/SLAM-Hive/slam_hive_results/mapping_results/2971/2179_vins-fusion-stereo+MH_01_easy+Image_comb_test-19.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720493264.538361082]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720493264.543305606]: init begins[0m
[31m[ERROR] [1720493264.544433742]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9e3ed338-3d9d-11ef-944f-0242ac110005/roslaunch-3a59404c301c-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://3a59404c301c:45775/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [156][0m
[0m[ INFO] [1720493265.647164880]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720493265.649317657]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720493265.654948327]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720493265.655157652]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720493265.655183411]: ROW: 384 COL: 601 [0m
no imu, fix extrinsic param; no time offset calibration
 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
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720493265.655412132]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720493265.655628062]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720493265.655796257]: 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://3a59404c301c:11311/[0m
]2;roscore http://3a59404c301c:11311/
[1msetting /run_id to 9e3ed338-3d9d-11ef-944f-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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720493274.687270821]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316856695.95 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720493286.421413211]: Initialization finish![0m
time: 1403636590.263556, t: -3.246401 -0.542678 -0.371943 q: 0.964381 0.112295 -0.184795 0.152345 
time: 1403636591.263556, t: -3.365289 -0.381497 0.008183 q: 0.979351 0.053186 -0.135394 0.140399 
time: 1403636592.263556, t: -3.359605 -0.307161 0.254986 q: 0.979255 -0.045916 -0.122334 0.154874 
feature tracking not enough, please slowly move you device! 
time: 1403636593.263556, t: -3.359605 -0.307161 0.254986 q: 0.979255 -0.045916 -0.122334 0.154874 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636595.263556, t: -3.359605 -0.307161 0.254986 q: 0.979255 -0.045916 -0.122334 0.154874 
feature tracking not enough, please slowly move you device! 
time: 1403636597.263556, t: -3.359605 -0.307161 0.254986 q: 0.979255 -0.045916 -0.122334 0.154874 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636598.263556, t: -3.359605 -0.307161 0.254986 q: 0.979255 -0.045916 -0.122334 0.154874 
unstable tracking...
unstable tracking...
time: 1403636600.263556, t: -3.591371 -0.035031 0.270351 q: 0.983222 0.008836 0.047299 0.175954 
unstable tracking...
time: 1403636601.263556, t: -3.454562 0.005388 0.099074 q: 0.991221 0.000234 -0.032369 0.128190 
unstable tracking...
time: 1403636602.263556, t: -3.474461 -0.216113 -0.234750 q: 0.988304 -0.001313 -0.013756 0.151867 
time: 1403636603.263556, t: -3.476574 -0.222357 -0.274398 q: 0.988620 -0.002051 -0.015463 0.149623 
unstable tracking...
time: 1403636604.263556, t: -3.476007 -0.223712 -0.272972 q: 0.988620 -0.002350 -0.015404 0.149623 
time: 1403636605.263556, t: -3.476016 -0.223698 -0.272875 q: 0.988609 -0.002318 -0.015415 0.149698 
time: 1403636606.263556, t: -3.476486 -0.222859 -0.273865 q: 0.988616 -0.002225 -0.015413 0.149651 
time: 1403636607.263556, t: -3.476278 -0.223240 -0.273469 q: 0.988620 -0.002255 -0.015399 0.149629 
time: 1403636608.263556, t: -3.476287 -0.223249 -0.273477 q: 0.988617 -0.002237 -0.015403 0.149649 
time: 1403636609.263556, t: -3.476308 -0.223225 -0.273482 q: 0.988618 -0.002214 -0.015403 0.149641 
time: 1403636610.263556, t: -3.476325 -0.223199 -0.273530 q: 0.988629 -0.002234 -0.015435 0.149567 
time: 1403636611.263556, t: -3.476145 -0.223524 -0.272610 q: 0.988619 -0.002097 -0.015524 0.149626 
time: 1403636612.263556, t: -3.476721 -0.222216 -0.273201 q: 0.988893 -0.002771 -0.015305 0.147815 
time: 1403636613.263556, t: -3.476576 -0.222969 -0.273012 q: 0.988587 -0.002226 -0.015192 0.149867 
time: 1403636614.263556, t: -3.476574 -0.222885 -0.272932 q: 0.988636 -0.002404 -0.015144 0.149544 
time: 1403636615.263556, t: -3.476490 -0.222943 -0.272922 q: 0.988617 -0.002362 -0.015095 0.149678 
time: 1403636616.263556, t: -3.476472 -0.222973 -0.272889 q: 0.988625 -0.002378 -0.015164 0.149618 
time: 1403636617.263556, t: -3.476475 -0.222974 -0.272866 q: 0.988630 -0.002382 -0.015158 0.149582 
time: 1403636618.263556, t: -3.476462 -0.222993 -0.272840 q: 0.988631 -0.002389 -0.015158 0.149577 
time: 1403636619.263556, t: -3.476417 -0.223025 -0.272813 q: 0.988608 -0.002482 -0.015141 0.149727 
time: 1403636620.263556, t: -3.476453 -0.222994 -0.272872 q: 0.988644 -0.002352 -0.015203 0.149489 
unstable tracking...
