/SLAM-Hive/slam_hive_results/mapping_results/3014/2222_vins-fusion-stereo+MH_03_medium+Image_comb_test-2.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720501844.071988771]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720501844.073695845]: init begins[0m
[31m[ERROR] [1720501844.074754863]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/980bb012-3db1-11ef-99b9-0242ac110005/roslaunch-157ca11be57c-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://157ca11be57c:36191/[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] [1720501845.179642556]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720501845.180375146]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720501845.188240072]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720501845.188429473]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720501845.188453596]: ROW: 288 COL: 451 [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] [1720501845.188717940]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720501845.188947265]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720501845.189133368]: 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://157ca11be57c:11311/[0m
]2;roscore http://157ca11be57c:11311/
[1msetting /run_id to 980bb012-3db1-11ef-99b9-0242ac110005[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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720501854.222902190]: 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: 316864723.89 
[0m[ INFO] [1720501855.690618583]: Initialization finish![0m
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403637241.188319, t: -0.617060 2.666829 -4.267332 q: -0.297395 0.909835 0.001101 -0.289406 
time: 1403637241.288319, t: -0.712358 2.681121 -4.458993 q: -0.300581 0.909591 0.009034 -0.286730 
time: 1403637241.388319, t: -0.811708 2.699600 -4.643952 q: -0.303434 0.910121 0.016833 -0.281645 
time: 1403637241.488319, t: -0.906337 2.719296 -4.819826 q: -0.305848 0.910938 0.025782 -0.275654 
time: 1403637241.588319, t: -0.988331 2.765993 -4.990630 q: -0.307518 0.912939 0.035220 -0.265960 
time: 1403637241.688319, t: -1.063328 2.798999 -5.146597 q: -0.309907 0.915151 0.034830 -0.255427 
time: 1403637241.788319, t: -1.131062 2.832395 -5.292319 q: -0.312171 0.917791 0.031817 -0.243305 
time: 1403637241.888319, t: -1.174818 2.873894 -5.426444 q: -0.314301 0.919339 0.019643 -0.235892 
time: 1403637241.988319, t: -1.207630 2.926576 -5.542792 q: -0.316507 0.920098 -0.003019 -0.230726 
time: 1403637242.088319, t: -1.240323 2.982682 -5.644149 q: -0.315784 0.921217 -0.008836 -0.227073 
time: 1403637242.188319, t: -1.267801 3.034051 -5.731258 q: -0.314173 0.921334 0.000570 -0.228997 
time: 1403637242.288319, t: -1.280807 3.091197 -5.803583 q: -0.312185 0.921792 0.010761 -0.229618 
optimize pose graph 
time: 1403637242.388319, t: -1.290982 3.150248 -5.859004 q: -0.309726 0.923731 0.023816 -0.224108 
time: 1403637242.488319, t: -1.300491 3.206538 -5.898239 q: -0.307804 0.926026 0.033275 -0.215928 
