/SLAM-Hive/slam_hive_results/mapping_results/2907/2115_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-15.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720482207.946083031]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720482207.947861332]: init begins[0m
[31m[ERROR] [1720482207.949034275]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e000ca84-3d83-11ef-86f9-0242ac110005/roslaunch-6c09b7b2f36c-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://6c09b7b2f36c:45045/[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] [1720482209.102962903]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720482209.104022547]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://6c09b7b2f36c:11311/[0m
]2;roscore http://6c09b7b2f36c:11311/
[1msetting /run_id to e000ca84-3d83-11ef-86f9-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720482209.111740426]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720482209.111959215]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720482209.111990614]: 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] [1720482209.112171134]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720482209.112410973]: 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 [238][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720482218.096738014]: 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: 316844090.98 
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] [1720482222.600180752]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482222.989239324]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482223.406757763]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720482223.781550916]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482224.185561765]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482224.616862517]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
wait for imu ... 
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720482225.789768939]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482226.190426670]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
wait for imu ... 
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
wait for imu ... 
[0m[ INFO] [1720482228.576321310]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720482228.978953398]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482229.392228372]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482229.786112833]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720482230.179356841]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482230.583434052]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482230.988228381]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720482231.383246250]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482231.796080108]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482232.187529309]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482232.596224905]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482232.987904298]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482233.406384037]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482233.800255627]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482234.186529079]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482234.588592420]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482234.987522089]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482235.383110594]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482235.785794565]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720482236.175951932]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482236.599145658]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482236.988635993]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482237.381836718]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482237.783829810]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482238.187913720]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482238.598184452]: 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] [1720482239.384603757]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482239.790766701]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482240.185853917]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720482240.583086926]: Not enough features or parallax; Move device around[0m
wait for imu ... 
unstable features tracking, please slowly move you device!
wait for imu ... 
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720482243.861763439]: gyroscope bias initial calibration -8.53357e-05    0.0210651    0.0771405[0m
[0m[ INFO] [1720482243.895276260]: Initialization finish![0m
time: 1403638153.045097, t: 1.296651 2.004162 0.376684 q: -0.144445 0.792004 0.225383 0.548697 
time: 1403638153.445097, t: 1.425965 2.426171 0.470837 q: -0.165672 0.786832 0.267492 0.530939 
time: 1403638153.845097, t: 1.605237 2.933689 0.537392 q: -0.196974 0.762140 0.330448 0.520718 
time: 1403638154.245097, t: 1.628735 3.346957 0.561417 q: -0.225579 0.739775 0.346770 0.530658 
time: 1403638154.645097, t: 1.648449 3.816209 0.539172 q: -0.238182 0.730824 0.344598 0.538904 
time: 1403638155.045097, t: 1.603805 4.285786 0.601901 q: -0.244024 0.722920 0.381555 0.521780 
time: 1403638155.445097, t: 1.470993 4.733292 0.678460 q: -0.272010 0.695646 0.409999 0.523439 
time: 1403638155.845097, t: 1.254846 5.172746 0.657799 q: -0.329367 0.664480 0.448535 0.498799 
time: 1403638156.245097, t: 0.985827 5.466484 0.636653 q: -0.367264 0.635320 0.523827 0.432541 
time: 1403638156.645097, t: 0.769647 5.817080 0.646504 q: -0.382303 0.619500 0.555475 0.401885 
time: 1403638157.045097, t: 0.615037 6.170224 0.582929 q: -0.377713 0.623213 0.555034 0.401093 
time: 1403638157.445097, t: 0.445011 6.586295 0.625425 q: -0.373112 0.620588 0.558699 0.404368 
wait for imu ... 
time: 1403638157.845097, t: 0.291975 7.083764 0.648320 q: -0.403284 0.571909 0.590569 0.401883 
wait for imu ... 