time: 1403636621.263556, t: -3.476396 -0.222925 -0.272877 q: 0.988687 -0.002510 -0.015222 0.149197 
time: 1403636622.263556, t: -3.476391 -0.223038 -0.272784 q: 0.988690 -0.002539 -0.015195 0.149183 
time: 1403636623.263556, t: -3.476290 -0.222737 -0.272683 q: 0.988646 -0.002853 -0.014837 0.149500 
time: 1403636624.263556, t: -3.476217 -0.222317 -0.272628 q: 0.988478 -0.005177 -0.016627 0.150359 
unstable tracking...
unstable tracking...
time: 1403636626.263556, t: -3.247754 -0.105658 -0.380301 q: 0.989415 -0.001805 -0.036483 0.140444 
unstable tracking...
time: 1403636627.263556, t: -3.278607 -0.039342 -0.391488 q: 0.992052 0.000606 -0.044947 0.117527 
time: 1403636628.263556, t: -3.150466 0.085302 -0.431717 q: 0.986803 -0.060262 -0.054424 0.140097 
time: 1403636629.263556, t: -3.081455 0.385835 -0.431829 q: 0.981390 -0.093863 -0.077483 0.148525 
time: 1403636630.263556, t: -3.244508 0.792215 -0.237262 q: 0.951379 -0.230378 -0.076535 0.189597 
time: 1403636631.263556, t: -3.221173 1.435365 -0.185454 q: 0.958134 -0.205614 -0.080200 0.182399 
time: 1403636632.263556, t: -3.320965 1.644319 0.403518 q: 0.957269 -0.220993 -0.074673 0.170943 
time: 1403636633.263556, t: -3.364896 1.894631 0.781231 q: 0.980507 -0.110325 -0.071763 0.145890 
time: 1403636634.263556, t: -3.372739 2.235729 1.322355 q: 0.976159 -0.110421 -0.078784 0.169450 
time: 1403636635.263556, t: -3.279543 2.659124 1.922386 q: 0.985093 -0.075120 -0.073186 0.136354 
time: 1403636636.263556, t: -3.082372 3.155621 2.482399 q: 0.984466 -0.073580 -0.067585 0.144380 
time: 1403636637.263556, t: -2.880485 3.536772 3.039569 q: 0.985469 -0.073578 -0.067615 0.137355 
time: 1403636638.263556, t: -2.845767 3.669949 3.432094 q: 0.987427 -0.065392 -0.048039 0.135663 
time: 1403636639.263556, t: -2.639251 3.867333 4.074236 q: 0.979966 -0.055228 -0.074543 0.176238 
time: 1403636640.263556, t: -2.857853 4.328760 4.648253 q: 0.989973 -0.041425 -0.045177 0.127267 
time: 1403636641.263556, t: -2.848104 4.648850 5.071917 q: 0.991334 -0.023057 -0.045837 0.120932 
time: 1403636642.263556, t: -2.836262 4.881612 5.331217 q: 0.988759 -0.053900 -0.042456 0.132843 
time: 1403636643.263556, t: -2.902511 5.040624 5.452436 q: 0.983785 -0.080308 -0.055560 0.150438 
time: 1403636644.263556, t: -2.835370 5.313235 5.693905 q: 0.982733 -0.069282 -0.079486 0.152048 
time: 1403636645.263556, t: -3.089532 5.710295 6.216897 q: 0.980152 -0.075936 -0.105818 0.149461 
time: 1403636646.263556, t: -3.036662 6.266998 6.965034 q: 0.973989 -0.129278 -0.059478 0.176340 
time: 1403636647.263556, t: -3.270523 6.484608 7.395003 q: 0.947168 -0.267794 -0.016353 0.175759 
time: 1403636648.263556, t: -2.984918 7.558811 7.743588 q: 0.922880 -0.315115 -0.054614 0.214506 
time: 1403636649.263556, t: -3.057674 8.190162 7.828207 q: 0.861812 -0.435381 -0.074381 0.249379 
time: 1403636650.263556, t: -3.377905 8.330681 7.573358 q: 0.858383 -0.460086 -0.013725 0.226520 
time: 1403636651.263556, t: -3.611396 8.866996 6.799106 q: 0.816981 -0.510381 -0.030730 0.266662 
time: 1403636652.263556, t: -3.792843 8.875403 6.369803 q: 0.757688 -0.581207 -0.035265 0.294728 
time: 1403636653.263556, t: -4.069242 8.935722 5.946831 q: 0.684868 -0.656029 -0.058935 0.311622 
time: 1403636654.263556, t: -4.005653 8.477438 5.425102 q: 0.661349 -0.688536 -0.051781 0.293008 
