/SLAM-Hive/slam_hive_results/mapping_results/3012/2220_vins-fusion-stereo+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720501492.594729102]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720501492.596413221]: init begins[0m
[31m[ERROR] [1720501492.597470422]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c68dc976-3db0-11ef-b385-0242ac110005/roslaunch-dc9db03c3c77-117.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://dc9db03c3c77:43709/[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 [154][0m
[1mROS_MASTER_URI=http://dc9db03c3c77:11311/[0m
]2;roscore http://dc9db03c3c77:11311/
[1msetting /run_id to c68dc976-3db0-11ef-b385-0242ac110005[0m
[0m[ INFO] [1720501493.750539117]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720501493.753042680]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720501493.759766984]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720501493.759995918]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720501493.760022617]: 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] [1720501493.760284397]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720501493.760550816]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720501493.760737580]: 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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [221][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720501502.746510237]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316864372.43 
[0m[ INFO] [1720501504.199576674]: Initialization finish![0m
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time: 1403637150.988319, t: 0.294238 0.218695 0.143121 q: 0.996474 -0.074671 -0.033096 -0.019212 
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time: 1403637151.388319, t: 0.385860 0.265957 0.216315 q: 0.997140 -0.066115 -0.035109 -0.010365 
optimize pose graph 
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time: 1403637151.788319, t: 0.505414 0.313267 0.251521 q: 0.996942 -0.064407 -0.041496 -0.015345 
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time: 1403637152.088319, t: 0.567452 0.355569 0.284115 q: 0.996930 -0.063378 -0.042802 -0.016781 
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time: 1403637153.088319, t: 0.707669 0.543358 0.451574 q: 0.997411 -0.060729 -0.035420 -0.015131 
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time: 1403637153.488319, t: 0.746943 0.633191 0.517325 q: 0.996737 -0.064401 -0.043117 -0.022566 
optimize pose graph 
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time: 1403637154.088319, t: 0.856454 0.741946 0.613021 q: 0.996999 -0.063593 -0.039877 -0.018949 
time: 1403637154.188319, t: 0.853890 0.756850 0.633406 q: 0.996923 -0.060188 -0.049860 -0.005979 
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time: 1403637154.688319, t: 0.824276 0.903762 0.771820 q: 0.995999 -0.070262 -0.052365 -0.017517 
time: 1403637154.788319, t: 0.824947 0.939493 0.803608 q: 0.994784 -0.079879 -0.059907 -0.020885 
time: 1403637154.888319, t: 0.825734 0.973518 0.837801 q: 0.993607 -0.091574 -0.064046 -0.016054 
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optimize pose graph 
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time: 1403637187.488319, t: 0.067843 2.651340 -0.635969 q: -0.371672 0.877900 -0.021016 -0.301182 
optimize pose graph 
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optimize pose graph 
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time: 1403637191.388319, t: -1.497768 0.954885 -4.520645 q: -0.333144 0.907360 -0.029157 -0.254681 
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time: 1403637191.688319, t: -1.566242 0.794582 -4.673387 q: -0.328350 0.907624 -0.013132 -0.261213 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403637207.788319, t: 0.622847 2.692826 0.559753 q: 0.916063 -0.383696 -0.028902 0.113008 
time: 1403637207.888319, t: 0.626899 2.671434 0.541620 q: 0.915675 -0.386341 -0.028631 0.107057 