time: 1403638158.245097, t: 0.100499 7.622885 0.703990 q: -0.438650 0.540702 0.620585 0.360696 
time: 1403638158.645097, t: -0.065343 8.127220 0.698392 q: -0.435690 0.526495 0.629870 0.369108 
time: 1403638159.045097, t: -0.221912 8.551727 0.706357 q: -0.430318 0.546453 0.628377 0.348365 
time: 1403638159.445097, t: -0.381682 9.070641 0.762320 q: -0.440259 0.547337 0.616808 0.355165 
time: 1403638159.845097, t: -0.439272 9.534587 0.868694 q: -0.485126 0.539864 0.583759 0.363902 
time: 1403638160.245097, t: -0.382749 9.875856 1.098000 q: -0.446102 0.535182 0.615565 0.368310 
time: 1403638160.645097, t: -0.299055 10.162488 1.403569 q: -0.427514 0.545259 0.628835 0.352832 
wait for imu ... 
time: 1403638161.045097, t: -0.180231 10.430159 1.642777 q: -0.450157 0.557097 0.585938 0.379050 
time: 1403638161.445097, t: -0.012960 10.642381 1.813863 q: -0.394975 0.616801 0.542132 0.411879 
time: 1403638161.845097, t: 0.176829 10.851700 1.924869 q: -0.374432 0.645297 0.516525 0.420232 
time: 1403638162.245097, t: 0.407824 11.058031 1.995708 q: -0.364894 0.662236 0.494376 0.428822 
time: 1403638163.045097, t: 1.034833 11.425785 2.228972 q: -0.367699 0.665659 0.474392 0.443449 
time: 1403638163.445097, t: 1.427374 11.566658 2.282614 q: -0.333599 0.684974 0.444227 0.471365 
time: 1403638163.845097, t: 1.841429 11.685657 2.344510 q: -0.315261 0.699412 0.421957 0.483100 
time: 1403638164.245097, t: 2.273208 11.747439 2.531236 q: -0.329177 0.703225 0.413509 0.475530 
time: 1403638164.645097, t: 2.733235 11.744096 2.677333 q: -0.339587 0.702435 0.409121 0.473165 
time: 1403638165.045097, t: 3.218542 11.637712 2.753118 q: -0.315471 0.694740 0.400000 0.507754 
wait for imu ... 
time: 1403638165.445097, t: 3.653138 11.463354 2.730825 q: -0.304886 0.724859 0.378877 0.487930 
time: 1403638165.845097, t: 4.094517 11.261819 2.656511 q: -0.297257 0.704605 0.375059 0.523929 
time: 1403638166.245097, t: 4.452747 10.960555 2.616943 q: -0.276688 0.719648 0.394747 0.499725 
time: 1403638166.645097, t: 4.791328 10.667609 2.783672 q: -0.276590 0.716421 0.402659 0.498101 
time: 1403638167.045097, t: 5.150530 10.450797 2.864698 q: -0.286026 0.742489 0.398999 0.455740 
time: 1403638167.445097, t: 5.572808 10.314949 2.966897 q: -0.274566 0.735758 0.406995 0.466507 
time: 1403638167.845097, t: 6.063183 10.221076 3.047037 q: -0.294441 0.740607 0.368249 0.478747 
wait for imu ... 
time: 1403638168.245097, t: 6.637847 10.114025 3.094858 q: -0.265614 0.759245 0.321952 0.499343 
time: 1403638168.645097, t: 7.241808 9.973146 3.205286 q: -0.203656 0.777099 0.302780 0.512801 
time: 1403638169.045097, t: 7.851110 9.905249 3.225403 q: -0.187981 0.779361 0.306766 0.512986 
time: 1403638169.445097, t: 8.469124 9.895030 3.173147 q: -0.238083 0.770486 0.261270 0.530477 
time: 1403638169.845097, t: 9.078415 9.808687 3.131862 q: -0.174901 0.783754 0.211682 0.557073 
wait for imu ... 