time: 1403637242.588319, t: -1.307679 3.278758 -5.921405 q: -0.310613 0.926307 0.034018 -0.210516 
time: 1403637242.688319, t: -1.306114 3.347664 -5.926029 q: -0.322780 0.922294 0.028704 -0.210625 
time: 1403637242.788319, t: -1.290269 3.422664 -5.909803 q: -0.340379 0.915681 0.016123 -0.213098 
time: 1403637242.888319, t: -1.269206 3.490322 -5.874526 q: -0.355883 0.910393 0.001855 -0.211020 
time: 1403637242.988319, t: -1.233747 3.552631 -5.826660 q: -0.367283 0.907300 -0.002996 -0.204696 
time: 1403637243.088319, t: -1.194126 3.619484 -5.764001 q: -0.374090 0.904653 0.003317 -0.204080 
time: 1403637243.188319, t: -1.161878 3.680876 -5.685603 q: -0.378298 0.901475 0.009268 -0.210114 
time: 1403637243.288319, t: -1.135506 3.739843 -5.594009 q: -0.381591 0.897269 0.007080 -0.221914 
time: 1403637243.388319, t: -1.100167 3.795059 -5.492164 q: -0.383563 0.894244 0.005042 -0.230613 
time: 1403637243.488319, t: -1.068061 3.849966 -5.376773 q: -0.383883 0.893128 0.002379 -0.234417 
time: 1403637243.588319, t: -1.032426 3.904682 -5.255086 q: -0.384051 0.890692 -0.002249 -0.243245 
time: 1403637243.688319, t: -0.986489 3.958593 -5.131602 q: -0.383917 0.886916 -0.006373 -0.256802 
time: 1403637243.788319, t: -0.928036 4.009692 -5.005538 q: -0.383197 0.883105 -0.014886 -0.270305 
time: 1403637243.888319, t: -0.862084 4.053293 -4.875644 q: -0.382177 0.878344 -0.026573 -0.285915 
time: 1403637243.988319, t: -0.789316 4.094011 -4.756397 q: -0.380948 0.876021 -0.033161 -0.293882 
time: 1403637244.088319, t: -0.708456 4.133952 -4.649677 q: -0.379467 0.876284 -0.033565 -0.294966 
time: 1403637244.188319, t: -0.628323 4.169110 -4.544742 q: -0.377428 0.877995 -0.032569 -0.292597 
time: 1403637244.288319, t: -0.539645 4.206285 -4.449814 q: -0.375702 0.878591 -0.033056 -0.292974 
time: 1403637244.388319, t: -0.448400 4.246837 -4.357605 q: -0.374830 0.877327 -0.032240 -0.297928 
time: 1403637244.488319, t: -0.349893 4.288278 -4.271226 q: -0.378869 0.874808 -0.026381 -0.300788 
time: 1403637244.588319, t: -0.249358 4.332424 -4.191035 q: -0.387898 0.872260 -0.011770 -0.297589 
time: 1403637244.688319, t: -0.157526 4.374331 -4.112794 q: -0.400463 0.867713 0.002078 -0.294449 
time: 1403637244.788319, t: -0.081299 4.419547 -4.037146 q: -0.413305 0.862526 0.009508 -0.291783 
time: 1403637244.888319, t: -0.007144 4.469625 -3.968598 q: -0.423548 0.857933 0.013008 -0.290497 
time: 1403637244.988319, t: 0.049989 4.516248 -3.892377 q: -0.431470 0.853161 0.011258 -0.292957 
time: 1403637245.088319, t: 0.097861 4.564859 -3.818266 q: -0.436308 0.846273 0.001427 -0.305705 
time: 1403637245.188319, t: 0.139439 4.621272 -3.753637 q: -0.438929 0.839238 -0.005552 -0.320920 
time: 1403637245.288319, t: 0.185148 4.686489 -3.698189 q: -0.439901 0.841097 0.000289 -0.314710 
time: 1403637245.388319, t: 0.226486 4.756241 -3.648929 q: -0.440014 0.845205 0.008427 -0.303226 
time: 1403637245.488319, t: 0.259014 4.828757 -3.601523 q: -0.443527 0.846141 0.013548 -0.295205 
time: 1403637245.588319, t: 0.288517 4.906779 -3.558193 q: -0.452187 0.842947 0.016259 -0.291037 