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optimize pose graph 
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time: 1403637233.388319, t: -0.716110 1.087290 -3.021053 q: -0.368939 0.858138 -0.002876 -0.357035 
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time: 1403637234.188319, t: -1.209965 1.773733 -4.273590 q: -0.379417 0.895966 0.122093 -0.195911 
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time: 1403637234.488319, t: -1.376311 2.287199 -4.444816 q: -0.388056 0.897424 0.081350 -0.193455 
optimize pose graph 
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time: 1403637234.988319, t: -1.613951 3.267107 -4.315095 q: -0.476519 0.854928 -0.010790 -0.204725 
time: 1403637235.088319, t: -1.639256 3.444111 -4.254441 q: -0.496895 0.844254 -0.010951 -0.200527 
time: 1403637235.188319, t: -1.650719 3.619110 -4.189064 q: 0.517722 -0.832817 0.007977 0.195747 
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optimize pose graph 
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time: 1403637237.988319, t: 0.646998 5.281106 -0.050641 q: 0.807881 -0.568198 0.074701 0.137474 
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time: 1403637238.388319, t: 0.971997 4.620874 0.332285 q: 0.739208 -0.619477 0.084777 0.250266 
time: 1403637238.488319, t: 1.007739 4.442818 0.381018 q: 0.711382 -0.641472 0.096784 0.270337 
time: 1403637238.588319, t: 1.041416 4.265266 0.399033 q: 0.683402 -0.663451 0.102039 0.287022 
time: 1403637238.688319, t: 1.093661 4.098395 0.389577 q: 0.659737 -0.675950 0.094431 0.314517 
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time: 1403637238.888319, t: 1.111886 3.756641 0.295935 q: 0.626912 -0.679013 0.060937 0.377106 
optimize pose graph 
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time: 1403637239.488319, t: 1.020478 3.168487 -0.671228 q: 0.567714 -0.750909 0.009976 0.337250 
time: 1403637239.588319, t: 0.954627 3.125431 -0.884999 q: 0.545690 -0.768763 0.016229 0.333109 
time: 1403637239.688319, t: 0.866126 3.095982 -1.111968 q: 0.521396 -0.787160 0.021602 0.328723 
time: 1403637239.788319, t: 0.763426 3.065913 -1.323937 q: -0.495629 0.810669 -0.027514 -0.310500 
time: 1403637239.888319, t: 0.664482 3.055356 -1.554953 q: -0.467706 0.835047 -0.029598 -0.288220 
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time: 1403637240.188319, t: 0.332605 2.987321 -2.203629 q: -0.376523 0.886617 -0.033973 -0.266432 
time: 1403637240.288319, t: 0.197664 2.930893 -2.450186 q: -0.350088 0.893934 -0.032689 -0.277940 
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time: 1403637240.488319, t: -0.059220 2.886494 -2.860069 q: -0.312393 0.898453 -0.008038 -0.308430 
time: 1403637240.588319, t: -0.168206 2.868019 -3.075948 q: -0.303531 0.899257 -0.000631 -0.314969 
time: 1403637240.688319, t: -0.277109 2.847586 -3.297551 q: -0.300260 0.900751 0.003742 -0.313810 
time: 1403637240.788319, t: -0.368428 2.839604 -3.521323 q: -0.299248 0.903125 0.004421 -0.307890 
time: 1403637240.888319, t: -0.460036 2.837576 -3.742053 q: -0.300707 0.909855 0.004514 -0.285865 
time: 1403637240.988319, t: -0.538284 2.843989 -3.961508 q: -0.303208 0.913920 0.004216 -0.269811 
optimize pose graph 
time: 1403637241.088319, t: -0.626167 2.853504 -4.170968 q: -0.306273 0.912783 0.001374 -0.270225 
time: 1403637241.188319, t: -0.706924 2.869347 -4.368564 q: -0.309454 0.910839 0.002575 -0.273138 
time: 1403637241.288319, t: -0.796835 2.884229 -4.571459 q: -0.313065 0.910348 0.010158 -0.270469 
time: 1403637241.388319, t: -0.887532 2.906987 -4.755943 q: -0.315655 0.910982 0.018218 -0.264842 
time: 1403637241.488319, t: -0.979389 2.931279 -4.934966 q: -0.318012 0.911734 0.026989 -0.258616 
time: 1403637241.588319, t: -1.061397 2.965725 -5.108532 q: -0.320195 0.913492 0.035058 -0.248552 
time: 1403637241.688319, t: -1.129388 3.012557 -5.266346 q: -0.322182 0.915610 0.034745 -0.238012 