time: 1403636655.263556, t: -3.834640 8.228239 5.267965 q: 0.559575 -0.768854 -0.065103 0.302492 
time: 1403636656.263556, t: -3.994802 7.731458 5.064855 q: -0.437349 0.828471 0.078600 -0.340859 
time: 1403636657.263556, t: -4.019790 7.323090 4.647590 q: -0.450203 0.834450 0.060176 -0.312073 
time: 1403636658.263556, t: -4.044665 6.651818 4.328509 q: -0.424756 0.833826 0.085260 -0.342122 
time: 1403636659.263556, t: -4.265856 5.506814 3.873584 q: -0.433557 0.842522 0.084803 -0.308210 
time: 1403636660.263556, t: -4.646345 5.640888 3.609232 q: -0.439146 0.829996 0.118807 -0.322711 
time: 1403636661.263556, t: -5.068658 5.697140 3.677448 q: -0.422652 0.849038 0.090636 -0.303785 
time: 1403636662.263556, t: -5.010925 5.803688 3.957251 q: -0.424379 0.846523 0.088501 -0.308980 
time: 1403636663.263556, t: -5.031017 5.746312 4.294381 q: -0.411033 0.835696 0.083873 -0.354442 
time: 1403636664.263556, t: -5.246782 6.063828 4.351946 q: -0.425370 0.844218 0.121056 -0.302823 
time: 1403636665.263556, t: -5.512421 6.744155 4.802060 q: -0.455200 0.826317 0.080532 -0.321726 
time: 1403636666.263556, t: -5.533761 7.285589 5.211860 q: -0.453818 0.837638 0.049604 -0.299919 
time: 1403636667.263556, t: -5.368575 7.853150 5.479553 q: -0.464265 0.822825 0.064810 -0.321274 
time: 1403636668.263556, t: -5.387200 8.176669 5.696318 q: -0.460201 0.818756 0.070956 -0.335885 
time: 1403636669.263556, t: -5.457235 8.788491 6.098681 q: -0.435204 0.842731 0.078147 -0.307074 
time: 1403636670.263556, t: -5.367217 9.126725 6.630489 q: -0.449980 0.826895 -0.016361 -0.336890 
time: 1403636671.263556, t: -5.076227 8.426407 6.405422 q: 0.633917 -0.699868 0.040051 0.326695 
feature tracking not enough, please slowly move you device! 
time: 1403636672.263556, t: -5.076227 8.426407 6.405422 q: 0.633917 -0.699868 0.040051 0.326695 
time: 1403636673.263556, t: -5.275850 8.123676 6.084251 q: 0.680932 -0.671980 0.054435 0.286027 
time: 1403636674.263556, t: -6.097418 6.273080 6.433107 q: 0.719746 -0.661096 -0.033084 0.209342 
time: 1403636675.263556, t: -6.332786 7.217095 6.958808 q: 0.769918 -0.593358 -0.054828 0.228357 
time: 1403636676.263556, t: -6.311529 7.953383 7.438415 q: 0.857280 -0.487486 -0.021497 0.164217 
time: 1403636677.263556, t: -6.363901 7.975652 7.764293 q: 0.902997 -0.405359 -0.007071 0.142232 
time: 1403636678.263556, t: -6.130993 8.368534 8.325710 q: 0.967565 -0.231255 -0.002669 0.101647 
time: 1403636679.263556, t: -6.040491 8.504219 8.630605 q: 0.999353 -0.034528 0.007838 0.006330 
time: 1403636680.263556, t: -5.726215 8.406434 8.669980 q: 0.996073 0.062868 0.012530 -0.061063 
time: 1403636681.263556, t: -5.781502 7.755089 8.438527 q: 0.998147 0.054175 -0.020388 -0.018741 
time: 1403636682.263556, t: -5.789581 7.018094 8.201912 q: 0.997926 0.062249 0.000385 -0.016370 
time: 1403636683.263556, t: -5.849396 6.398428 7.957566 q: 0.997981 0.059018 0.011869 -0.020266 
time: 1403636684.263556, t: -5.964208 5.621738 7.561907 q: 0.997014 0.075418 0.000883 -0.016570 
time: 1403636685.263556, t: -6.173713 5.174588 7.104592 q: 0.996330 0.079908 0.003395 -0.030503 
time: 1403636686.263556, t: -6.297976 4.544014 6.515485 q: 0.997043 0.074227 -0.012068 -0.015807 
time: 1403636687.263556, t: -6.465426 4.003234 6.100047 q: 0.996731 0.079545 -0.002790 -0.013860 
