/SLAM-Hive/slam_hive_results/mapping_results/2988/2196_vins-fusion-stereo+MH_02_easy+Image_comb_test-6.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720496911.287563013]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720496911.290130410]: init begins[0m
[31m[ERROR] [1720496911.291182401]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1be17b58-3da6-11ef-8391-0242ac110005/roslaunch-8aad9e27bd25-118.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://8aad9e27bd25:33931/[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] [1720496912.397057013]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720496912.401686907]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720496912.401939317]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720496912.401985112]: ROW: 480 COL: 752 [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] [1720496912.402237091]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720496912.402430391]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720496912.402582461]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://8aad9e27bd25:11311/[0m
]2;roscore http://8aad9e27bd25:11311/
[1msetting /run_id to 1be17b58-3da6-11ef-8391-0242ac110005[0m
[0m[ INFO] [1720496912.443040610]: Connected to master at [localhost:11311][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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720496921.453391326]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316860064.82 
[0m[ INFO] [1720496925.858400662]: Initialization finish![0m
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time: 1403636898.151666, t: 0.164450 0.143831 -0.093967 q: 0.998289 0.030121 -0.015425 0.047686 
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time: 1403636898.551666, t: 0.236534 0.163877 -0.096897 q: 0.997965 0.043591 -0.012824 0.044741 
time: 1403636898.751667, t: 0.280507 0.169386 -0.090480 q: 0.997873 0.047795 -0.014183 0.041996 
time: 1403636898.951667, t: 0.320848 0.171658 -0.074152 q: 0.997285 0.053340 -0.015901 0.048215 
time: 1403636899.151666, t: 0.335540 0.139410 0.004119 q: 0.997141 0.041197 -0.008158 0.062819 
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time: 1403636899.751667, t: 0.427294 0.263133 0.044604 q: 0.992430 -0.057946 -0.011459 0.107673 
optimize pose graph 
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time: 1403636900.151666, t: 0.445248 0.364071 0.103419 q: 0.992543 -0.077552 0.003217 0.093984 
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time: 1403636900.751667, t: 0.549676 0.516489 0.125726 q: 0.993632 -0.060466 -0.026376 0.091341 
time: 1403636900.951667, t: 0.563131 0.571883 0.151200 q: 0.993008 -0.052840 -0.021198 0.103406 
time: 1403636901.151666, t: 0.564111 0.637256 0.189993 q: 0.992550 -0.050455 -0.014845 0.109898 
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time: 1403636901.751667, t: 0.590575 0.920531 0.323001 q: 0.993942 -0.058680 -0.006881 0.092671 
optimize pose graph 
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time: 1403636902.151666, t: 0.563422 1.125438 0.420474 q: 0.994413 -0.058300 -0.006311 0.087768 
time: 1403636902.351666, t: 0.561383 1.226481 0.459171 q: 0.994065 -0.057651 -0.007034 0.091985 
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time: 1403636903.151666, t: 0.484346 1.598403 0.631788 q: 0.994221 -0.063912 -0.005871 0.086049 