time: 1403637241.788319, t: -1.191136 3.066760 -5.412972 q: -0.323724 0.918251 0.031852 -0.225840 
time: 1403637241.888319, t: -1.235187 3.128156 -5.545247 q: -0.325281 0.919867 0.019797 -0.218275 
time: 1403637241.988319, t: -1.273280 3.190601 -5.663364 q: -0.327519 0.920547 -0.002898 -0.212878 
time: 1403637242.088319, t: -1.303303 3.249261 -5.763587 q: -0.326765 0.921631 -0.008928 -0.209144 
time: 1403637242.188319, t: -1.320280 3.301373 -5.850450 q: -0.324943 0.921768 0.000681 -0.211554 
time: 1403637242.288319, t: -1.327691 3.356221 -5.923197 q: -0.322940 0.922232 0.011056 -0.212309 
time: 1403637242.388319, t: -1.330772 3.413996 -5.981859 q: -0.320441 0.924054 0.024070 -0.207031 
time: 1403637242.488319, t: -1.340977 3.469283 -6.022481 q: -0.318409 0.926332 0.033334 -0.198528 
time: 1403637242.588319, t: -1.347519 3.536364 -6.041620 q: -0.321234 0.926514 0.033807 -0.192973 
time: 1403637242.688319, t: -1.344742 3.607937 -6.041698 q: -0.333060 0.922467 0.028641 -0.193146 
time: 1403637242.788319, t: -1.331742 3.682860 -6.023040 q: -0.350895 0.915628 0.016585 -0.195507 
time: 1403637242.888319, t: -1.305497 3.755801 -5.988955 q: -0.366409 0.909999 0.003528 -0.193997 
time: 1403637242.988319, t: -1.269925 3.817289 -5.940058 q: -0.377874 0.906604 -0.001140 -0.187827 
time: 1403637243.088319, t: -1.231740 3.876237 -5.876973 q: -0.384843 0.903842 0.005040 -0.186923 
time: 1403637243.188319, t: -1.199212 3.930400 -5.799141 q: -0.389277 0.900620 0.011492 -0.192913 
time: 1403637243.288319, t: -1.167964 3.984248 -5.707391 q: -0.392831 0.896353 0.010381 -0.205248 
time: 1403637243.388319, t: -1.140270 4.037474 -5.600193 q: -0.394709 0.893539 0.007461 -0.213861 
time: 1403637243.488319, t: -1.114529 4.092827 -5.484474 q: -0.394926 0.892604 0.004383 -0.217421 
time: 1403637243.588319, t: -1.079404 4.146276 -5.360289 q: -0.395026 0.890303 0.000526 -0.226528 
time: 1403637243.688319, t: -1.036697 4.199876 -5.234697 q: -0.394985 0.886688 -0.003438 -0.240333 
time: 1403637243.788319, t: -0.986894 4.252057 -5.106698 q: -0.394205 0.883159 -0.012060 -0.253942 
time: 1403637243.888319, t: -0.927650 4.299278 -4.978759 q: -0.393238 0.878640 -0.023425 -0.269828 
time: 1403637243.988319, t: -0.860927 4.342286 -4.855804 q: -0.391782 0.876634 -0.030105 -0.277693 
time: 1403637244.088319, t: -0.786033 4.380249 -4.742855 q: -0.389827 0.877137 -0.031156 -0.278736 
time: 1403637244.188319, t: -0.706696 4.414627 -4.637963 q: -0.387672 0.878808 -0.029683 -0.276634 
time: 1403637244.288319, t: -0.620556 4.448315 -4.538914 q: -0.385841 0.879445 -0.030251 -0.277106 
time: 1403637244.388319, t: -0.531315 4.479809 -4.446223 q: -0.385413 0.878092 -0.029562 -0.282023 
time: 1403637244.488319, t: -0.435376 4.512380 -4.358292 q: -0.389808 0.875409 -0.023780 -0.284856 
time: 1403637244.588319, t: -0.337401 4.548592 -4.276460 q: -0.398814 0.872722 -0.009476 -0.281449 
time: 1403637244.688319, t: -0.246356 4.585489 -4.201792 q: -0.411467 0.867832 0.004372 -0.278466 
time: 1403637244.788319, t: -0.167356 4.628204 -4.125541 q: -0.424063 0.862451 0.012185 -0.276043 
time: 1403637244.888319, t: -0.093582 4.670813 -4.053925 q: -0.434516 0.857565 0.016014 -0.274812 
time: 1403637244.988319, t: -0.026785 4.721993 -3.976359 q: -0.441857 0.852725 0.015075 -0.278201 
time: 1403637245.088319, t: 0.030528 4.774313 -3.906342 q: -0.446761 0.845445 0.006038 -0.292559 
time: 1403637245.188319, t: 0.077638 4.829459 -3.841614 q: -0.449315 0.838471 -0.000945 -0.308352 
optimize pose graph 
time: 1403637245.288319, t: 0.121130 4.890414 -3.783152 q: -0.450317 0.840217 0.004283 -0.302046 
time: 1403637245.388319, t: 0.157519 4.955034 -3.733848 q: -0.450592 0.844119 0.011493 -0.290341 
time: 1403637245.488319, t: 0.193479 5.027448 -3.687947 q: -0.454030 0.844745 0.016787 -0.282808 
time: 1403637245.588319, t: 0.225601 5.109344 -3.642376 q: -0.462356 0.841471 0.020358 -0.278817 
