/SLAM-Hive/slam_hive_results/mapping_results/2906/2114_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-14.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720482067.300539349]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720482067.301847248]: init begins[0m
[31m[ERROR] [1720482067.303001593]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/8c2c1e86-3d83-11ef-a01e-0242ac110005/roslaunch-1859170b3709-118.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://1859170b3709:36847/[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] [1720482068.406841068]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720482068.407690919]: 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] [1720482068.413407312]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720482068.413607041]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720482068.413638452]: 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] [1720482068.413875517]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720482068.414146354]: 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://1859170b3709:11311/[0m
]2;roscore http://1859170b3709:11311/
[1msetting /run_id to 8c2c1e86-3d83-11ef-a01e-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] [1720482077.459672842]: 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: 316843950.35 
wait for imu ... 
init first imu pose
averge acc 8.957421 -0.085581 -3.955803
init R0 
   0.404061    0.019785    0.914518
          0   -0.999766   0.0216293
   0.914732 -0.00873955   -0.403967
wait for imu ... 
[0m[ INFO] [1720482081.971186629]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482082.359370272]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482082.780874116]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482083.162807655]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482083.549714237]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482083.971479354]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720482085.158291072]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482085.556793608]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482085.959916004]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482086.403127130]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0708 23:41:27.223637   179 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 23:41:27.227937   179 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 23:41:27.230091   179 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 23:41:27.232039   179 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 23:41:27.232744   179 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[33m[ WARN] [1720482087.234513181]: gyroscope bias initial calibration 0.000905492   0.0234917   0.0744253[0m
[0m[ INFO] [1720482087.268799654]: Initialization finish![0m
time: 1403638136.645097, t: 0.025095 -0.225423 -0.129851 q: -0.013258 0.826115 -0.004007 0.563332 
time: 1403638137.045097, t: 0.018762 -0.068742 -0.126226 q: -0.089263 0.806730 -0.006913 0.584098 
time: 1403638137.445097, t: 0.008786 0.049585 -0.289604 q: -0.071360 0.828466 0.037557 0.554204 
time: 1403638137.845097, t: -0.005569 0.071477 -0.397180 q: -0.034320 0.841481 0.050103 0.536863 
time: 1403638138.245097, t: -0.014517 0.076148 -0.427288 q: -0.026977 0.844008 0.054181 0.532904 
time: 1403638138.645097, t: -0.014734 0.075719 -0.432282 q: -0.028050 0.837437 0.051524 0.543376 
time: 1403638139.045097, t: -0.002235 0.059484 -0.407017 q: -0.029170 0.837639 0.051219 0.543034 
time: 1403638139.445097, t: -0.001554 0.059413 -0.406921 q: -0.029776 0.837680 0.051127 0.542947 
time: 1403638139.845097, t: -0.001057 0.059110 -0.407621 q: -0.029909 0.837686 0.051264 0.542918 
time: 1403638140.245097, t: -0.000066 0.057937 -0.408342 q: -0.030548 0.837688 0.051403 0.542865 
time: 1403638140.645097, t: 0.000169 0.057233 -0.408546 q: -0.031148 0.837634 0.051723 0.542884 
time: 1403638141.045097, t: 0.000521 0.056501 -0.408847 q: -0.031688 0.837556 0.052180 0.542930 
time: 1403638141.445097, t: 0.000900 0.055916 -0.408949 q: -0.032611 0.837417 0.052769 0.543033 
time: 1403638141.845097, t: 0.001202 0.055424 -0.408697 q: -0.033480 0.837339 0.053439 0.543035 
time: 1403638142.245097, t: 0.001411 0.054778 -0.408516 q: -0.033888 0.837302 0.053714 0.543039 
time: 1403638142.645097, t: 0.001127 0.054225 -0.407633 q: -0.034945 0.837299 0.054756 0.542873 
time: 1403638143.045097, t: 0.000676 0.053251 -0.406381 q: -0.035046 0.837491 0.055352 0.542509 
time: 1403638143.445097, t: 0.000562 0.052901 -0.405873 q: -0.035080 0.837505 0.055637 0.542457 
time: 1403638143.845097, t: 0.000615 0.052938 -0.405805 q: -0.035184 0.837543 0.055516 0.542404 
time: 1403638144.245097, t: 0.000640 0.052819 -0.405901 q: -0.035283 0.837517 0.055550 0.542434 
time: 1403638144.645097, t: 0.000701 0.052665 -0.406046 q: -0.035537 0.837446 0.055636 0.542519 
time: 1403638145.045097, t: 0.000689 0.052424 -0.405881 q: -0.035593 0.837457 0.055813 0.542479 
time: 1403638145.445097, t: 0.000650 0.052106 -0.405762 q: -0.035518 0.837402 0.055865 0.542564 
time: 1403638145.845097, t: 0.000662 0.051853 -0.405552 q: -0.035845 0.837392 0.056094 0.542534 
wait for imu ... 