time: 1403637245.688319, t: 0.302855 4.989900 -3.511077 q: -0.465255 0.836711 0.017455 -0.288353 
time: 1403637245.788319, t: 0.317681 5.079003 -3.464602 q: -0.483475 0.829992 0.012935 -0.277846 
time: 1403637245.888319, t: 0.338782 5.173462 -3.430740 q: 0.508266 -0.821245 -0.006153 0.259200 
time: 1403637245.988319, t: 0.367358 5.281672 -3.380976 q: 0.536492 -0.807638 -0.002368 0.244727 
time: 1403637246.088319, t: 0.359435 5.363106 -3.335955 q: 0.571216 -0.788264 0.000628 0.228805 
time: 1403637246.188319, t: 0.354878 5.452651 -3.266081 q: 0.607042 -0.765402 0.001305 0.213677 
time: 1403637246.288319, t: 0.382656 5.559927 -3.211343 q: 0.644338 -0.736977 -0.000089 0.204191 
time: 1403637246.388319, t: 0.357944 5.654533 -3.158968 q: 0.683081 -0.706304 -0.002192 0.185823 
time: 1403637246.488319, t: 0.383396 5.742588 -3.074228 q: 0.716778 -0.677403 -0.009353 0.165126 
time: 1403637246.588319, t: 0.370537 5.844145 -3.005561 q: 0.748072 -0.648083 -0.008691 0.142486 
time: 1403637246.688319, t: 0.370244 5.916073 -2.915339 q: 0.775730 -0.619161 -0.003870 0.121933 
time: 1403637246.788319, t: 0.350518 5.991341 -2.845663 q: 0.801805 -0.588379 -0.000546 0.104494 
time: 1403637246.888319, t: 0.368376 6.038925 -2.735329 q: 0.823405 -0.559779 -0.002879 0.092971 
time: 1403637246.988319, t: 0.396729 6.092192 -2.632958 q: 0.841576 -0.532031 -0.015745 0.091900 
time: 1403637247.088319, t: 0.368196 6.124759 -2.577682 q: 0.855240 -0.508793 -0.022702 0.095810 
time: 1403637247.188319, t: 0.366530 6.154756 -2.493780 q: 0.862926 -0.493663 -0.029703 0.103793 
time: 1403637247.288319, t: 0.380084 6.178859 -2.392535 q: 0.866955 -0.485265 -0.031811 0.109062 
time: 1403637247.388319, t: 0.396886 6.200144 -2.280808 q: 0.868514 -0.485111 -0.015162 0.100603 
time: 1403637247.488319, t: 0.411985 6.211236 -2.156621 q: 0.867703 -0.488585 0.003932 0.091440 
time: 1403637247.588319, t: 0.412777 6.213539 -2.037780 q: 0.867970 -0.488762 0.004630 0.087850 
time: 1403637247.688319, t: 0.415355 6.205439 -1.919014 q: 0.870815 -0.485223 0.000700 0.078989 
time: 1403637247.788319, t: 0.417132 6.194136 -1.813996 q: 0.875702 -0.478337 -0.005993 0.065598 
time: 1403637247.988319, t: 0.390981 6.115528 -1.597974 q: 0.890741 -0.450958 0.005762 0.056426 
time: 1403637248.088319, t: 0.356798 6.047523 -1.505239 q: 0.899751 -0.432121 0.005378 0.060753 
time: 1403637248.188319, t: 0.376349 5.992957 -1.410735 q: 0.908280 -0.412992 -0.006490 0.066502 
time: 1403637248.288319, t: 0.413683 5.927176 -1.315491 q: 0.913946 -0.398948 -0.018246 0.072175 
time: 1403637248.388319, t: 0.400414 5.847407 -1.211156 q: 0.917219 -0.391284 -0.018478 0.072555 
time: 1403637248.488319, t: 0.395120 5.774044 -1.107309 q: 0.919387 -0.386576 -0.014291 0.071283 
optimize pose graph 
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time: 1403637248.688319, t: 0.412528 5.616006 -0.911615 q: 0.920050 -0.385856 -0.009717 0.067296 
time: 1403637248.788319, t: 0.420892 5.527762 -0.821826 q: 0.918971 -0.387510 -0.019287 0.070398 
time: 1403637248.888319, t: 0.445741 5.441581 -0.740043 q: 0.918005 -0.388604 -0.025731 0.074775 