time: 1403638170.245097, t: 9.581220 9.660809 3.185432 q: -0.110493 0.788511 0.133137 0.590184 
time: 1403638170.645097, t: 10.021582 9.484497 3.171739 q: -0.079121 0.802931 0.035227 0.589747 
time: 1403638171.045097, t: 10.337033 9.161698 3.222162 q: -0.027141 0.801339 -0.036027 0.596508 
time: 1403638171.445097, t: 10.443530 8.786887 3.202626 q: -0.004396 0.794106 -0.075961 0.602998 
time: 1403638171.845097, t: 10.380614 8.362600 3.157299 q: 0.004597 0.782744 -0.113717 0.611849 
time: 1403638172.245097, t: 10.262970 7.819733 3.163081 q: 0.027386 0.777408 -0.125465 0.615748 
time: 1403638172.645097, t: 9.957848 7.202524 3.059258 q: 0.022606 0.772962 -0.124840 0.621638 
time: 1403638173.045097, t: 9.485592 6.529552 2.852552 q: 0.004696 0.778912 -0.122042 0.615126 
wait for imu ... 
time: 1403638173.445097, t: 8.884440 5.733346 2.561040 q: 0.025055 0.794712 -0.100085 0.598154 
time: 1403638173.845097, t: 8.242253 4.905272 2.171710 q: 0.041500 0.799758 -0.092332 0.591726 
time: 1403638174.245097, t: 7.584478 4.183105 1.810237 q: 0.044949 0.805980 -0.091533 0.583093 
time: 1403638174.645097, t: 6.937730 3.448474 1.450847 q: 0.044615 0.821889 -0.088630 0.560939 
wait for imu ... 
time: 1403638175.045097, t: 6.384885 2.720981 1.185335 q: 0.050901 0.829836 -0.084066 0.549285 
time: 1403638175.445097, t: 5.990534 2.139062 1.008697 q: 0.061296 0.839585 -0.084015 0.533180 
time: 1403638175.845097, t: 5.717820 1.553167 0.921530 q: 0.062548 0.862641 -0.081239 0.495316 
time: 1403638176.245097, t: 5.522668 0.875103 0.764342 q: 0.074416 0.829617 -0.064228 0.549611 
wait for imu ... 
time: 1403638176.645097, t: 5.540353 0.420908 0.707724 q: 0.077397 0.819658 -0.063553 0.564032 
time: 1403638177.045097, t: 5.540895 0.062768 0.756282 q: 0.072490 0.821570 -0.066467 0.561561 
time: 1403638177.445097, t: 5.567696 -0.153406 0.759815 q: 0.078925 0.822290 -0.063374 0.559995 
time: 1403638177.845097, t: 5.670176 -0.296255 0.666395 q: 0.042605 0.812627 -0.097627 0.572967 
wait for imu ... 
time: 1403638178.245097, t: 5.792945 -0.436148 0.600832 q: 0.063231 0.794548 -0.118794 0.592100 
time: 1403638178.645097, t: 5.793707 -0.586306 0.619623 q: 0.106687 0.786659 -0.203053 0.573198 
time: 1403638179.445097, t: 5.655827 -1.017283 0.481429 q: 0.186797 0.777315 -0.298777 0.521172 
wait for imu ... 