time: 1403638146.245097, t: 0.000647 0.051701 -0.405285 q: -0.035878 0.837369 0.056283 0.542549 
time: 1403638146.645097, t: 0.000573 0.051466 -0.404856 q: -0.035762 0.837423 0.056380 0.542462 
time: 1403638147.045097, t: 0.000474 0.051338 -0.404431 q: -0.035630 0.837484 0.056670 0.542346 
time: 1403638147.445097, t: 0.000565 0.051579 -0.404481 q: -0.035783 0.837425 0.056778 0.542417 
wait for imu ... 
wait for imu ... 
time: 1403638147.845097, t: 0.004895 0.051485 -0.401838 q: -0.036195 0.832102 0.054801 0.550720 
time: 1403638148.245097, t: 0.024064 0.003082 -0.327631 q: -0.039354 0.812328 0.051759 0.579565 
time: 1403638148.645097, t: 0.025310 -0.019630 -0.214293 q: -0.040092 0.820374 0.065765 0.566616 
time: 1403638149.045097, t: 0.061742 -0.010054 -0.207588 q: -0.045618 0.820765 0.071927 0.564880 
time: 1403638149.445097, t: 0.151628 0.089485 -0.101183 q: -0.049675 0.814148 0.071515 0.574091 
time: 1403638149.845097, t: 0.229032 0.138110 -0.050680 q: -0.055458 0.812530 0.085969 0.573871 
time: 1403638150.245097, t: 0.326045 0.214415 -0.042046 q: -0.040661 0.809984 0.106526 0.575261 
time: 1403638150.645097, t: 0.447296 0.388447 -0.029517 q: -0.062970 0.824823 0.113826 0.550223 
time: 1403638151.045097, t: 0.563201 0.594775 0.019817 q: -0.080074 0.811444 0.143378 0.560882 
time: 1403638151.445097, t: 0.679486 0.841664 0.012660 q: -0.128461 0.795133 0.213631 0.552832 
time: 1403638151.845097, t: 0.797470 1.132183 0.058574 q: -0.162744 0.781427 0.262599 0.542152 
time: 1403638152.245097, t: 0.901372 1.443412 0.157669 q: -0.160753 0.780652 0.269610 0.540417 
time: 1403638152.645097, t: 0.974597 1.789094 0.161445 q: -0.153236 0.782152 0.269455 0.540510 
time: 1403638153.045097, t: 1.021501 2.195631 0.196100 q: -0.190597 0.769127 0.294776 0.534064 
time: 1403638153.445097, t: 1.078751 2.629865 0.263263 q: -0.210350 0.759765 0.336491 0.515057 
time: 1403638153.845097, t: 1.135060 3.126680 0.332973 q: -0.242159 0.728839 0.397769 0.501929 
time: 1403638154.245097, t: 1.103186 3.532831 0.343286 q: -0.269564 0.706102 0.410441 0.510190 
time: 1403638154.645097, t: 1.070145 4.011975 0.296322 q: -0.280747 0.698193 0.406258 0.518327 
time: 1403638155.045097, t: 0.977857 4.485179 0.335511 q: -0.283138 0.688021 0.441243 0.501761 
time: 1403638155.445097, t: 0.816376 4.923327 0.393243 q: -0.309521 0.659333 0.466548 0.501807 
time: 1403638155.845097, t: 0.565663 5.286542 0.364762 q: -0.364079 0.625788 0.502095 0.473008 
time: 1403638156.245097, t: 0.271486 5.502034 0.349988 q: -0.397129 0.590633 0.575004 0.403499 
time: 1403638156.645097, t: 0.011950 5.701793 0.365702 q: -0.410980 0.571293 0.605752 0.371194 
time: 1403638157.045097, t: -0.216123 5.996240 0.320005 q: -0.407519 0.573742 0.606075 0.370704 