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time: 1403636903.751667, t: 0.557409 1.833582 0.697863 q: 0.994616 -0.055024 -0.019241 0.085679 
optimize pose graph 
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time: 1403636983.751667, t: -0.922131 8.054843 4.540534 q: 0.856680 -0.462815 -0.049702 0.222332 
time: 1403636983.951667, t: -0.892900 8.206751 4.631980 q: 0.854691 -0.463822 -0.057710 0.225926 
time: 1403636984.151666, t: -0.843779 8.364843 4.729285 q: 0.853002 -0.465621 -0.059449 0.228147 
time: 1403636984.351666, t: -0.810030 8.528221 4.843587 q: 0.852071 -0.470638 -0.048072 0.223974 
time: 1403636984.551666, t: -0.801797 8.683966 4.979768 q: 0.851451 -0.474150 -0.043048 0.219910 
time: 1403636984.751667, t: -0.788095 8.833599 5.122163 q: 0.851983 -0.473734 -0.040164 0.219287 
time: 1403636984.951667, t: -0.746631 8.975829 5.257596 q: 0.851797 -0.470961 -0.034129 0.226876 
time: 1403636985.151666, t: -0.696711 9.111955 5.385936 q: 0.851594 -0.471580 -0.037721 0.225781 
time: 1403636985.351666, t: -0.682442 9.234516 5.532461 q: 0.851691 -0.473380 -0.039322 0.221332 
time: 1403636985.551666, t: -0.666233 9.342497 5.687505 q: 0.860396 -0.461551 -0.042000 0.211955 
time: 1403636985.751667, t: -0.619001 9.457887 5.832937 q: 0.868363 -0.452486 -0.040601 0.198882 
optimize pose graph 
time: 1403636985.951667, t: -0.554277 9.553681 5.980638 q: 0.873579 -0.451343 -0.010209 0.181784 
time: 1403636986.151666, t: -0.513527 9.611451 6.132837 q: 0.875299 -0.449317 -0.008010 0.178611 
time: 1403636986.351666, t: -0.492844 9.630249 6.289196 q: 0.874915 -0.443193 -0.033915 0.192236 
time: 1403636986.551666, t: -0.475119 9.633389 6.450115 q: 0.874304 -0.436702 -0.032997 0.209273 
time: 1403636986.751667, t: -0.426863 9.631053 6.599366 q: 0.874021 -0.432684 -0.027511 0.219351 
time: 1403636986.951667, t: -0.342629 9.631705 6.732443 q: 0.873407 -0.432648 -0.023505 0.222313 
time: 1403636987.151666, t: -0.241367 9.640678 6.840700 q: 0.872792 -0.437667 -0.024618 0.214653 
time: 1403636987.351666, t: -0.155636 9.645324 6.942330 q: 0.871804 -0.440527 -0.021452 0.213150 
time: 1403636987.551666, t: -0.087422 9.632779 7.043276 q: 0.875408 -0.438563 -0.014325 0.202775 
time: 1403636987.751667, t: -0.042732 9.605763 7.139241 q: 0.878577 -0.435234 -0.009096 0.196447 
optimize pose graph 
time: 1403636988.151666, t: 0.080946 9.502195 7.277980 q: 0.879547 -0.419404 -0.011786 0.224406 
time: 1403636988.351666, t: 0.123306 9.444339 7.325036 q: 0.878311 -0.419548 0.000294 0.229237 
time: 1403636988.551666, t: 0.170002 9.387411 7.340302 q: 0.878386 -0.423044 0.013591 0.222008 
time: 1403636988.751667, t: 0.218953 9.323771 7.315371 q: 0.878534 -0.423958 0.017330 0.219404 
time: 1403636988.951667, t: 0.236300 9.245266 7.264619 q: 0.878197 -0.424254 0.026076 0.219313 
time: 1403636989.151666, t: 0.222886 9.153275 7.181250 q: 0.877383 -0.424952 0.031253 0.220541 
time: 1403636989.351666, t: 0.199443 9.046754 7.062160 q: 0.877343 -0.428887 0.010535 0.214974 
time: 1403636989.551666, t: 0.192502 8.932408 6.905904 q: 0.876712 -0.429472 -0.016542 0.216000 
time: 1403636989.751667, t: 0.194766 8.818122 6.743798 q: 0.876821 -0.432022 -0.027936 0.209194 
time: 1403636989.951667, t: 0.179399 8.700570 6.589328 q: 0.876897 -0.432581 -0.021778 0.208447 
optimize pose graph 
time: 1403636990.151666, t: 0.162548 8.577462 6.434622 q: 0.877233 -0.434296 -0.010976 0.204276 
time: 1403636990.351666, t: 0.164085 8.441933 6.271556 q: 0.877942 -0.433165 -0.019292 0.203011 