time: 1403638179.845097, t: 5.624991 -1.304241 0.371889 q: 0.238500 0.731598 -0.368152 0.521868 
time: 1403638180.245097, t: 5.605786 -1.619709 0.339231 q: 0.260570 0.717666 -0.416134 0.493853 
time: 1403638180.645097, t: 5.610609 -1.973791 0.273092 q: 0.269121 0.722412 -0.414079 0.483977 
time: 1403638181.045097, t: 5.636675 -2.363236 0.238681 q: 0.257332 0.729165 -0.409791 0.483912 
time: 1403638181.445097, t: 5.662900 -2.816368 0.169885 q: 0.257417 0.701812 -0.426228 0.509438 
time: 1403638181.845097, t: 5.599025 -3.265994 0.081002 q: 0.317074 0.654587 -0.479798 0.490687 
time: 1403638182.245097, t: 5.448216 -3.691221 0.104442 q: 0.333743 0.642057 -0.526826 0.445907 
time: 1403638182.645097, t: 5.296032 -4.156470 0.152635 q: 0.336781 0.652742 -0.527727 0.426627 
time: 1403638183.045097, t: 5.174011 -4.651677 0.248019 q: 0.340482 0.649382 -0.515630 0.443285 
time: 1403638183.445097, t: 5.065958 -5.154968 0.271214 q: 0.340953 0.661163 -0.510782 0.430949 
time: 1403638183.845097, t: 5.011763 -5.691130 0.272098 q: 0.356637 0.654948 -0.499475 0.440882 
time: 1403638184.245097, t: 5.008364 -6.241924 0.336724 q: 0.347587 0.659494 -0.507934 0.431572 
time: 1403638184.645097, t: 5.062103 -6.756362 0.370421 q: 0.355657 0.652191 -0.504418 0.440134 
time: 1403638185.045097, t: 5.164976 -7.261667 0.404208 q: 0.356485 0.650009 -0.505041 0.441973 
time: 1403638185.445097, t: 5.309297 -7.782299 0.459843 q: 0.366166 0.656602 -0.492413 0.438549 
time: 1403638185.845097, t: 5.539649 -8.245375 0.517871 q: 0.335086 0.669163 -0.467870 0.470144 
time: 1403638186.245097, t: 5.757568 -8.718995 0.547957 q: 0.314790 0.679338 -0.468581 0.468870 
time: 1403638186.645097, t: 5.963930 -9.169438 0.602668 q: 0.324730 0.683082 -0.463514 0.461632 
time: 1403638187.045097, t: 6.224128 -9.547914 0.618613 q: 0.318009 0.704612 -0.428098 0.468106 
time: 1403638187.445097, t: 6.550393 -9.874691 0.699489 q: 0.263166 0.724351 -0.350022 0.532488 
time: 1403638187.845097, t: 6.832415 -10.127131 0.809484 q: 0.244773 0.746569 -0.325946 0.525814 
time: 1403638188.245097, t: 7.113882 -10.311099 0.857228 q: 0.272975 0.736441 -0.312174 0.534497 
time: 1403638188.645097, t: 7.367987 -10.351007 0.843673 q: 0.264923 0.703350 -0.317525 0.578180 
time: 1403638189.045097, t: 7.499562 -10.219905 0.916425 q: 0.238120 0.731215 -0.305933 0.561273 
time: 1403638189.445097, t: 7.543249 -9.974372 1.029879 q: 0.188986 0.765926 -0.265716 0.554109 
time: 1403638189.845097, t: 7.538313 -9.700041 1.138505 q: 0.155835 0.795033 -0.254109 0.528268 
wait for imu ... 
wait for imu ... 
time: 1403638190.245097, t: 7.574688 -9.491622 1.180123 q: 0.171550 0.781690 -0.245009 0.547268 
time: 1403638190.645097, t: 7.639249 -9.271466 1.135818 q: 0.186352 0.781029 -0.202189 0.560701 
time: 1403638191.045097, t: 7.698739 -8.956034 1.110848 q: 0.156446 0.780792 -0.207349 0.568238 
time: 1403638191.445097, t: 7.739683 -8.608204 1.181596 q: 0.150622 0.796785 -0.212772 0.545137 
time: 1403638191.845097, t: 7.802594 -8.273134 1.205015 q: 0.164288 0.799769 -0.207485 0.538822 
time: 1403638192.245097, t: 7.919770 -7.923918 1.217045 q: 0.162846 0.796120 -0.208670 0.544179 
wait for imu ... 
time: 1403638192.645097, t: 8.110770 -7.585147 1.366763 q: 0.162916 0.779229 -0.208422 0.568174 
time: 1403638193.045097, t: 8.231391 -7.209357 1.495857 q: 0.144358 0.745289 -0.217268 0.613595 
time: 1403638193.445097, t: 8.159998 -6.781187 1.660415 q: 0.139982 0.770864 -0.186401 0.592814 
time: 1403638193.845097, t: 7.956594 -6.336372 1.829874 q: 0.130987 0.790013 -0.183411 0.570160 
time: 1403638194.245097, t: 7.720285 -5.897329 1.898368 q: 0.134272 0.784141 -0.184362 0.577152 
time: 1403638194.645097, t: 7.450025 -5.493355 1.929891 q: 0.128755 0.797533 -0.191328 0.557455 
time: 1403638195.045097, t: 7.206067 -5.129271 1.959361 q: 0.129587 0.810052 -0.194079 0.537918 
wait for imu ... 