time: 1403638157.445097, t: -0.464665 6.381458 0.362408 q: -0.403990 0.569972 0.609678 0.374455 
time: 1403638157.845097, t: -0.677018 6.824895 0.382970 q: -0.433505 0.518899 0.636972 0.370249 
time: 1403638158.245097, t: -0.908454 7.262444 0.442068 q: -0.465020 0.485580 0.664147 0.326922 
time: 1403638158.645097, t: -1.112155 7.681950 0.432623 q: -0.462659 0.470408 0.671993 0.336285 
time: 1403638159.045097, t: -1.343453 8.091215 0.432647 q: -0.455964 0.490283 0.671992 0.316459 
time: 1403638159.445097, t: -1.563817 8.524630 0.482026 q: -0.467085 0.491415 0.660604 0.322405 
time: 1403638159.845097, t: -1.712895 8.977061 0.574181 q: 0.513126 -0.486111 -0.627157 -0.327218 
time: 1403638160.245097, t: -1.700118 9.291038 0.797302 q: -0.474947 0.478476 0.658381 0.334694 
time: 1403638160.645097, t: -1.659408 9.564084 1.091741 q: -0.455689 0.487187 0.672628 0.320261 
wait for imu ... 
time: 1403638161.045097, t: -1.609853 9.868414 1.319242 q: -0.481067 0.502114 0.631162 0.343643 
time: 1403638161.445097, t: -1.490290 10.126087 1.485949 q: -0.429417 0.565277 0.592534 0.380745 
time: 1403638161.845097, t: -1.354637 10.353594 1.605287 q: -0.410038 0.595598 0.569721 0.390577 
time: 1403638162.245097, t: -1.165765 10.696762 1.597997 q: -0.400297 0.614835 0.549105 0.400280 
time: 1403638162.645097, t: -0.925862 10.886030 1.749619 q: -0.399471 0.614630 0.546873 0.404454 
time: 1403638163.045097, t: -0.628761 11.103685 1.914906 q: -0.405506 0.618924 0.530670 0.413385 
wait for imu ... 
time: 1403638163.445097, t: -0.269873 11.302861 1.967724 q: -0.374210 0.640740 0.502324 0.443948 
time: 1403638163.845097, t: 0.107547 11.481502 2.028218 q: -0.357019 0.656953 0.481709 0.457063 
time: 1403638164.245097, t: 0.511013 11.626163 2.222789 q: -0.370555 0.661162 0.474631 0.447525 
time: 1403638164.645097, t: 0.961074 11.709801 2.374013 q: -0.380893 0.660699 0.470919 0.443434 
wait for imu ... 
time: 1403638165.045097, t: 1.458096 11.704756 2.441254 q: -0.360323 0.653732 0.461633 0.479267 
time: 1403638165.445097, t: 1.937304 11.613423 2.427448 q: -0.348415 0.685644 0.443578 0.460150 
time: 1403638165.845097, t: 2.441807 11.460067 2.360979 q: -0.344523 0.665653 0.437721 0.496599 
time: 1403638166.245097, t: 2.885718 11.212462 2.325043 q: -0.322206 0.678811 0.458792 0.474246 
wait for imu ... 
time: 1403638166.645097, t: 3.297123 10.998517 2.494998 q: -0.321988 0.674939 0.466688 0.472210 
time: 1403638167.045097, t: 3.657284 10.822191 2.585585 q: -0.327016 0.701516 0.465256 0.429502 
time: 1403638167.445097, t: 4.084913 10.799303 2.689174 q: -0.316132 0.694183 0.472865 0.441099 
time: 1403638167.845097, t: 4.567744 10.824411 2.771399 q: -0.336815 0.702758 0.434828 0.451234 
wait for imu ... 