time: 1403636688.263556, t: -6.748933 3.636017 5.826647 q: 0.996409 0.081212 0.004420 -0.023521 
time: 1403636689.263556, t: -7.084607 3.386394 5.297899 q: 0.991667 0.124400 -0.014885 -0.030001 
time: 1403636690.263556, t: -6.904909 2.833557 5.211962 q: 0.991617 0.125790 -0.028170 -0.008920 
time: 1403636691.263556, t: -6.790388 2.877385 5.615233 q: 0.988868 0.137697 0.051887 0.022058 
time: 1403636692.263556, t: -6.151772 2.981897 4.702816 q: 0.987697 0.096842 -0.045503 -0.114041 
time: 1403636693.263556, t: -6.159857 4.127097 5.081463 q: 0.992295 0.115030 -0.009233 -0.045089 
time: 1403636694.263556, t: -5.915905 3.940360 5.471120 q: 0.993736 0.110858 0.010051 -0.009890 
time: 1403636695.263556, t: -5.818116 4.090615 5.702999 q: 0.994399 0.104409 -0.009683 -0.013236 
time: 1403636696.263556, t: -5.794966 4.282715 5.839277 q: 0.995139 0.091829 -0.019690 -0.029638 
time: 1403636697.263556, t: -5.836494 4.357263 5.866006 q: 0.994759 0.084419 -0.001053 -0.057674 
time: 1403636698.263556, t: -5.796398 3.962463 5.678859 q: 0.999778 -0.007815 -0.015277 0.012186 
time: 1403636699.263556, t: -5.896135 3.709955 5.413083 q: 0.971390 -0.202667 -0.030446 0.120005 
time: 1403636700.263556, t: -5.985329 3.371997 5.645449 q: 0.907749 -0.393878 -0.032187 0.140767 
time: 1403636701.263556, t: -6.459877 3.425922 5.450486 q: 0.870429 -0.452600 -0.029502 0.191407 
time: 1403636702.263556, t: -6.567236 3.669170 5.093414 q: 0.833825 -0.506072 -0.011024 0.220238 
time: 1403636703.263556, t: -6.981129 3.973301 5.149543 q: 0.812895 -0.533196 -0.004895 0.234266 
time: 1403636704.263556, t: -7.098784 4.368927 5.085095 q: 0.819728 -0.526806 -0.016103 0.224191 
time: 1403636705.263556, t: -7.240897 4.913610 5.124118 q: 0.825831 -0.521621 -0.033350 0.211665 
time: 1403636706.263556, t: -7.286990 5.722650 5.468761 q: 0.829068 -0.514976 0.001562 0.217815 
time: 1403636707.263556, t: -7.221991 6.494258 5.818796 q: 0.823121 -0.527098 -0.027534 0.209478 
time: 1403636708.263556, t: -6.965576 7.345136 6.356270 q: 0.825711 -0.520021 -0.013183 0.218187 
time: 1403636709.263556, t: -7.011341 8.158941 6.787280 q: 0.817872 -0.541195 -0.011009 0.195122 
time: 1403636710.263556, t: -6.885356 8.565435 7.328670 q: 0.824133 -0.530429 -0.020667 0.197541 
time: 1403636711.263556, t: -6.869727 8.754257 7.960977 q: 0.889788 -0.427618 -0.011609 0.159012 
time: 1403636712.263556, t: -6.591632 8.522753 8.356102 q: 0.888848 -0.422077 0.010213 0.178033 
time: 1403636713.263556, t: -6.260260 7.936016 8.358712 q: 0.918732 -0.363937 0.011634 0.152791 
time: 1403636714.263556, t: -6.013888 7.203301 8.087356 q: 0.911537 -0.373727 0.003748 0.171507 
time: 1403636715.263556, t: -5.979172 6.674578 7.790357 q: 0.958518 -0.254980 -0.024552 0.125001 
time: 1403636716.263556, t: -5.950232 6.414220 7.622353 q: 0.956671 -0.262675 0.008326 0.125352 
time: 1403636717.263556, t: -6.126699 6.120371 7.305641 q: 0.981632 -0.172957 -0.000488 0.080527 
time: 1403636718.263556, t: -6.240691 5.704569 6.945592 q: 0.995244 -0.085569 0.002234 0.046499 
time: 1403636720.263556, t: -6.613106 4.617042 6.477950 q: 0.999242 -0.026350 0.000109 0.028655 
time: 1403636721.263556, t: -6.542834 5.064263 6.839384 q: 0.997352 -0.052867 0.012120 0.048447 
time: 1403636722.263556, t: -47.238729 -28.458023 -36.348368 q: 0.956764 -0.221234 0.100097 0.160122 