time: 1403638195.445097, t: 7.044993 -4.803840 1.905615 q: 0.122831 0.821090 -0.199229 0.520607 
wait for imu ... 
time: 1403638195.845097, t: 6.965750 -4.534120 1.827653 q: 0.125996 0.807055 -0.195677 0.542676 
wait for imu ... 
time: 1403638196.245097, t: 6.944943 -4.280888 1.846029 q: 0.127309 0.806641 -0.193233 0.543860 
time: 1403638196.645097, t: 6.985306 -4.082342 1.880968 q: 0.123906 0.809989 -0.197146 0.538237 
wait for imu ... 
wait for imu ... 
time: 1403638197.045097, t: 7.079817 -3.936402 1.846876 q: 0.125297 0.805061 -0.197279 0.545215 
time: 1403638197.445097, t: 7.227531 -3.856070 1.890214 q: 0.148124 0.795743 -0.181637 0.558444 
time: 1403638197.845097, t: 7.357609 -3.720282 2.018344 q: 0.144853 0.791970 -0.182156 0.564464 
time: 1403638198.245097, t: 7.472830 -3.559448 2.018723 q: 0.136311 0.783101 -0.186843 0.577289 
wait for imu ... 
time: 1403638198.645097, t: 7.536901 -3.349696 1.863024 q: 0.166045 0.793079 -0.165070 0.562323 
time: 1403638199.045097, t: 7.611819 -3.000619 1.754357 q: 0.185817 0.791388 -0.149359 0.562911 
time: 1403638199.445097, t: 7.710781 -2.455014 1.795648 q: 0.184069 0.786902 -0.152416 0.568922 
time: 1403638199.845097, t: 7.803712 -1.737471 1.925377 q: 0.150123 0.798948 -0.147634 0.563338 
wait for imu ... 
time: 1403638200.245097, t: 7.909558 -0.927265 2.027549 q: 0.123330 0.801026 -0.113960 0.574595 
time: 1403638200.645097, t: 7.997762 -0.049133 2.187734 q: 0.107019 0.803069 -0.046509 0.584350 
time: 1403638201.045097, t: 8.052701 0.950634 2.383437 q: 0.070408 0.811931 -0.029349 0.578748 
time: 1403638201.445097, t: 8.071456 2.014914 2.457079 q: 0.061428 0.810801 -0.039141 0.580772 
wait for imu ... 
time: 1403638201.845097, t: 8.084756 3.079669 2.424446 q: 0.064194 0.806331 -0.045037 0.586243 
time: 1403638202.245097, t: 7.980004 4.137456 2.351292 q: 0.033584 0.815527 -0.037324 0.576537 
time: 1403638202.645097, t: 7.878306 5.117393 2.316031 q: 0.019533 0.822248 -0.034858 0.567725 
time: 1403638203.045097, t: 7.879504 6.069874 2.243059 q: 0.020921 0.819086 -0.036537 0.572123 
time: 1403638203.445097, t: 7.813405 6.926315 2.231643 q: 0.022519 0.811352 -0.035488 0.583044 
time: 1403638204.245097, t: 7.532918 8.346261 2.208335 q: 0.007767 0.819961 -0.039989 0.570967 
time: 1403638204.645097, t: 7.380255 8.957083 2.302966 q: -0.014454 0.826132 -0.054862 0.560613 
time: 1403638205.045097, t: 7.327621 9.407541 2.304210 q: -0.021466 0.821385 0.040940 0.568498 
time: 1403638205.445097, t: 7.253534 9.903740 2.313358 q: -0.121833 0.792283 0.193850 0.565567 
time: 1403638205.845097, t: 7.146114 10.368080 2.425213 q: -0.150526 0.749103 0.291111 0.575708 
time: 1403638206.245097, t: 6.875832 10.912343 2.616867 q: -0.214661 0.723595 0.356010 0.550989 
time: 1403638206.645097, t: 6.481556 11.448318 2.743189 q: -0.268565 0.707256 0.373400 0.536875 
time: 1403638207.045097, t: 6.044184 11.790096 2.779925 q: -0.292342 0.694148 0.389276 0.530244 
time: 1403638207.445097, t: 5.608344 12.027657 2.679885 q: -0.316786 0.674049 0.409319 0.527032 
time: 1403638207.845097, t: 5.120414 12.018119 2.628047 q: -0.343154 0.665877 0.456415 0.480144 
wait for imu ... 