time: 1403638168.245097, t: 5.152140 10.833501 2.818667 q: -0.310089 0.725580 0.390431 0.474281 
time: 1403638168.645097, t: 5.784779 10.807515 2.928826 q: -0.249696 0.745082 0.372949 0.493369 
time: 1403638169.045097, t: 6.387079 10.852254 2.947622 q: -0.233862 0.747021 0.377018 0.495101 
time: 1403638169.445097, t: 6.981133 10.963861 2.887987 q: -0.285250 0.742273 0.331105 0.507970 
wait for imu ... 
time: 1403638169.845097, t: 7.580066 10.980990 2.849831 q: -0.224593 0.759994 0.282643 0.540444 
time: 1403638170.245097, t: 8.106697 10.910521 2.906757 q: -0.163710 0.771758 0.204929 0.579304 
time: 1403638170.645097, t: 8.568424 10.801822 2.896360 q: -0.132678 0.794986 0.108821 0.581852 
wait for imu ... 
time: 1403638171.045097, t: 8.917674 10.563235 2.944898 q: -0.081296 0.799913 0.037773 0.593383 
wait for imu ... 
time: 1403638171.445097, t: 9.152257 10.218466 2.935520 q: -0.059736 0.796543 -0.002086 0.601619 
time: 1403638171.845097, t: 9.208837 9.755245 2.901148 q: -0.052100 0.788778 -0.040441 0.611130 
time: 1403638172.245097, t: 9.215181 9.172659 2.896774 q: -0.030118 0.784568 -0.052423 0.617088 
time: 1403638172.645097, t: 9.049210 8.492609 2.781160 q: -0.035491 0.780087 -0.051990 0.622496 
time: 1403638173.045097, t: 8.705689 7.707082 2.565662 q: -0.052853 0.785747 -0.048464 0.614377 
time: 1403638173.445097, t: 8.244006 6.801049 2.263023 q: -0.030794 0.799474 -0.025082 0.599386 
time: 1403638173.845097, t: 7.762787 5.862703 1.859182 q: -0.013712 0.803904 -0.016790 0.594364 
time: 1403638174.245097, t: 7.232000 4.974695 1.493001 q: -0.009750 0.809924 -0.015285 0.586255 
wait for imu ... 
time: 1403638174.645097, t: 6.717575 4.094970 1.125583 q: -0.008107 0.825555 -0.010866 0.564158 
time: 1403638175.045097, t: 6.261040 3.325585 0.844290 q: 0.000038 0.833102 -0.006044 0.553087 
time: 1403638175.445097, t: 5.942520 2.668768 0.654224 q: 0.012037 0.842826 -0.005117 0.538027 
time: 1403638175.845097, t: 5.768012 1.997270 0.585449 q: 0.016610 0.865649 -0.000156 0.500376 
time: 1403638176.245097, t: 5.736167 1.414371 0.504417 q: 0.024265 0.831525 0.012663 0.554812 
time: 1403638176.645097, t: 5.853908 0.988819 0.447023 q: 0.026196 0.821720 0.012099 0.569160 
time: 1403638177.045097, t: 5.922222 0.663640 0.498602 q: 0.021789 0.824032 0.009130 0.566051 
time: 1403638177.445097, t: 6.007731 0.434851 0.488879 q: 0.028051 0.824540 0.012312 0.564974 
time: 1403638177.845097, t: 6.183528 0.305460 0.385446 q: -0.009616 0.818180 -0.022442 0.574444 
time: 1403638178.245097, t: 6.331132 0.167453 0.318574 q: 0.009067 0.802167 -0.045040 0.595330 
time: 1403638178.645097, t: 6.369731 0.019973 0.329346 q: 0.054128 0.801974 -0.129687 0.580595 
time: 1403638179.045097, t: 6.333938 -0.185135 0.281875 q: 0.098668 0.804104 -0.194171 0.553154 
wait for imu ... 