time: 1403636990.551666, t: 0.176048 8.301238 6.102925 q: 0.879160 -0.428767 -0.027096 0.206161 
time: 1403636990.751667, t: 0.159514 8.158747 5.952354 q: 0.880455 -0.425371 -0.032841 0.206835 
time: 1403636990.951667, t: 0.119726 8.015694 5.813250 q: 0.881310 -0.424122 -0.034226 0.205526 
time: 1403636991.151666, t: 0.071696 7.876757 5.684584 q: 0.881292 -0.424442 -0.032920 0.205157 
time: 1403636991.351666, t: 0.032889 7.734566 5.566119 q: 0.880426 -0.425438 -0.034577 0.206535 
time: 1403636991.551666, t: 0.027282 7.598921 5.448813 q: 0.879124 -0.427217 -0.035667 0.208216 
time: 1403636991.751667, t: 0.048135 7.470431 5.326794 q: 0.875983 -0.426634 -0.030933 0.222892 
time: 1403636991.951667, t: 0.077616 7.352760 5.203883 q: 0.872754 -0.428621 -0.028233 0.231922 
time: 1403636992.151666, t: 0.083023 7.243707 5.084719 q: 0.871758 -0.437536 -0.028230 0.218638 
optimize pose graph 
time: 1403636992.351666, t: 0.062092 7.131709 4.974720 q: 0.870454 -0.443283 -0.027467 0.212264 
time: 1403636992.551666, t: 0.044943 7.030291 4.864014 q: 0.868464 -0.445088 -0.039032 0.214809 
time: 1403636992.751667, t: 0.054225 6.929093 4.758332 q: 0.866531 -0.447616 -0.043396 0.216522 
time: 1403636992.951667, t: 0.058337 6.827629 4.669314 q: 0.865006 -0.452166 -0.045371 0.212724 
time: 1403636993.151666, t: 0.045383 6.729657 4.599646 q: 0.865670 -0.450880 -0.031518 0.215245 
time: 1403636993.551666, t: 0.089068 6.528027 4.455849 q: 0.895827 -0.396187 -0.019472 0.200376 
time: 1403636993.751667, t: 0.133861 6.428131 4.370669 q: 0.910277 -0.365867 -0.022987 0.192375 
time: 1403636993.951667, t: 0.157815 6.323949 4.291867 q: 0.917299 -0.351637 -0.022939 0.185437 
time: 1403636994.151666, t: 0.161336 6.216183 4.219974 q: 0.920284 -0.350459 -0.008645 0.173729 
time: 1403636994.351666, t: 0.145767 6.093198 4.149648 q: 0.920908 -0.352033 0.004612 0.167271 
time: 1403636994.551666, t: 0.126572 5.949957 4.067168 q: 0.920373 -0.351510 0.004225 0.171281 
time: 1403636994.751667, t: 0.120895 5.790621 3.966977 q: 0.918769 -0.345636 -0.009819 0.190535 
time: 1403636994.951667, t: 0.126086 5.631546 3.849777 q: 0.916614 -0.341012 -0.013406 0.208205 
time: 1403636995.151666, t: 0.113853 5.479031 3.730835 q: 0.917840 -0.346875 -0.006016 0.192901 
time: 1403636995.351666, t: 0.106978 5.331492 3.596442 q: 0.919412 -0.348541 -0.004536 0.182153 
time: 1403636995.551666, t: 0.124732 5.179736 3.450205 q: 0.920230 -0.345251 -0.015352 0.183695 
time: 1403636995.751667, t: 0.151514 5.027732 3.297223 q: 0.919994 -0.343563 -0.016315 0.187906 
time: 1403636995.951667, t: 0.153049 4.874900 3.151435 q: 0.918181 -0.338899 -0.016250 0.204519 
time: 1403636996.151666, t: 0.141413 4.728542 3.006577 q: 0.918336 -0.341756 -0.023185 0.198304 
optimize pose graph 
time: 1403636996.351666, t: 0.134919 4.594961 2.859019 q: 0.919899 -0.341952 -0.027588 0.189985 
time: 1403636996.551666, t: 0.152612 4.471153 2.707345 q: 0.927716 -0.325480 -0.027508 0.180689 
time: 1403636996.751667, t: 0.182997 4.349227 2.561324 q: 0.940840 -0.291880 -0.028720 0.169709 
time: 1403636996.951667, t: 0.169463 4.228038 2.442052 q: 0.955343 -0.247466 -0.028280 0.158997 
time: 1403636997.151666, t: 0.138452 4.108850 2.338516 q: 0.966846 -0.207254 -0.028616 0.146410 
time: 1403636997.351666, t: 0.094037 3.999863 2.243652 q: 0.972176 -0.186115 -0.029747 0.139107 
time: 1403636997.551666, t: 0.072861 3.911523 2.162891 q: 0.973717 -0.180744 -0.030159 0.135270 