time: 1403637245.688319, t: 0.246895 5.197563 -3.590789 q: -0.474875 0.835214 0.022675 -0.276401 
time: 1403637245.788319, t: 0.270205 5.289346 -3.549780 q: -0.493225 0.827641 0.018610 -0.267193 
time: 1403637245.888319, t: 0.288575 5.395200 -3.495048 q: 0.516328 -0.819541 -0.012398 0.248200 
time: 1403637245.988319, t: 0.300417 5.502457 -3.444799 q: 0.544808 -0.805509 -0.008257 0.232960 
time: 1403637246.088319, t: 0.311662 5.610554 -3.383835 q: 0.577109 -0.786657 -0.007135 0.219238 
time: 1403637246.188319, t: 0.321729 5.705120 -3.336030 q: 0.613700 -0.761810 -0.006772 0.207297 
time: 1403637246.288319, t: 0.321556 5.806859 -3.278036 q: 0.651449 -0.733071 -0.007442 0.195364 
time: 1403637246.388319, t: 0.320365 5.894430 -3.216456 q: 0.689155 -0.702143 -0.010720 0.178732 
time: 1403637246.488319, t: 0.317353 5.982608 -3.143589 q: 0.723806 -0.671772 -0.016810 0.156671 
time: 1403637246.588319, t: 0.321619 6.071768 -3.061114 q: 0.754070 -0.642439 -0.016512 0.135564 
time: 1403637246.688319, t: 0.313246 6.148744 -2.983679 q: 0.782091 -0.612230 -0.010687 0.115731 
time: 1403637246.788319, t: 0.299282 6.215344 -2.900315 q: 0.807433 -0.581593 -0.007830 0.098698 
time: 1403637246.888319, t: 0.311340 6.263233 -2.791054 q: 0.828757 -0.552661 -0.009633 0.087379 
time: 1403637246.988319, t: 0.294738 6.315245 -2.720535 q: 0.847935 -0.522815 -0.018154 0.085681 
time: 1403637247.088319, t: 0.304392 6.341973 -2.613013 q: 0.859193 -0.502661 -0.029100 0.090956 
time: 1403637247.188319, t: 0.318550 6.369207 -2.513033 q: 0.865939 -0.488652 -0.037660 0.099753 
time: 1403637247.288319, t: 0.343902 6.386008 -2.388008 q: 0.868782 -0.482007 -0.040441 0.106075 
time: 1403637247.388319, t: 0.354469 6.402602 -2.276679 q: 0.870332 -0.482029 -0.023067 0.098169 
time: 1403637247.488319, t: 0.362068 6.408874 -2.161352 q: 0.870004 -0.485011 -0.003293 0.088580 
time: 1403637247.588319, t: 0.350335 6.411828 -2.057617 q: 0.871029 -0.483822 -0.001303 0.084996 
time: 1403637247.688319, t: 0.342980 6.402916 -1.951973 q: 0.874270 -0.479414 -0.004127 0.076137 
time: 1403637247.788319, t: 0.331832 6.388476 -1.854713 q: 0.879269 -0.472140 -0.009755 0.062251 
time: 1403637247.888319, t: 0.318330 6.353060 -1.754583 q: 0.885946 -0.460651 -0.009474 0.053011 
time: 1403637247.988319, t: 0.328042 6.310700 -1.658481 q: 0.894961 -0.442868 -0.000981 0.053958 
time: 1403637248.088319, t: 0.336383 6.251947 -1.560788 q: 0.903680 -0.423975 -0.006320 0.059728 
time: 1403637248.188319, t: 0.308204 6.171324 -1.461532 q: 0.911118 -0.406899 -0.013049 0.064245 
time: 1403637248.288319, t: 0.330897 6.105483 -1.364813 q: 0.916714 -0.392810 -0.023360 0.069214 
time: 1403637248.388319, t: 0.332797 6.022027 -1.253800 q: 0.919518 -0.385970 -0.025957 0.069578 
time: 1403637248.488319, t: 0.319940 5.939048 -1.149117 q: 0.921365 -0.382001 -0.020992 0.068707 
time: 1403637248.588319, t: 0.340097 5.857384 -1.045874 q: 0.922129 -0.381135 -0.014397 0.064871 
time: 1403637248.688319, t: 0.330486 5.760207 -0.941610 q: 0.921305 -0.383183 -0.015935 0.064138 
time: 1403637248.788319, t: 0.335088 5.663321 -0.846084 q: 0.919898 -0.385587 -0.024897 0.067011 
time: 1403637248.888319, t: 0.342035 5.561418 -0.752327 q: 0.918294 -0.388347 -0.029143 0.071232 
time: 1403637248.988319, t: 0.369869 5.462141 -0.666188 q: 0.917145 -0.389987 -0.030829 0.076184 
time: 1403637249.088319, t: 0.398022 5.357042 -0.574999 q: 0.915726 -0.393273 -0.030780 0.076389 
time: 1403637249.188319, t: 0.445050 5.252885 -0.485610 q: 0.914686 -0.395465 -0.031174 0.077359 
time: 1403637249.288319, t: 0.493654 5.147473 -0.398288 q: 0.914053 -0.396786 -0.029249 0.078821 
time: 1403637249.388319, t: 0.542035 5.037951 -0.308743 q: 0.913345 -0.398565 -0.027975 0.078514 
time: 1403637249.488319, t: 0.580193 4.928223 -0.216745 q: 0.913146 -0.398752 -0.027735 0.079948 
time: 1403637249.588319, t: 0.603882 4.819701 -0.119220 q: 0.913317 -0.397994 -0.028200 0.081593 
optimize pose graph 