time: 1403638179.445097, t: 6.295757 -0.439443 0.199116 q: 0.138465 0.801379 -0.225768 0.536328 
time: 1403638179.845097, t: 6.312768 -0.724618 0.095323 q: 0.189793 0.762192 -0.299033 0.541869 
time: 1403638180.245097, t: 6.301377 -1.025833 0.060827 q: 0.214316 0.752448 -0.348238 0.516354 
time: 1403638180.645097, t: 6.355671 -1.377676 -0.005364 q: 0.223638 0.757013 -0.345803 0.507284 
time: 1403638181.045097, t: 6.486379 -1.771442 -0.043288 q: 0.211527 0.763781 -0.340466 0.505943 
time: 1403638181.445097, t: 6.591765 -2.215442 -0.106834 q: 0.209007 0.738243 -0.359199 0.531309 
time: 1403638181.845097, t: 6.622149 -2.708733 -0.194716 q: 0.269741 0.696414 -0.416739 0.518243 
time: 1403638182.245097, t: 6.580108 -3.183862 -0.171263 q: 0.290277 0.688599 -0.464527 0.475169 
wait for imu ... 
time: 1403638182.645097, t: 6.527683 -3.695614 -0.116969 q: 0.295150 0.699304 -0.464501 0.456179 
time: 1403638183.045097, t: 6.482539 -4.219253 -0.020744 q: 0.297306 0.694593 -0.452889 0.473331 
time: 1403638183.445097, t: 6.471076 -4.772980 0.007447 q: 0.298856 0.705897 -0.447042 0.461029 
time: 1403638183.845097, t: 6.510808 -5.335890 0.006092 q: 0.313452 0.698620 -0.436438 0.472439 
time: 1403638184.245097, t: 6.605901 -5.887548 0.077657 q: 0.305471 0.703872 -0.444566 0.462182 
time: 1403638184.645097, t: 6.763880 -6.433405 0.114603 q: 0.312706 0.696391 -0.441670 0.471362 
time: 1403638185.045097, t: 6.974189 -6.946280 0.145507 q: 0.313727 0.694208 -0.442502 0.473120 
time: 1403638185.445097, t: 7.223370 -7.453428 0.198654 q: 0.324086 0.699433 -0.429433 0.470477 
time: 1403638185.845097, t: 7.540316 -7.860356 0.262032 q: 0.290519 0.709520 -0.404140 0.498850 
time: 1403638186.245097, t: 7.855016 -8.228806 0.288841 q: 0.270838 0.719566 -0.404105 0.495552 
time: 1403638186.645097, t: 8.149940 -8.593285 0.342688 q: 0.281638 0.722739 -0.398692 0.489258 
time: 1403638187.045097, t: 8.496497 -8.944423 0.354117 q: 0.274289 0.741005 -0.361377 0.495060 
time: 1403638187.445097, t: 8.884611 -9.218543 0.437078 q: 0.213566 0.753614 -0.281755 0.554139 
time: 1403638187.845097, t: 9.216356 -9.428703 0.548454 q: 0.195750 0.773531 -0.255598 0.545896 
time: 1403638188.245097, t: 9.528175 -9.550350 0.600321 q: 0.222977 0.762164 -0.242657 0.557230 
wait for imu ... 
time: 1403638188.645097, t: 9.781855 -9.522726 0.590460 q: 0.210933 0.729699 -0.250861 0.600096 
time: 1403638189.045097, t: 9.879556 -9.347811 0.665232 q: 0.185813 0.756311 -0.236576 0.580946 
time: 1403638189.445097, t: 9.868865 -9.071728 0.779464 q: 0.137578 0.787149 -0.193194 0.569338 
time: 1403638189.845097, t: 9.812062 -8.782151 0.896859 q: 0.106915 0.815090 -0.178884 0.540553 
wait for imu ... 
wait for imu ... 