time: 1403638208.245097, t: 4.630343 12.065944 2.663101 q: -0.347887 0.664375 0.458679 0.476649 
time: 1403638208.645097, t: 4.207774 12.031267 2.626289 q: -0.347930 0.662316 0.474271 0.464057 
time: 1403638209.045097, t: 3.795572 11.992181 2.635542 q: -0.365657 0.643978 0.494588 0.454939 
wait for imu ... 
time: 1403638209.445097, t: 3.403906 11.910922 2.564861 q: -0.370668 0.643049 0.497265 0.449245 
time: 1403638209.845097, t: 3.051378 11.796222 2.323914 q: -0.369260 0.640856 0.495173 0.455801 
time: 1403638210.245097, t: 2.713821 11.569289 1.950529 q: -0.379724 0.628296 0.486440 0.473740 
time: 1403638210.645097, t: 2.385238 11.267174 1.588421 q: -0.380152 0.628465 0.484484 0.475175 
time: 1403638211.045097, t: 2.109866 10.873234 1.236011 q: -0.377309 0.637534 0.486287 0.463372 
time: 1403638211.445097, t: 1.866070 10.415321 0.996124 q: -0.367833 0.649978 0.481339 0.458846 
time: 1403638211.845097, t: 1.674315 9.892897 0.727942 q: -0.337220 0.695658 0.414458 0.480174 
wait for imu ... 
time: 1403638212.245097, t: 1.595376 9.326930 0.525962 q: -0.279051 0.738761 0.335413 0.513674 
time: 1403638212.645097, t: 1.542435 8.699360 0.449458 q: -0.220773 0.770707 0.255747 0.540245 
time: 1403638213.045097, t: 1.508928 8.041923 0.485793 q: -0.154292 0.798543 0.164493 0.558091 
time: 1403638213.445097, t: 1.502004 7.336081 0.523257 q: -0.105033 0.833840 0.045797 0.539983 
time: 1403638213.845097, t: 1.585709 6.583046 0.528082 q: -0.033634 0.816910 0.001984 0.575781 
time: 1403638214.245097, t: 1.703331 5.826656 0.597722 q: -0.023314 0.831676 0.008545 0.554705 
time: 1403638214.645097, t: 1.870553 5.094740 0.625762 q: -0.029625 0.825616 0.023611 0.562960 
time: 1403638215.045097, t: 2.036698 4.375974 0.565085 q: -0.035272 0.811481 0.033040 0.582377 
time: 1403638215.445097, t: 2.187672 3.704902 0.448041 q: -0.023507 0.814442 0.042886 0.578180 
wait for imu ... 
time: 1403638215.845097, t: 2.331592 3.076951 0.393162 q: -0.028399 0.812709 0.034648 0.580945 
wait for imu ... 
time: 1403638216.245097, t: 2.413635 2.548172 0.332364 q: -0.018234 0.811675 0.023499 0.583352 
time: 1403638216.645097, t: 2.422054 2.077226 0.333905 q: -0.010257 0.811389 0.023611 0.583939 
time: 1403638217.045097, t: 2.411996 1.657294 0.254039 q: 0.002889 0.808119 0.003207 0.589003 
wait for imu ... 