time: 1403637249.688319, t: 0.606290 4.706848 -0.014956 q: 0.913548 -0.397866 -0.025914 0.080380 
time: 1403637249.788319, t: 0.607001 4.592134 0.085647 q: 0.914723 -0.396483 -0.017249 0.076063 
time: 1403637249.888319, t: 0.612526 4.473995 0.186448 q: 0.917536 -0.390851 -0.011542 0.072317 
time: 1403637249.988319, t: 0.624673 4.348432 0.284804 q: 0.922408 -0.379047 -0.013300 0.072864 
time: 1403637250.088319, t: 0.637627 4.214524 0.381213 q: 0.927289 -0.365077 -0.016123 0.081197 
time: 1403637250.188319, t: 0.659897 4.085182 0.469850 q: 0.932182 -0.351283 -0.020448 0.084958 
time: 1403637250.288319, t: 0.676739 3.955958 0.556411 q: 0.937083 -0.336949 -0.020043 0.089102 
time: 1403637250.388319, t: 0.687437 3.827058 0.645970 q: 0.940483 -0.326233 -0.018705 0.093352 
time: 1403637250.488319, t: 0.689339 3.708177 0.726499 q: 0.942869 -0.317147 -0.018921 0.100287 
time: 1403637250.588319, t: 0.693954 3.590549 0.806331 q: 0.944009 -0.311842 -0.022865 0.105255 
time: 1403637250.688319, t: 0.699562 3.475701 0.878774 q: 0.945759 -0.306670 -0.027306 0.103673 
time: 1403637250.788319, t: 0.712963 3.368115 0.944797 q: 0.947055 -0.303533 -0.030241 0.100195 
time: 1403637250.888319, t: 0.734686 3.266767 1.007652 q: 0.947906 -0.301537 -0.027788 0.098878 
time: 1403637250.988319, t: 0.763818 3.178583 1.064070 q: 0.948365 -0.299268 -0.026949 0.101569 
time: 1403637251.088319, t: 0.797072 3.093230 1.114997 q: 0.949719 -0.293927 -0.027509 0.104329 
time: 1403637251.188319, t: 0.833424 3.015964 1.161696 q: 0.951724 -0.285282 -0.029867 0.109287 
time: 1403637251.288319, t: 0.878605 2.949567 1.198241 q: 0.953810 -0.277577 -0.030970 0.110628 
time: 1403637251.388319, t: 0.932348 2.889324 1.233316 q: 0.956712 -0.272811 -0.029287 0.097053 
time: 1403637251.488319, t: 0.984909 2.841170 1.262728 q: 0.960490 -0.263842 -0.027062 0.084349 
time: 1403637251.588319, t: 1.032340 2.795556 1.289641 q: 0.964661 -0.251365 -0.025933 0.074654 
time: 1403637251.688319, t: 1.071510 2.757660 1.314995 q: 0.968221 -0.238996 -0.025268 0.069221 
time: 1403637251.788319, t: 1.103224 2.721475 1.338379 q: 0.970819 -0.229108 -0.024588 0.066449 
optimize pose graph 
time: 1403637251.888319, t: 1.131229 2.686407 1.358960 q: 0.972432 -0.224207 -0.022102 0.060158 
time: 1403637251.988319, t: 1.157337 2.658370 1.375060 q: 0.973479 -0.223266 -0.016841 0.046977 
time: 1403637252.088319, t: 1.178028 2.627613 1.388669 q: 0.974037 -0.222774 -0.011093 0.038734 
time: 1403637252.188319, t: 1.193544 2.594554 1.398620 q: 0.974555 -0.220756 -0.004483 0.038600 
time: 1403637252.288319, t: 1.202426 2.559606 1.404783 q: 0.974898 -0.218421 -0.003677 0.043051 
time: 1403637252.388319, t: 1.200191 2.524805 1.409492 q: 0.975002 -0.216780 -0.008283 0.048045 
time: 1403637252.488319, t: 1.189921 2.483721 1.413456 q: 0.974719 -0.216505 -0.016490 0.052701 
time: 1403637252.588319, t: 1.173935 2.446978 1.412009 q: 0.974450 -0.216536 -0.021750 0.055560 
time: 1403637252.688319, t: 1.152687 2.411735 1.410305 q: 0.974111 -0.215645 -0.028918 0.061395 
time: 1403637252.788319, t: 1.130326 2.381838 1.406604 q: 0.973590 -0.213290 -0.038489 0.071753 
time: 1403637252.888319, t: 1.115062 2.354799 1.402877 q: 0.973268 -0.215078 -0.041218 0.069222 
time: 1403637252.988319, t: 1.109022 2.335449 1.392850 q: 0.973361 -0.218776 -0.034357 0.059379 
time: 1403637253.088319, t: 1.112112 2.320860 1.378990 q: 0.973356 -0.220969 -0.029565 0.053629 
time: 1403637253.188319, t: 1.117053 2.307115 1.363667 q: 0.973250 -0.222397 -0.026956 0.050967 
time: 1403637253.288319, t: 1.116533 2.292885 1.349052 q: 0.973065 -0.223507 -0.025717 0.050270 
time: 1403637253.388319, t: 1.109608 2.280289 1.333666 q: 0.972946 -0.223973 -0.025599 0.050558 
time: 1403637253.488319, t: 1.095728 2.268622 1.318066 q: 0.972913 -0.224004 -0.024063 0.051802 
time: 1403637253.588319, t: 1.076605 2.256896 1.302234 q: 0.972730 -0.224788 -0.025801 0.051008 
time: 1403637253.688319, t: 1.061692 2.245846 1.283020 q: 0.972635 -0.226170 -0.025837 0.046475 