time: 1403638190.245097, t: 9.800749 -8.549273 0.944966 q: 0.120747 0.800943 -0.171045 0.560940 
time: 1403638190.645097, t: 9.815977 -8.302732 0.907960 q: 0.134157 0.796276 -0.128457 0.575713 
time: 1403638191.045097, t: 9.809847 -7.968112 0.872323 q: 0.103559 0.796514 -0.133527 0.580527 
time: 1403638191.445097, t: 9.785083 -7.616310 0.930638 q: 0.099721 0.812919 -0.137336 0.557097 
time: 1403638191.845097, t: 9.774114 -7.257214 0.955480 q: 0.113805 0.815295 -0.131708 0.552264 
time: 1403638192.245097, t: 9.841775 -6.875447 0.971804 q: 0.111987 0.811773 -0.133311 0.557415 
time: 1403638192.645097, t: 9.979457 -6.497126 1.141245 q: 0.109950 0.794957 -0.134890 0.581170 
time: 1403638193.045097, t: 10.014265 -6.068507 1.271953 q: 0.087275 0.761899 -0.146776 0.624780 
time: 1403638193.445097, t: 9.847541 -5.637618 1.437497 q: 0.084796 0.784465 -0.113648 0.603746 
time: 1403638193.845097, t: 9.550315 -5.209215 1.601308 q: 0.077991 0.803214 -0.108882 0.580439 
time: 1403638194.245097, t: 9.217282 -4.820516 1.667704 q: 0.080411 0.797429 -0.110204 0.587789 
time: 1403638194.645097, t: 8.868175 -4.474074 1.695269 q: 0.076589 0.811437 -0.115828 0.567703 
time: 1403638195.045097, t: 8.546051 -4.165043 1.721970 q: 0.079071 0.824165 -0.117385 0.548380 
time: 1403638195.445097, t: 8.285068 -3.857236 1.666183 q: 0.073773 0.835564 -0.121381 0.530714 
time: 1403638195.845097, t: 8.143810 -3.589746 1.588576 q: 0.074880 0.821313 -0.119163 0.552845 
time: 1403638196.645097, t: 8.096228 -3.183435 1.640249 q: 0.073399 0.824640 -0.120257 0.547832 
time: 1403638197.045097, t: 8.182634 -3.059701 1.603479 q: 0.074141 0.819860 -0.120824 0.554738 
time: 1403638197.445097, t: 8.321474 -2.967324 1.645450 q: 0.095539 0.809177 -0.106017 0.569969 
time: 1403638197.845097, t: 8.448149 -2.824900 1.773549 q: 0.091734 0.805565 -0.106873 0.575524 
time: 1403638198.245097, t: 8.543404 -2.635970 1.769178 q: 0.082135 0.797195 -0.112332 0.587465 
time: 1403638198.645097, t: 8.567591 -2.408510 1.617011 q: 0.113118 0.805094 -0.089754 0.575302 
time: 1403638199.045097, t: 8.572137 -2.051093 1.504173 q: 0.132679 0.801866 -0.074362 0.577821 
time: 1403638199.445097, t: 8.564026 -1.494071 1.542723 q: 0.130329 0.797655 -0.077874 0.583693 
time: 1403638199.845097, t: 8.526825 -0.751033 1.679117 q: 0.097184 0.809172 -0.072136 0.574972 
time: 1403638200.245097, t: 8.486152 0.067456 1.778718 q: 0.069524 0.808091 -0.038555 0.583669 
time: 1403638200.645097, t: 8.415793 0.951050 1.940646 q: 0.052474 0.803824 0.028646 0.591855 
time: 1403638201.045097, t: 8.280319 1.943883 2.141080 q: 0.016559 0.811000 0.046474 0.582962 
time: 1403638201.445097, t: 8.100165 3.004750 2.226250 q: 0.007544 0.810758 0.036489 0.584195 
wait for imu ... 
time: 1403638201.845097, t: 7.891044 4.056758 2.189565 q: 0.009695 0.806718 0.030189 0.590085 
time: 1403638202.245097, t: 7.593763 5.090199 2.108994 q: -0.019641 0.815186 0.038579 0.577580 
time: 1403638202.645097, t: 7.321716 6.065996 2.067831 q: -0.032468 0.821722 0.041524 0.567446 
time: 1403638203.045097, t: 7.049195 6.986414 1.978310 q: -0.031861 0.818457 0.039727 0.572306 
time: 1403638203.445097, t: 6.784400 7.818721 1.951440 q: -0.031429 0.810607 0.040156 0.583366 
time: 1403638203.845097, t: 6.502980 8.575473 1.925112 q: -0.033993 0.812357 0.039092 0.580855 
wait for imu ... 
