909982 -4.400568 0.101254 q: 0.331065 0.648620 -0.495687 0.473268 
time: 1403638182.145097, t: 5.832602 -4.627854 0.113408 q: 0.336869 0.643235 -0.519441 0.450499 
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wait for imu ... 
time: 1403638182.545097, t: 5.667140 -5.104182 0.155091 q: 0.333863 0.645661 -0.534286 0.431504 
wait for imu ... 
time: 1403638182.945097, t: 5.516455 -5.634884 0.258582 q: 0.337856 0.651200 -0.522302 0.434732 
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wait for imu ... 
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wait for imu ... 
time: 1403638184.545097, t: 5.314093 -7.827874 0.414015 q: 0.356450 0.651962 -0.507239 0.436574 
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time: 1403638185.345097, t: 5.544893 -8.869301 0.507025 q: 0.365436 0.652945 -0.501710 0.434059 
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wait for imu ... 
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wait for imu ... 
wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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time: 1403638202.145097, t: 8.302972 3.029473 2.419138 q: 0.044089 0.811272 -0.035648 0.581913 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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time: 1403638221.345097, t: 0.932001 0.056582 0.222023 q: 0.048415 0.819507 -0.068893 0.566850 
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optimize pose graph 
time: 1403638222.345097, t: 0.483562 0.080660 0.230132 q: 0.048507 0.824544 -0.069556 0.559407 
time: 1403638222.545097, t: 0.426283 0.082441 0.222956 q: 0.047729 0.826951 -0.070225 0.555825 
time: 1403638222.745097, t: 0.387134 0.086901 0.198629 q: 0.047375 0.817687 -0.070371 0.569379 
time: 1403638222.945097, t: 0.343477 0.093764 0.164827 q: 0.047616 0.807465 -0.069547 0.583863 
time: 1403638223.345097, t: 0.260536 0.118437 0.123928 q: 0.039544 0.825448 -0.075963 0.557944 
time: 1403638223.545097, t: 0.221093 0.121598 0.108977 q: 0.023916 0.817881 -0.087068 0.568259 
time: 1403638223.745097, t: 0.187721 0.109785 0.088926 q: 0.042743 0.816910 -0.074344 0.570354 
time: 1403638223.945097, t: 0.152848 0.095283 0.060541 q: 0.055457 0.817707 -0.065435 0.569208 
time: 1403638224.145097, t: 0.123178 0.080663 0.026473 q: 0.054684 0.825570 -0.065288 0.557837 
optimize pose graph 
time: 1403638224.345097, t: 0.099554 0.083700 -0.004812 q: 0.052885 0.824760 -0.066624 0.559049 
time: 1403638224.545097, t: 0.094709 0.093023 -0.030761 q: 0.045944 0.811456 -0.071764 0.578167 
wait for imu ... 
time: 1403638224.745097, t: 0.078283 0.101878 -0.057752 q: 0.047359 0.823911 -0.070501 0.560319 
time: 1403638224.945097, t: 0.083036 0.113828 -0.059587 q: 0.039169 0.819726 -0.075536 0.566401 
time: 1403638225.145097, t: 0.093361 0.119748 -0.050313 q: 0.036604 0.812566 -0.075163 0.576843 
time: 1403638225.345097, t: 0.099170 0.118478 -0.037383 q: 0.044357 0.822637 -0.068241 0.562711 
time: 1403638225.545097, t: 0.110298 0.117948 -0.036611 q: 0.047948 0.808087 -0.065401 0.583454 
time: 1403638225.745097, t: 0.111869 0.121419 -0.066085 q: 0.050465 0.799748 -0.063311 0.594852 
time: 1403638225.945097, t: 0.097498 0.132120 -0.131665 q: 0.049053 0.821398 -0.064449 0.564576 
time: 1403638226.145097, t: 0.102049 0.151048 -0.143590 q: 0.022013 0.830286 -0.078299 0.551371 
wait for imu ... 
time: 1403638226.345097, t: 0.106649 0.162208 -0.143080 q: 0.045919 0.830551 -0.063232 0.551433 
time: 1403638226.545097, t: 0.107049 0.158050 -0.125831 q: 0.045769 0.829647 -0.062919 0.552839 
time: 1403638226.745097, t: 0.091484 0.165883 -0.153753 q: 0.045534 0.829917 -0.064033 0.552325 
time: 1403638226.945097, t: 0.099401 0.146090 -0.095623 q: 0.045555 0.830091 -0.063270 0.552150 
time: 1403638227.145097, t: 0.095286 0.143392 -0.076728 q: 0.045954 0.830181 -0.063121 0.552000 
time: 1403638227.345097, t: 0.090793 0.141626 -0.069595 q: 0.045260 0.830303 -0.063499 0.551831 
time: 1403638227.545097, t: 0.086871 0.140562 -0.063924 q: 0.045356 0.830389 -0.063323 0.551713 
time: 1403638227.745097, t: 0.078772 0.137552 -0.044397 q: 0.045395 0.830412 -0.063310 0.551677 
time: 1403638227.945097, t: 0.073112 0.137264 -0.028491 q: 0.045204 0.830509 -0.063463 0.551528 
time: 1403638228.145097, t: 0.059863 0.137108 -0.001573 q: 0.045146 0.830480 -0.063518 0.551570 
wait for imu ... 
time: 1403638228.345097, t: 0.046355 0.137548 0.026913 q: 0.045106 0.830462 -0.063587 0.551592 
time: 1403638228.545097, t: 0.042703 0.140716 0.040525 q: 0.044995 0.830512 -0.063641 0.551520 
time: 1403638228.745097, t: 0.027341 0.137669 0.068534 q: 0.044884 0.830552 -0.063619 0.551472 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720481478.654611198]: Shutdown request received.[0m
[33m[ WARN] [1720481478.654664410]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720481478.655621419]: Shutdown request received.[0m
[33m[ WARN] [1720481478.655655324]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/e9a7f780-3d81-11ef-b15a-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