time: 1403637253.788319, t: 1.054148 2.234453 1.260231 q: 0.972540 -0.227808 -0.024446 0.040888 
time: 1403637253.888319, t: 1.050920 2.220753 1.235358 q: 0.972467 -0.228516 -0.023973 0.038910 
time: 1403637253.988319, t: 1.052907 2.206130 1.206719 q: 0.972418 -0.228813 -0.023799 0.038500 
optimize pose graph 
time: 1403637254.088319, t: 1.060890 2.186081 1.175521 q: 0.972500 -0.228937 -0.022458 0.036440 
time: 1403637254.188319, t: 1.073781 2.163212 1.142215 q: 0.973791 -0.223720 -0.022175 0.034479 
time: 1403637254.288319, t: 1.091987 2.136813 1.105889 q: 0.975699 -0.215169 -0.027523 0.030913 
time: 1403637254.388319, t: 1.111754 2.107569 1.067987 q: 0.977499 -0.206126 -0.034514 0.028584 
time: 1403637254.488319, t: 1.126620 2.076352 1.032938 q: 0.978808 -0.199106 -0.039563 0.026939 
time: 1403637254.588319, t: 1.136554 2.046113 1.000174 q: 0.979976 -0.193170 -0.040923 0.025661 
time: 1403637254.688319, t: 1.141123 2.016590 0.968887 q: 0.980838 -0.189420 -0.038713 0.024055 
time: 1403637254.788319, t: 1.142073 1.984782 0.937913 q: 0.981539 -0.186873 -0.033658 0.022934 
time: 1403637254.888319, t: 1.136217 1.952980 0.911743 q: 0.982098 -0.184583 -0.028770 0.024198 
time: 1403637254.988319, t: 1.124998 1.918338 0.884825 q: 0.982357 -0.183756 -0.024857 0.024302 
time: 1403637255.088319, t: 1.109765 1.882806 0.860303 q: 0.982922 -0.180980 -0.023776 0.023354 
time: 1403637255.188319, t: 1.097003 1.842419 0.831578 q: 0.984402 -0.172872 -0.024414 0.021730 
time: 1403637255.288319, t: 1.090066 1.801141 0.798575 q: 0.986113 -0.163120 -0.023696 0.020306 
time: 1403637255.388319, t: 1.088124 1.760542 0.761336 q: 0.987735 -0.153001 -0.023858 0.020005 
time: 1403637255.488319, t: 1.082625 1.718735 0.724329 q: 0.989476 -0.141396 -0.025988 0.016407 
time: 1403637255.588319, t: 1.069477 1.675347 0.685252 q: 0.991354 -0.127906 -0.027847 0.009104 
time: 1403637255.688319, t: 1.052587 1.631343 0.654160 q: 0.993257 -0.111945 -0.030145 0.001068 
time: 1403637255.788319, t: 1.034994 1.587972 0.613957 q: 0.994979 -0.093345 -0.035308 -0.007491 
time: 1403637255.888319, t: 1.024790 1.541675 0.575645 q: 0.996389 -0.072776 -0.041254 -0.014487 
time: 1403637255.988319, t: 1.021456 1.495273 0.527962 q: 0.997418 -0.053499 -0.043645 -0.019739 
time: 1403637256.088319, t: 1.027178 1.446415 0.486671 q: 0.997829 -0.040060 -0.045452 -0.025835 
time: 1403637256.188319, t: 1.032426 1.399952 0.441043 q: 0.998173 -0.031411 -0.042349 -0.029519 
optimize pose graph 
time: 1403637256.288319, t: 1.038053 1.348319 0.399111 q: 0.998497 -0.026231 -0.036535 -0.031311 
time: 1403637256.388319, t: 1.035427 1.295419 0.358350 q: 0.998599 -0.024396 -0.033240 -0.033169 
time: 1403637256.488319, t: 1.027211 1.242451 0.316800 q: 0.998549 -0.025188 -0.031875 -0.035358 
time: 1403637256.588319, t: 1.012298 1.188429 0.274222 q: 0.998615 -0.025942 -0.030772 -0.033887 
time: 1403637256.688319, t: 0.990237 1.128684 0.235652 q: 0.998552 -0.026499 -0.038563 -0.026529 
time: 1403637256.788319, t: 0.965742 1.069087 0.197238 q: 0.998392 -0.025170 -0.049257 -0.012361 
time: 1403637256.888319, t: 0.938696 1.011238 0.161699 q: 0.998389 -0.024101 -0.051208 -0.004087 
time: 1403637256.988319, t: 0.915406 0.956404 0.122726 q: 0.998661 -0.021004 -0.046339 -0.009355 
time: 1403637257.088319, t: 0.898085 0.900566 0.087655 q: 0.998850 -0.014302 -0.041813 -0.018572 
time: 1403637257.188319, t: 0.886578 0.845909 0.048203 q: 0.998848 -0.007921 -0.040061 -0.025189 
time: 1403637257.288319, t: 0.880260 0.791472 0.012057 q: 0.998675 -0.002024 -0.042120 -0.029484 
time: 1403637257.388319, t: 0.877439 0.741197 -0.033045 q: 0.998406 0.002957 -0.044653 -0.034391 
time: 1403637257.488319, t: 0.876387 0.684897 -0.069672 q: 0.998240 0.006377 -0.045762 -0.037184 
time: 1403637257.588319, t: 0.871519 0.630057 -0.106643 q: 0.997980 0.008410 -0.048550 -0.040097 