time: 1403638217.445097, t: 2.363922 1.256475 0.161210 q: 0.026149 0.815480 -0.036496 0.577042 
time: 1403638217.845097, t: 2.294971 0.961774 0.179941 q: 0.053324 0.818930 -0.026122 0.570813 
time: 1403638218.245097, t: 2.229519 0.772796 0.215315 q: 0.050673 0.811228 -0.019842 0.582193 
time: 1403638218.645097, t: 2.138909 0.707021 0.232351 q: 0.033701 0.810174 -0.023619 0.584744 
time: 1403638219.045097, t: 2.019761 0.719171 0.259382 q: 0.026001 0.818689 -0.059797 0.570523 
time: 1403638219.445097, t: 1.908555 0.736651 0.235205 q: 0.043616 0.798343 -0.060867 0.597529 
time: 1403638219.845097, t: 1.741043 0.777127 0.234668 q: 0.025601 0.805438 -0.072475 0.587675 
time: 1403638220.245097, t: 1.517458 0.779775 0.191606 q: 0.029013 0.814341 -0.070144 0.575402 
time: 1403638220.645097, t: 1.290650 0.746181 0.221514 q: 0.049332 0.815466 -0.058427 0.573731 
time: 1403638221.045097, t: 1.068407 0.741787 0.197615 q: 0.048668 0.816290 -0.064099 0.572009 
time: 1403638221.445097, t: 0.853856 0.755821 0.162252 q: 0.044272 0.820749 -0.070340 0.565211 
time: 1403638221.845097, t: 0.664964 0.770878 0.128493 q: 0.038777 0.816048 -0.074967 0.571788 
time: 1403638222.245097, t: 0.496490 0.776260 0.156561 q: 0.047744 0.821565 -0.068156 0.564008 
time: 1403638222.645097, t: 0.368696 0.787092 0.133452 q: 0.045720 0.821745 -0.069695 0.563726 
time: 1403638223.045097, t: 0.279891 0.800115 0.067326 q: 0.045549 0.807414 -0.068691 0.584199 
wait for imu ... 
time: 1403638223.445097, t: 0.168067 0.821961 0.038297 q: 0.031304 0.822428 -0.079891 0.562361 
time: 1403638223.845097, t: 0.099204 0.803956 -0.008300 q: 0.048883 0.817895 -0.068084 0.569230 
time: 1403638224.245097, t: 0.053336 0.783390 -0.072327 q: 0.051756 0.829244 -0.065441 0.552624 
time: 1403638224.645097, t: 0.051146 0.791661 -0.128009 q: 0.045970 0.813968 -0.069355 0.574919 
time: 1403638225.045097, t: 0.054367 0.812539 -0.157098 q: 0.030906 0.813629 -0.078302 0.575258 
time: 1403638225.445097, t: 0.108008 0.818238 -0.132853 q: 0.044511 0.818826 -0.066465 0.568441 
time: 1403638225.845097, t: 0.107428 0.826725 -0.197020 q: 0.048349 0.811544 -0.063513 0.578813 
time: 1403638226.245097, t: 0.112747 0.855463 -0.246362 q: 0.047128 0.834755 -0.061846 0.545103 
time: 1403638226.645097, t: 0.112506 0.847610 -0.210868 q: 0.043860 0.829993 -0.062980 0.552469 
time: 1403638227.045097, t: 0.113828 0.829167 -0.177651 q: 0.044628 0.830330 -0.062538 0.551950 
time: 1403638227.445097, t: 0.107364 0.812039 -0.136211 q: 0.043669 0.830550 -0.063243 0.551615 
time: 1403638227.845097, t: 0.099326 0.804344 -0.121483 q: 0.043782 0.830682 -0.063158 0.551418 
time: 1403638228.245097, t: 0.054796 0.820930 -0.141505 q: 0.043893 0.830648 -0.063454 0.551426 
time: 1403638228.645097, t: 0.002863 0.821172 -0.176937 q: 0.043545 0.830795 -0.063256 0.551255 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720482321.590376315]: Shutdown request received.[0m
[33m[ WARN] [1720482321.590411479]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720482321.591303654]: Shutdown request received.[0m
[33m[ WARN] [1720482321.591330690]: Reason given for shutdown: [user request][0m
killed