time: 1403637248.988319, t: 0.467531 5.340462 -0.655826 q: 0.916858 -0.390288 -0.026627 0.079613 
time: 1403637249.088319, t: 0.506038 5.242902 -0.571585 q: 0.915711 -0.392742 -0.027609 0.080399 
time: 1403637249.188319, t: 0.555656 5.140993 -0.477459 q: 0.914460 -0.395393 -0.028440 0.081347 
time: 1403637249.288319, t: 0.608503 5.038776 -0.391289 q: 0.913817 -0.396678 -0.027015 0.082798 
time: 1403637249.388319, t: 0.657112 4.929227 -0.301679 q: 0.913045 -0.398661 -0.025854 0.082156 
time: 1403637249.488319, t: 0.689905 4.815000 -0.210714 q: 0.912793 -0.399094 -0.024915 0.083143 
time: 1403637249.588319, t: 0.721220 4.706593 -0.116841 q: 0.912977 -0.398241 -0.026146 0.084818 
time: 1403637249.688319, t: 0.727174 4.590391 -0.017073 q: 0.913254 -0.397909 -0.024092 0.083995 
time: 1403637249.788319, t: 0.723958 4.470808 0.089833 q: 0.914111 -0.397325 -0.014671 0.079497 
time: 1403637249.888319, t: 0.729674 4.343683 0.197500 q: 0.916530 -0.392654 -0.008631 0.075634 
time: 1403637249.988319, t: 0.744085 4.217075 0.299602 q: 0.921296 -0.381126 -0.010563 0.076450 
time: 1403637250.088319, t: 0.758027 4.085226 0.401435 q: 0.926083 -0.367428 -0.013099 0.084826 
time: 1403637250.188319, t: 0.763152 3.944517 0.490016 q: 0.930990 -0.354132 -0.016219 0.087088 
time: 1403637250.288319, t: 0.784516 3.811233 0.582519 q: 0.935664 -0.340554 -0.015984 0.091111 
time: 1403637250.388319, t: 0.795983 3.685491 0.673131 q: 0.939102 -0.329798 -0.014848 0.095395 
time: 1403637250.488319, t: 0.807241 3.574611 0.757900 q: 0.941447 -0.320683 -0.015356 0.102973 
time: 1403637250.588319, t: 0.830177 3.459960 0.849458 q: 0.942216 -0.315906 -0.020019 0.109692 
optimize pose graph 
time: 1403637250.688319, t: 0.838234 3.346782 0.926357 q: 0.943923 -0.310934 -0.024230 0.108362 
time: 1403637250.788319, t: 0.857453 3.236522 0.994664 q: 0.945155 -0.308024 -0.027570 0.105087 
time: 1403637250.888319, t: 0.877385 3.134423 1.054720 q: 0.946103 -0.305845 -0.024819 0.103597 
time: 1403637250.988319, t: 0.905380 3.040963 1.115270 q: 0.946411 -0.304112 -0.023745 0.106104 
time: 1403637251.088319, t: 0.934393 2.946205 1.174218 q: 0.947515 -0.299714 -0.023891 0.108704 
time: 1403637251.188319, t: 0.974447 2.863863 1.222164 q: 0.949447 -0.291478 -0.026141 0.113610 
time: 1403637251.288319, t: 1.019125 2.790354 1.269029 q: 0.951325 -0.284776 -0.027185 0.114646 
time: 1403637251.388319, t: 1.069570 2.739334 1.299818 q: 0.954547 -0.279174 -0.025489 0.101253 
time: 1403637251.488319, t: 1.128786 2.696659 1.323978 q: 0.958557 -0.269772 -0.023632 0.088507 
time: 1403637251.588319, t: 1.179559 2.654883 1.349381 q: 0.962894 -0.257163 -0.022666 0.078673 
time: 1403637251.688319, t: 1.217853 2.613051 1.377339 q: 0.966457 -0.245203 -0.021897 0.073189 
time: 1403637251.788319, t: 1.248011 2.573965 1.404234 q: 0.969058 -0.235679 -0.021222 0.070230 
time: 1403637251.888319, t: 1.278149 2.537652 1.426858 q: 0.970660 -0.230966 -0.018920 0.064151 
time: 1403637251.988319, t: 1.304334 2.512243 1.442695 q: 0.971771 -0.229975 -0.013568 0.050877 