time: 1403637257.688319, t: 0.860902 0.577656 -0.144244 q: 0.997672 0.010947 -0.055673 -0.037845 
time: 1403637257.788319, t: 0.843566 0.523755 -0.178044 q: 0.997317 0.015814 -0.061536 -0.036353 
time: 1403637257.888319, t: 0.832500 0.461005 -0.194571 q: 0.996745 0.023271 -0.067789 -0.036908 
time: 1403637257.988319, t: 0.815465 0.401179 -0.212151 q: 0.996160 0.034891 -0.070793 -0.037902 
time: 1403637258.088319, t: 0.795971 0.344435 -0.232067 q: 0.995305 0.051484 -0.071737 -0.039643 
time: 1403637258.188319, t: 0.782285 0.285370 -0.238824 q: 0.994236 0.070994 -0.065228 -0.046906 
time: 1403637258.288319, t: 0.780189 0.227274 -0.250606 q: 0.992980 0.087151 -0.056040 -0.057051 
time: 1403637258.388319, t: 0.773936 0.171977 -0.261341 q: 0.991746 0.100799 -0.049651 -0.061762 
optimize pose graph 
time: 1403637258.488319, t: 0.758568 0.109651 -0.264000 q: 0.990697 0.112146 -0.051023 -0.057796 
time: 1403637258.588319, t: 0.735894 0.050505 -0.260983 q: 0.989872 0.119958 -0.055065 -0.052267 
time: 1403637258.688319, t: 0.714814 -0.001342 -0.261073 q: 0.989708 0.123147 -0.050639 -0.052426 
time: 1403637258.788319, t: 0.691700 -0.052502 -0.258727 q: 0.989724 0.124407 -0.046677 -0.052826 
time: 1403637258.888319, t: 0.666346 -0.098925 -0.260750 q: 0.989843 0.125283 -0.043259 -0.051414 
time: 1403637259.088319, t: 0.642828 -0.187520 -0.263550 q: 0.990193 0.123873 -0.043959 -0.047336 
time: 1403637259.188319, t: 0.648538 -0.226430 -0.270849 q: 0.990336 0.123355 -0.043466 -0.046130 
time: 1403637259.288319, t: 0.661817 -0.261626 -0.281032 q: 0.990547 0.122629 -0.042254 -0.044654 
time: 1403637259.388319, t: 0.673722 -0.294596 -0.290626 q: 0.990712 0.121778 -0.042995 -0.042548 
time: 1403637259.488319, t: 0.681932 -0.322644 -0.298854 q: 0.990895 0.123506 -0.042082 -0.033211 
time: 1403637259.588319, t: 0.686792 -0.345746 -0.307325 q: 0.990938 0.124478 -0.041934 -0.028079 
time: 1403637259.688319, t: 0.688595 -0.361906 -0.314806 q: 0.991060 0.122778 -0.041631 -0.031509 
time: 1403637259.788319, t: 0.685900 -0.373323 -0.320921 q: 0.990905 0.119998 -0.047027 -0.038691 
time: 1403637259.888319, t: 0.681435 -0.380553 -0.326493 q: 0.990906 0.119378 -0.047481 -0.039995 
time: 1403637259.988319, t: 0.673466 -0.384510 -0.330266 q: 0.991069 0.120734 -0.043760 -0.035935 
time: 1403637260.088319, t: 0.661574 -0.383977 -0.332931 q: 0.991155 0.119625 -0.040519 -0.040737 
time: 1403637260.188319, t: 0.645509 -0.380220 -0.335363 q: 0.991016 0.117654 -0.041688 -0.048029 
time: 1403637260.288319, t: 0.626732 -0.374147 -0.337850 q: 0.990738 0.115380 -0.043025 -0.057231 
time: 1403637260.388319, t: 0.606799 -0.367895 -0.341365 q: 0.990423 0.112496 -0.041483 -0.068452 
time: 1403637260.488319, t: 0.584633 -0.363708 -0.345644 q: 0.990052 0.111236 -0.042840 -0.074751 
time: 1403637260.588319, t: 0.559779 -0.362869 -0.350189 q: 0.989499 0.111050 -0.054485 -0.074772 
time: 1403637260.688319, t: 0.534943 -0.365933 -0.353586 q: 0.989205 0.111390 -0.062025 -0.072234 
time: 1403637260.788319, t: 0.511445 -0.371575 -0.354908 q: 0.989523 0.112886 -0.057571 -0.069181 
time: 1403637260.888319, t: 0.488237 -0.379683 -0.354635 q: 0.989915 0.115036 -0.049210 -0.066440 
time: 1403637260.988319, t: 0.465283 -0.389589 -0.353976 q: 0.990185 0.116108 -0.041579 -0.065758 
time: 1403637261.088319, t: 0.440985 -0.399665 -0.355334 q: 0.990075 0.116592 -0.044486 -0.064644 
time: 1403637261.188319, t: 0.415903 -0.411294 -0.356536 q: 0.989491 0.115734 -0.056567 -0.065678 
time: 1403637261.288319, t: 0.395122 -0.424100 -0.357896 q: 0.988886 0.114916 -0.066303 -0.067099 
time: 1403637261.388319, t: 0.382353 -0.438585 -0.358038 q: 0.989338 0.115512 -0.059836 -0.065475 
time: 1403637261.488319, t: 0.374423 -0.454539 -0.357356 q: 0.989938 0.118041 -0.051919 -0.058248 
time: 1403637261.588319, t: 0.367244 -0.469985 -0.355597 q: 0.989526 0.117515 -0.060603 -0.057923 
time: 1403637261.688319, t: 0.364898 -0.484998 -0.353063 q: 0.988834 0.115769 -0.070996 -0.061359 