time: 1403636723.263556, t: -38.982899 -26.354468 -26.794238 q: 0.533546 0.130716 0.250394 0.797211 
time: 1403636724.263556, t: -39.478997 -15.841028 3.990044 q: 0.784785 0.000935 0.166768 0.596909 
time: 1403636725.263556, t: -38.329358 -3.917365 43.083184 q: 0.836256 0.095477 0.098752 0.530856 
time: 1403636726.263556, t: -23.046126 -5.882848 9.956607 q: 0.813663 0.140021 0.004283 0.564206 
time: 1403636727.263556, t: 1882.447951 2742.632807 7703.155080 q: 0.077080 0.752941 0.599331 -0.260655 
time: 1403636728.263556, t: 2530.141036 2926.060110 10984.966148 q: 0.084992 0.949045 0.240178 -0.185484 
unstable tracking...
time: 1403636729.263556, t: 2772.422174 3516.184340 31353.179424 q: -0.082304 0.964678 0.244142 -0.054925 
unstable tracking...
time: 1403636730.263556, t: 4678.758066 6067.023818 30320.924338 q: 0.009578 0.950470 0.206446 -0.232152 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636733.263556, t: -485704.533533 -880621.379103 -814761.434268 q: 0.599981 -0.570591 -0.394427 0.398593 
unstable tracking...
unstable tracking...
time: 1403636735.263556, t: 828199.558762 128348.393654 1540916.816404 q: 0.737112 0.171414 0.448744 0.475302 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636739.263556, t: 1877661.608788 21685.626747 3054091.413338 q: 0.829725 0.182621 -0.502674 -0.159767 
unstable tracking...
unstable tracking...
time: 1403636742.263556, t: 742992.176150 996700.271471 2947518.295488 q: 0.275464 0.912739 -0.253110 0.164203 
unstable tracking...
unstable tracking...
time: 1403636744.263556, t: 519805.711057 1403574.268703 3124469.467441 q: -0.490684 0.639380 0.516741 0.288792 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636748.263556, t: 2537936.056083 2217775.775343 -1599591.629033 q: 0.114610 0.580803 0.771183 0.234112 
unstable tracking...
time: 1403636749.263556, t: 2511190.822296 2206837.387948 -1721030.789945 q: -0.248517 0.893639 0.357055 0.110273 
unstable tracking...
unstable tracking...
time: 1403636751.263556, t: 826124.022240 457373.609563 532084.828292 q: -0.082793 0.867612 0.367495 0.324566 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636754.263556, t: 1145933.665212 1265361.272393 583885.737247 q: 0.564989 0.551764 0.495405 0.361825 
unstable tracking...
time: 1403636755.263556, t: 845300.191558 618074.996777 198990.466349 q: 0.715777 -0.050293 0.299080 0.629036 
unstable tracking...
time: 1403636756.263556, t: 633877.350939 567554.619355 413892.630586 q: 0.109174 0.666965 0.526670 0.515613 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636759.263556, t: -2237982.927642 344651.142611 3674703.240010 q: 0.674015 0.074688 -0.301446 0.670265 
unstable tracking...
time: 1403636760.263556, t: -2231372.817406 338209.631088 3668397.299830 q: -0.157261 -0.256511 0.343203 0.889766 
unstable tracking...
time: 1403636761.263556, t: -2233061.854950 337510.059514 3671475.788799 q: 0.859294 0.052587 -0.263681 0.435110 
unstable tracking...

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720493463.373089320]: Shutdown request received.[0m
[33m[ WARN] [1720493463.373158119]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720493463.374032640]: Shutdown request received.[0m
[33m[ WARN] [1720493463.374058491]: Reason given for shutdown: [user request][0m
killed