time: 1403636997.751667, t: 0.086525 3.833903 2.082279 q: 0.973210 -0.183456 -0.033063 0.134582 
time: 1403636997.951667, t: 0.128557 3.768085 2.005857 q: 0.972172 -0.187907 -0.034754 0.135519 
time: 1403636998.151666, t: 0.205442 3.713206 1.927930 q: 0.971155 -0.191792 -0.034671 0.137375 
time: 1403636998.351666, t: 0.268085 3.665361 1.880678 q: 0.970230 -0.194264 -0.033978 0.140575 
optimize pose graph 
time: 1403636998.551666, t: 0.320146 3.623476 1.846417 q: 0.969745 -0.196540 -0.031302 0.141378 
time: 1403636998.751667, t: 0.393440 3.592688 1.813781 q: 0.970226 -0.201831 -0.009922 0.133520 
time: 1403636998.951667, t: 0.466818 3.558266 1.774389 q: 0.970472 -0.207552 -0.006333 0.122748 
time: 1403636999.151666, t: 0.518895 3.512590 1.736453 q: 0.970506 -0.210031 -0.009794 0.117938 
time: 1403636999.351666, t: 0.548020 3.446830 1.716014 q: 0.969915 -0.209301 -0.014938 0.123427 
time: 1403636999.551666, t: 0.554703 3.369740 1.690629 q: 0.969417 -0.207858 -0.010179 0.130083 
time: 1403636999.751667, t: 0.551407 3.284400 1.662334 q: 0.969103 -0.208288 -0.004752 0.132032 
time: 1403636999.951667, t: 0.538930 3.195525 1.635352 q: 0.969001 -0.210510 -0.005247 0.129212 
time: 1403637000.151666, t: 0.535126 3.095874 1.593164 q: 0.969319 -0.211762 -0.008872 0.124498 
time: 1403637000.351666, t: 0.548134 2.994977 1.542533 q: 0.969276 -0.209959 -0.012357 0.127548 
optimize pose graph 
time: 1403637000.551666, t: 0.553166 2.879243 1.494592 q: 0.969297 -0.210778 -0.011883 0.126075 
time: 1403637000.751667, t: 0.568229 2.762674 1.439757 q: 0.969164 -0.210264 -0.009992 0.128105 
time: 1403637000.951667, t: 0.595344 2.637393 1.374854 q: 0.968700 -0.211201 -0.009513 0.130092 
time: 1403637001.151666, t: 0.602832 2.506710 1.314533 q: 0.968399 -0.212051 -0.008287 0.131033 
time: 1403637001.351666, t: 0.611065 2.373335 1.247386 q: 0.967909 -0.211705 -0.007661 0.135180 
time: 1403637001.551666, t: 0.639102 2.243490 1.164218 q: 0.967235 -0.211521 -0.015188 0.139586 
time: 1403637001.751667, t: 0.657198 2.116606 1.076616 q: 0.966792 -0.212962 -0.016563 0.140310 
time: 1403637001.951667, t: 0.657151 1.990310 0.991020 q: 0.966508 -0.213535 -0.018349 0.141168 
time: 1403637002.151666, t: 0.635032 1.861376 0.918632 q: 0.966319 -0.213857 -0.020463 0.141685 
time: 1403637002.351666, t: 0.605780 1.736624 0.850560 q: 0.966395 -0.214667 -0.021764 0.139735 
time: 1403637002.551666, t: 0.594329 1.618433 0.778428 q: 0.966840 -0.216643 -0.023113 0.133239 
optimize pose graph 
time: 1403637002.751667, t: 0.613164 1.500863 0.701682 q: 0.966559 -0.218019 -0.023792 0.132911 
time: 1403637002.951667, t: 0.619395 1.377623 0.632114 q: 0.965750 -0.218709 -0.021100 0.138013 
time: 1403637003.151666, t: 0.604961 1.253731 0.579658 q: 0.965003 -0.220566 -0.021544 0.140199 
time: 1403637003.351666, t: 0.580604 1.129974 0.529063 q: 0.964270 -0.222403 -0.018469 0.142756 
time: 1403637003.551666, t: 0.580345 1.010227 0.469721 q: 0.963778 -0.223932 -0.015708 0.144014 
time: 1403637003.751667, t: 0.595758 0.892460 0.399297 q: 0.963462 -0.224371 -0.016170 0.145385 
time: 1403637003.951667, t: 0.599269 0.776507 0.339680 q: 0.964016 -0.222224 -0.022392 0.144180 
time: 1403637004.151666, t: 0.578510 0.660325 0.286644 q: 0.964897 -0.220203 -0.029331 0.140085 
time: 1403637004.351666, t: 0.566374 0.545616 0.237278 q: 0.965250 -0.217192 -0.030493 0.142095 