time: 1403637261.788319, t: 0.370743 -0.500847 -0.347677 q: 0.989077 0.115169 -0.067064 -0.062976 
time: 1403637261.888319, t: 0.379954 -0.517255 -0.340149 q: 0.989888 0.115643 -0.054304 -0.061636 
time: 1403637261.988319, t: 0.382623 -0.533227 -0.329716 q: 0.990421 0.115375 -0.045879 -0.060414 
time: 1403637262.088319, t: 0.375954 -0.548722 -0.317553 q: 0.990888 0.115746 -0.040393 -0.055780 
time: 1403637262.188319, t: 0.359991 -0.562588 -0.304390 q: 0.991134 0.116344 -0.039788 -0.050341 
time: 1403637262.288319, t: 0.337517 -0.573334 -0.291531 q: 0.991329 0.116027 -0.039561 -0.047320 
time: 1403637262.388319, t: 0.338236 -0.568866 -0.297579 q: 0.991929 0.117140 -0.016786 -0.045542 
time: 1403637262.488319, t: 0.334017 -0.559501 -0.301600 q: 0.995029 0.089895 -0.033833 -0.026286 
time: 1403637262.588319, t: 0.336490 -0.556166 -0.310414 q: 0.995664 0.091653 -0.004237 -0.015358 
time: 1403637262.688319, t: 0.331348 -0.555672 -0.306140 q: 0.995605 0.089605 -0.021038 -0.017290 
time: 1403637262.788319, t: 0.332098 -0.555234 -0.306791 q: 0.995761 0.089054 -0.017752 -0.014665 
optimize pose graph 
time: 1403637262.988319, t: 0.332168 -0.556166 -0.306383 q: 0.995680 0.089600 -0.019067 -0.015153 
time: 1403637263.088319, t: 0.332186 -0.555950 -0.306503 q: 0.995700 0.089276 -0.019077 -0.015739 
time: 1403637263.188319, t: 0.332167 -0.555768 -0.306560 q: 0.995726 0.088993 -0.018777 -0.016067 
time: 1403637263.288319, t: 0.332143 -0.555850 -0.306554 q: 0.995713 0.089108 -0.019072 -0.015878 
time: 1403637263.488319, t: 0.332102 -0.555842 -0.306564 q: 0.995715 0.089071 -0.019039 -0.015956 
time: 1403637263.588319, t: 0.332145 -0.555875 -0.306579 q: 0.995711 0.089126 -0.019106 -0.015857 
time: 1403637263.688319, t: 0.332099 -0.555903 -0.306584 q: 0.995706 0.089180 -0.019181 -0.015778 
time: 1403637263.788319, t: 0.332086 -0.555993 -0.306595 q: 0.995700 0.089320 -0.019167 -0.015385 
time: 1403637263.888319, t: 0.332096 -0.555991 -0.306605 q: 0.995698 0.089332 -0.019167 -0.015430 
time: 1403637263.988319, t: 0.332085 -0.555895 -0.306606 q: 0.995707 0.089169 -0.019167 -0.015758 
time: 1403637264.088319, t: 0.332090 -0.555903 -0.306590 q: 0.995703 0.089187 -0.019239 -0.015873 
time: 1403637264.188319, t: 0.332056 -0.555861 -0.306546 q: 0.995709 0.089130 -0.019136 -0.015890 
time: 1403637264.288319, t: 0.332081 -0.555915 -0.306600 q: 0.995704 0.089208 -0.019174 -0.015730 
time: 1403637264.388319, t: 0.332049 -0.555905 -0.306616 q: 0.995701 0.089235 -0.019220 -0.015733 
time: 1403637264.488319, t: 0.332051 -0.555881 -0.306592 q: 0.995705 0.089180 -0.019185 -0.015805 
time: 1403637264.588319, t: 0.332050 -0.555916 -0.306595 q: 0.995702 0.089208 -0.019231 -0.015777 
time: 1403637264.688319, t: 0.332038 -0.555916 -0.306608 q: 0.995703 0.089215 -0.019221 -0.015736 
time: 1403637264.788319, t: 0.332025 -0.555912 -0.306594 q: 0.995699 0.089267 -0.019238 -0.015666 
time: 1403637264.888319, t: 0.332046 -0.555914 -0.306633 q: 0.995702 0.089222 -0.019235 -0.015736 
time: 1403637264.988319, t: 0.332051 -0.555888 -0.306562 q: 0.995704 0.089169 -0.019268 -0.015869 
time: 1403637265.088319, t: 0.332058 -0.555911 -0.306568 q: 0.995699 0.089210 -0.019324 -0.015866 
time: 1403637265.188319, t: 0.332051 -0.555886 -0.306582 q: 0.995702 0.089199 -0.019250 -0.015834 
time: 1403637265.288319, t: 0.332026 -0.555883 -0.306575 q: 0.995700 0.089207 -0.019295 -0.015855 
time: 1403637265.388319, t: 0.332070 -0.555894 -0.306485 q: 0.995700 0.089197 -0.019299 -0.015905 
time: 1403637265.488319, t: 0.332046 -0.555828 -0.306429 q: 0.995698 0.089245 -0.019273 -0.015815 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720501639.648046599]: Shutdown request received.[0m
[33m[ WARN] [1720501639.648111049]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720501639.648973472]: Shutdown request received.[0m
[33m[ WARN] [1720501639.648998418]: Reason given for shutdown: [user request][0m
killed