time: 1403637252.088319, t: 1.324486 2.479041 1.459050 q: 0.972283 -0.229799 -0.007897 0.042386 
time: 1403637252.188319, t: 1.339411 2.442822 1.474207 q: 0.972688 -0.228267 -0.001223 0.042085 
time: 1403637252.288319, t: 1.344280 2.405641 1.482507 q: 0.973007 -0.226109 -0.000165 0.046171 
time: 1403637252.388319, t: 1.343873 2.370626 1.486746 q: 0.973114 -0.224525 -0.004848 0.051125 
time: 1403637252.488319, t: 1.335473 2.335613 1.490205 q: 0.972938 -0.223779 -0.013111 0.056053 
time: 1403637252.588319, t: 1.319575 2.301784 1.488339 q: 0.972727 -0.223567 -0.018392 0.059001 
time: 1403637252.688319, t: 1.297911 2.270681 1.486152 q: 0.972489 -0.222210 -0.025418 0.065135 
time: 1403637252.788319, t: 1.275883 2.242591 1.481793 q: 0.972016 -0.219658 -0.034924 0.075604 
optimize pose graph 
time: 1403637252.888319, t: 1.262922 2.209579 1.480946 q: 0.971600 -0.221891 -0.037836 0.072979 
time: 1403637252.988319, t: 1.261299 2.192171 1.472870 q: 0.971645 -0.225642 -0.031303 0.063340 
time: 1403637253.088319, t: 1.263905 2.176805 1.460588 q: 0.971611 -0.227936 -0.026545 0.057559 
time: 1403637253.188319, t: 1.267836 2.162650 1.445753 q: 0.971490 -0.229420 -0.023886 0.054799 
time: 1403637253.288319, t: 1.268151 2.150413 1.428939 q: 0.971342 -0.230299 -0.022655 0.054255 
time: 1403637253.388319, t: 1.261112 2.137877 1.414095 q: 0.971217 -0.230764 -0.022530 0.054571 
time: 1403637253.488319, t: 1.248192 2.126423 1.398545 q: 0.971174 -0.230768 -0.021064 0.055892 
time: 1403637253.588319, t: 1.230424 2.116108 1.382173 q: 0.971013 -0.231429 -0.022898 0.055232 
time: 1403637253.688319, t: 1.216826 2.105881 1.363040 q: 0.970930 -0.232777 -0.023026 0.050784 
time: 1403637253.788319, t: 1.210115 2.095696 1.339771 q: 0.970849 -0.234361 -0.021691 0.045346 
time: 1403637253.888319, t: 1.207561 2.082919 1.314417 q: 0.970786 -0.235025 -0.021260 0.043418 
time: 1403637253.988319, t: 1.211493 2.065745 1.285303 q: 0.970727 -0.235372 -0.021267 0.042858 
time: 1403637254.088319, t: 1.218540 2.046400 1.254895 q: 0.970816 -0.235498 -0.019894 0.040764 
time: 1403637254.288319, t: 1.248343 1.996742 1.186616 q: 0.974141 -0.221799 -0.024838 0.035181 
time: 1403637254.388319, t: 1.268387 1.967078 1.148554 q: 0.976031 -0.212781 -0.031746 0.032858 
time: 1403637254.488319, t: 1.281610 1.937137 1.111807 q: 0.977444 -0.205634 -0.036653 0.031225 
time: 1403637254.588319, t: 1.292283 1.906402 1.075672 q: 0.978670 -0.199679 -0.037951 0.029881 
time: 1403637254.688319, t: 1.294378 1.873330 1.045701 q: 0.979526 -0.196147 -0.035567 0.028122 
time: 1403637254.788319, t: 1.293873 1.841386 1.016733 q: 0.980235 -0.193619 -0.030414 0.026943 
time: 1403637254.888319, t: 1.287916 1.807063 0.989939 q: 0.980787 -0.191349 -0.025432 0.028193 
time: 1403637254.988319, t: 1.277520 1.772912 0.963364 q: 0.981051 -0.190460 -0.021542 0.028294 
optimize pose graph 
time: 1403637255.188319, t: 1.249167 1.695758 0.909197 q: 0.983194 -0.179527 -0.021044 0.025617 
time: 1403637255.288319, t: 1.243104 1.651704 0.877527 q: 0.984940 -0.169997 -0.020370 0.024063 