time: 1403637004.551666, t: 0.594369 0.446248 0.179711 q: 0.964833 -0.219916 -0.018120 0.142846 
time: 1403637004.751667, t: 0.644443 0.354337 0.113545 q: 0.962152 -0.219091 -0.012843 0.161549 
optimize pose graph 
time: 1403637004.951667, t: 0.646951 0.265977 0.059027 q: 0.959999 -0.219643 -0.020240 0.172478 
time: 1403637005.151666, t: 0.608339 0.190584 0.013477 q: 0.960588 -0.227560 -0.026128 0.157493 
time: 1403637005.351666, t: 0.556038 0.122685 -0.026134 q: 0.960787 -0.229617 -0.031391 0.152244 
time: 1403637005.551666, t: 0.499649 0.062667 -0.055903 q: 0.962378 -0.228214 -0.024615 0.145402 
time: 1403637005.751667, t: 0.480797 0.004376 -0.085762 q: 0.962216 -0.220893 -0.031677 0.156021 
time: 1403637005.951667, t: 0.499753 -0.032021 -0.121649 q: 0.963226 -0.221986 -0.028303 0.148719 
time: 1403637006.151666, t: 0.508743 -0.075226 -0.155264 q: 0.963310 -0.222352 -0.022110 0.148677 
time: 1403637006.351666, t: 0.513073 -0.060446 -0.143905 q: 0.963427 -0.215014 -0.038160 0.155309 
time: 1403637006.551666, t: 0.502646 -0.144140 -0.198516 q: 0.961921 -0.212436 -0.038870 0.167535 
time: 1403637006.751667, t: 0.495324 -0.155909 -0.197144 q: 0.967819 -0.199848 -0.021173 0.151458 
optimize pose graph 
time: 1403637006.951667, t: 0.477305 -0.164357 -0.194079 q: 0.976746 -0.164347 -0.017264 0.136597 
time: 1403637007.151666, t: 0.459055 -0.168607 -0.191894 q: 0.984668 -0.130227 -0.014840 0.115109 
time: 1403637007.351666, t: 0.440660 -0.170420 -0.190507 q: 0.988538 -0.114723 -0.002019 0.098121 
time: 1403637007.551666, t: 0.416341 -0.180707 -0.195610 q: 0.989492 -0.108846 -0.005912 0.094990 
time: 1403637007.751667, t: 0.384944 -0.200691 -0.203535 q: 0.988756 -0.106466 -0.030487 0.100485 
time: 1403637007.951667, t: 0.367093 -0.223171 -0.206169 q: 0.988004 -0.108524 -0.014582 0.108891 
time: 1403637008.151666, t: 0.351488 -0.245855 -0.209396 q: 0.987189 -0.113283 -0.021190 0.110349 
time: 1403637008.351666, t: 0.344225 -0.265106 -0.212187 q: 0.986189 -0.117379 -0.043198 0.108567 
time: 1403637008.551666, t: 0.358840 -0.281573 -0.203993 q: 0.985915 -0.121332 -0.021195 0.113144 
time: 1403637008.751667, t: 0.368081 -0.297522 -0.190606 q: 0.984293 -0.120270 -0.012001 0.128678 
time: 1403637008.951667, t: 0.356859 -0.303932 -0.172888 q: 0.981933 -0.114459 -0.021416 0.149155 
optimize pose graph 
time: 1403637009.151666, t: 0.332397 -0.286654 -0.152058 q: 0.983805 -0.124619 -0.021780 0.126981 
time: 1403637009.351666, t: 0.299505 -0.261656 -0.127087 q: 0.985722 -0.136895 -0.026273 0.094455 
time: 1403637009.551666, t: 0.286902 -0.246723 -0.124222 q: 0.989101 -0.092209 0.014928 0.113819 
time: 1403637009.751667, t: 0.276649 -0.241267 -0.136267 q: 0.984946 -0.100009 0.030731 0.137607 
time: 1403637009.951667, t: 0.277304 -0.241596 -0.135793 q: 0.984854 -0.099089 0.033298 0.138327 
time: 1403637010.151666, t: 0.277280 -0.241487 -0.135792 q: 0.984975 -0.099326 0.033116 0.137340 
time: 1403637010.351666, t: 0.277256 -0.241489 -0.135804 q: 0.985000 -0.099359 0.033182 0.137120 
time: 1403637010.551666, t: 0.277251 -0.241494 -0.135779 q: 0.984994 -0.099351 0.033157 0.137176 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720497076.078527518]: Shutdown request received.[0m
[33m[ WARN] [1720497076.078572789]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720497076.079430497]: Shutdown request received.[0m
[33m[ WARN] [1720497076.079462178]: Reason given for shutdown: [user request][0m
killed
optimize pose graph 