time: 1403638204.245097, t: 6.215741 9.219995 1.942849 q: -0.044700 0.819669 0.036366 0.569932 
time: 1403638204.645097, t: 6.003218 9.816224 2.050833 q: -0.065812 0.827492 0.022252 0.557162 
time: 1403638205.045097, t: 5.869054 10.220041 2.058420 q: -0.073764 0.813944 0.117312 0.564174 
time: 1403638205.445097, t: 5.701362 10.669002 2.061293 q: -0.173639 0.770752 0.266974 0.551830 
time: 1403638205.845097, t: 5.496962 11.120628 2.178551 q: -0.203095 0.718735 0.359759 0.559237 
time: 1403638206.245097, t: 5.137399 11.585432 2.368822 q: -0.264798 0.687280 0.422026 0.528604 
time: 1403638206.645097, t: 4.646485 12.038749 2.495050 q: -0.317185 0.669475 0.437764 0.509469 
time: 1403638207.045097, t: 4.121162 12.244721 2.556334 q: -0.340423 0.654680 0.452479 0.500769 
wait for imu ... 
time: 1403638207.445097, t: 3.599376 12.291770 2.467221 q: -0.364905 0.632410 0.470800 0.495227 
time: 1403638207.845097, t: 3.063476 12.369614 2.419142 q: -0.385721 0.620752 0.516336 0.446412 
time: 1403638208.245097, t: 2.570904 12.367495 2.462017 q: -0.389985 0.619333 0.518236 0.442458 
time: 1403638208.645097, t: 2.151083 12.291900 2.421560 q: -0.388781 0.615899 0.533516 0.429975 
wait for imu ... 
time: 1403638209.045097, t: 1.789424 12.070919 2.430055 q: -0.406324 0.595230 0.552285 0.419026 
time: 1403638209.445097, t: 1.402591 11.928524 2.356707 q: -0.410712 0.594132 0.554819 0.412914 
time: 1403638209.845097, t: 1.084665 11.786538 2.107683 q: -0.410021 0.592120 0.552595 0.419423 
time: 1403638210.245097, t: 0.733910 11.519393 1.727081 q: -0.421667 0.580691 0.542636 0.436510 
time: 1403638210.645097, t: 0.485275 11.169926 1.364927 q: -0.422460 0.580907 0.540822 0.437706 
time: 1403638211.045097, t: 0.267368 10.720567 1.008335 q: -0.418536 0.589751 0.543401 0.426306 
time: 1403638211.445097, t: 0.126185 10.219708 0.770854 q: -0.408843 0.602487 0.539686 0.422606 
time: 1403638211.845097, t: 0.040643 9.692979 0.499024 q: -0.380024 0.654352 0.477303 0.446752 
time: 1403638212.245097, t: 0.059757 9.135356 0.295182 q: -0.324953 0.704650 0.402448 0.485705 
time: 1403638212.645097, t: 0.132373 8.530561 0.222077 q: -0.269307 0.743822 0.325997 0.517618 
time: 1403638213.045097, t: 0.230371 7.894181 0.258858 q: -0.204834 0.779931 0.237684 0.541532 
time: 1403638213.445097, t: 0.362131 7.222876 0.297652 q: -0.154049 0.826038 0.122715 0.528083 
time: 1403638213.845097, t: 0.592334 6.497348 0.287168 q: -0.086321 0.813225 0.077541 0.570264 
time: 1403638214.245097, t: 0.842438 5.777571 0.357742 q: -0.073982 0.827268 0.085264 0.550349 
time: 1403638214.645097, t: 1.149490 5.100094 0.390636 q: -0.080986 0.819850 0.099688 0.557986 
time: 1403638215.045097, t: 1.436407 4.414139 0.320849 q: -0.088283 0.804847 0.107570 0.576937 
time: 1403638215.445097, t: 1.712362 3.797770 0.201409 q: -0.076097 0.806913 0.117692 0.573802 
time: 1403638215.845097, t: 1.976656 3.222986 0.143207 q: -0.081072 0.805934 0.109404 0.576132 
time: 1403638216.245097, t: 2.185897 2.668780 0.068073 q: -0.071528 0.805934 0.098405 0.579371 
time: 1403638216.645097, t: 2.330018 2.179726 0.049392 q: -0.063901 0.805622 0.098789 0.580629 
time: 1403638217.045097, t: 2.414450 1.743550 -0.032495 q: -0.051329 0.804192 0.078224 0.586959 