time: 1403637255.388319, t: 1.242233 1.610367 0.841334 q: 0.986643 -0.159812 -0.020687 0.023847 
time: 1403637255.488319, t: 1.235668 1.568384 0.801330 q: 0.988507 -0.148056 -0.022694 0.020436 
time: 1403637255.588319, t: 1.227941 1.524472 0.767786 q: 0.990492 -0.134677 -0.024988 0.012763 
time: 1403637255.688319, t: 1.210649 1.478471 0.732593 q: 0.992523 -0.118865 -0.027323 0.004720 
time: 1403637255.788319, t: 1.195598 1.430177 0.692480 q: 0.994383 -0.100589 -0.032699 -0.004015 
time: 1403637255.888319, t: 1.187865 1.384398 0.653500 q: 0.995984 -0.079921 -0.038796 -0.011148 
time: 1403637255.988319, t: 1.182653 1.337591 0.610869 q: 0.997177 -0.060721 -0.041002 -0.016426 
time: 1403637256.088319, t: 1.188511 1.292640 0.560055 q: 0.997730 -0.047036 -0.042677 -0.022392 
time: 1403637256.188319, t: 1.196423 1.240832 0.516158 q: 0.998117 -0.038753 -0.039708 -0.026144 
time: 1403637256.288319, t: 1.201960 1.192925 0.469998 q: 0.998495 -0.033244 -0.033723 -0.027674 
time: 1403637256.388319, t: 1.201538 1.137959 0.431174 q: 0.998594 -0.031551 -0.030665 -0.029559 
time: 1403637256.488319, t: 1.188703 1.089212 0.389328 q: 0.998575 -0.032045 -0.028898 -0.031414 
time: 1403637256.588319, t: 1.175305 1.033883 0.347344 q: 0.998619 -0.032849 -0.027877 -0.030060 
time: 1403637256.688319, t: 1.156732 0.975602 0.306480 q: 0.998548 -0.033140 -0.035909 -0.022657 
time: 1403637256.788319, t: 1.124523 0.915290 0.265531 q: 0.998406 -0.031728 -0.045963 -0.008142 
time: 1403637256.888319, t: 1.099722 0.850862 0.236222 q: 0.998360 -0.030927 -0.048168 -0.000011 
time: 1403637256.988319, t: 1.078018 0.793187 0.201541 q: 0.998647 -0.028188 -0.043381 -0.005255 
time: 1403637257.088319, t: 1.065459 0.734116 0.165956 q: 0.998886 -0.021726 -0.039297 -0.014508 
time: 1403637257.188319, t: 1.055853 0.680243 0.125952 q: 0.998940 -0.015319 -0.037783 -0.021371 
optimize pose graph 
time: 1403637257.288319, t: 1.050214 0.630807 0.082965 q: 0.998827 -0.008978 -0.039927 -0.025892 
time: 1403637257.388319, t: 1.051464 0.570569 0.046236 q: 0.998587 -0.004637 -0.042755 -0.031202 
time: 1403637257.488319, t: 1.052122 0.514428 0.007253 q: 0.998449 -0.001180 -0.044029 -0.034042 
time: 1403637257.588319, t: 1.045916 0.459060 -0.029030 q: 0.998230 0.000891 -0.046649 -0.036874 
time: 1403637257.688319, t: 1.036794 0.402797 -0.063610 q: 0.997958 0.003293 -0.053716 -0.034408 
time: 1403637257.788319, t: 1.022064 0.343924 -0.094311 q: 0.997630 0.007928 -0.059789 -0.033122 
time: 1403637257.888319, t: 1.003129 0.285032 -0.122084 q: 0.997143 0.015755 -0.065694 -0.033797 
time: 1403637257.988319, t: 0.977923 0.227848 -0.135109 q: 0.996698 0.027595 -0.068038 -0.034665 
time: 1403637258.088319, t: 0.964096 0.172720 -0.155681 q: 0.995940 0.044228 -0.069321 -0.036641 
time: 1403637258.188319, t: 0.946661 0.112210 -0.157922 q: 0.995020 0.063683 -0.062585 -0.044300 
time: 1403637258.288319, t: 0.944284 0.054100 -0.169405 q: 0.993896 0.079782 -0.053330 -0.054427 