time: 1403638217.445097, t: 2.434764 1.366976 -0.126178 q: -0.026813 0.815057 0.039301 0.577423 
time: 1403638217.845097, t: 2.439991 1.034573 -0.112856 q: 0.000819 0.817462 0.049989 0.573809 
time: 1403638218.245097, t: 2.412275 0.828027 -0.079157 q: -0.002825 0.809108 0.055684 0.585008 
time: 1403638218.645097, t: 2.344872 0.749595 -0.060062 q: -0.019972 0.808375 0.051925 0.586034 
time: 1403638219.045097, t: 2.231349 0.745597 -0.034534 q: -0.026439 0.820225 0.016665 0.571187 
time: 1403638219.445097, t: 2.117200 0.743306 -0.059703 q: -0.011400 0.799988 0.013675 0.599752 
time: 1403638219.845097, t: 1.944792 0.745549 -0.063486 q: -0.028507 0.808101 0.002863 0.588347 
optimize pose graph 
time: 1403638220.245097, t: 1.728018 0.699382 -0.108346 q: -0.023892 0.816741 0.005961 0.576478 
time: 1403638220.645097, t: 1.509750 0.629461 -0.079255 q: -0.003604 0.816748 0.017686 0.576713 
time: 1403638221.045097, t: 1.285026 0.582134 -0.097692 q: -0.004047 0.818129 0.012057 0.574894 
time: 1403638221.445097, t: 1.067309 0.552852 -0.129576 q: -0.007866 0.823226 0.006437 0.567622 
time: 1403638221.845097, t: 0.878407 0.531492 -0.163206 q: -0.014167 0.818996 0.001660 0.573622 
time: 1403638222.245097, t: 0.713597 0.502657 -0.138514 q: -0.004741 0.823868 0.009217 0.566686 
optimize pose graph 
time: 1403638223.045097, t: 0.503766 0.495741 -0.227514 q: -0.008802 0.809886 0.007446 0.586473 
time: 1403638223.445097, t: 0.377924 0.497067 -0.250799 q: -0.020934 0.825925 -0.002314 0.563386 
time: 1403638223.845097, t: 0.306394 0.460388 -0.290135 q: -0.004144 0.820323 0.009110 0.571812 
time: 1403638224.245097, t: 0.263109 0.431483 -0.354492 q: 0.000285 0.831380 0.012787 0.555558 
optimize pose graph 
time: 1403638224.645097, t: 0.263718 0.439030 -0.410258 q: -0.007519 0.816553 0.007446 0.577174 
time: 1403638225.045097, t: 0.283183 0.473324 -0.435332 q: -0.022273 0.817129 -0.001517 0.576022 
time: 1403638225.445097, t: 0.304627 0.452045 -0.421365 q: -0.008631 0.821028 0.011064 0.570715 
time: 1403638225.845097, t: 0.302496 0.473115 -0.501522 q: -0.005564 0.813405 0.013304 0.581519 
wait for imu ... 
time: 1403638226.245097, t: 0.301754 0.503998 -0.556545 q: -0.003660 0.836377 0.017173 0.547873 
time: 1403638226.645097, t: 0.294581 0.499916 -0.529858 q: -0.007591 0.831709 0.015652 0.554939 
time: 1403638227.045097, t: 0.280280 0.486498 -0.502885 q: -0.006768 0.831977 0.016200 0.554532 
time: 1403638227.445097, t: 0.256252 0.474993 -0.467131 q: -0.007654 0.832250 0.015506 0.554131 
wait for imu ... 
time: 1403638227.845097, t: 0.230363 0.473236 -0.452786 q: -0.007515 0.832358 0.015637 0.553966 
time: 1403638228.245097, t: 0.213418 0.480771 -0.456477 q: -0.007485 0.832489 0.015427 0.553776 
time: 1403638228.645097, t: 0.199343 0.479528 -0.479194 q: -0.007662 0.832643 0.015407 0.553543 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720482180.908732245]: Shutdown request received.[0m
[33m[ WARN] [1720482180.908788863]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720482180.909736488]: Shutdown request received.[0m
[33m[ WARN] [1720482180.909764659]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/8c2c1e86-3d83-11ef-a01e-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