time: 1403637258.388319, t: 0.941260 -0.003577 -0.179613 q: 0.992733 0.093125 -0.047443 -0.059653 
time: 1403637258.488319, t: 0.926185 -0.063337 -0.186414 q: 0.991747 0.104747 -0.048706 -0.055627 
time: 1403637258.588319, t: 0.904680 -0.124018 -0.187708 q: 0.990996 0.112325 -0.052830 -0.050199 
time: 1403637258.688319, t: 0.884187 -0.179363 -0.187759 q: 0.990864 0.115252 -0.048555 -0.050486 
time: 1403637258.788319, t: 0.859270 -0.231240 -0.181491 q: 0.990909 0.116424 -0.044599 -0.050544 
time: 1403637258.888319, t: 0.834477 -0.277743 -0.176270 q: 0.991060 0.117150 -0.041021 -0.048927 
time: 1403637258.988319, t: 0.815860 -0.320023 -0.172260 q: 0.991189 0.117318 -0.040810 -0.045993 
time: 1403637259.088319, t: 0.811043 -0.361653 -0.175091 q: 0.991368 0.116011 -0.041359 -0.044950 
time: 1403637259.188319, t: 0.815859 -0.400087 -0.179552 q: 0.991515 0.115602 -0.040693 -0.043350 
time: 1403637259.288319, t: 0.829540 -0.435839 -0.188789 q: 0.991723 0.114824 -0.039547 -0.041676 
time: 1403637259.388319, t: 0.841061 -0.468307 -0.197762 q: 0.991867 0.114089 -0.040233 -0.039561 
time: 1403637259.488319, t: 0.849436 -0.496390 -0.207195 q: 0.992031 0.115863 -0.039317 -0.030076 
optimize pose graph 
time: 1403637259.588319, t: 0.853822 -0.519847 -0.214410 q: 0.992079 0.116762 -0.039031 -0.024950 
time: 1403637259.688319, t: 0.855508 -0.535984 -0.222312 q: 0.992193 0.115111 -0.038731 -0.028336 
time: 1403637259.788319, t: 0.853257 -0.547391 -0.228951 q: 0.992049 0.112374 -0.044213 -0.035430 
time: 1403637259.888319, t: 0.849318 -0.554490 -0.234969 q: 0.992047 0.111766 -0.044739 -0.036728 
time: 1403637259.988319, t: 0.841670 -0.558468 -0.239079 q: 0.992197 0.113078 -0.041091 -0.032701 
time: 1403637260.088319, t: 0.830460 -0.557471 -0.242366 q: 0.992278 0.112011 -0.037887 -0.037444 
time: 1403637260.188319, t: 0.814351 -0.553581 -0.244697 q: 0.992156 0.110032 -0.039071 -0.044636 
time: 1403637260.288319, t: 0.795019 -0.548271 -0.246550 q: 0.991903 0.107749 -0.040453 -0.053689 
time: 1403637260.388319, t: 0.775131 -0.542273 -0.250587 q: 0.991609 0.104799 -0.038980 -0.064873 
time: 1403637260.488319, t: 0.752057 -0.538766 -0.253571 q: 0.991269 0.103494 -0.040168 -0.071149 
time: 1403637260.588319, t: 0.727439 -0.537282 -0.258291 q: 0.990737 0.103496 -0.051754 -0.071060 
time: 1403637260.688319, t: 0.703321 -0.540191 -0.261083 q: 0.990424 0.104019 -0.059452 -0.068605 
time: 1403637260.788319, t: 0.679264 -0.546667 -0.261405 q: 0.990753 0.105381 -0.054855 -0.065526 
time: 1403637260.888319, t: 0.656321 -0.554406 -0.259843 q: 0.991115 0.107615 -0.046520 -0.062821 
time: 1403637260.988319, t: 0.633652 -0.563491 -0.260307 q: 0.991391 0.108769 -0.038763 -0.061729 
time: 1403637261.088319, t: 0.608917 -0.574489 -0.259748 q: 0.991286 0.109420 -0.041665 -0.060353 
time: 1403637261.188319, t: 0.584131 -0.585528 -0.262132 q: 0.990740 0.108527 -0.053715 -0.061404 
time: 1403637261.288319, t: 0.562922 -0.598413 -0.263277 q: 0.990137 0.107907 -0.063438 -0.062935 
time: 1403637261.388319, t: 0.550319 -0.613868 -0.262595 q: 0.990564 0.108204 -0.057058 -0.061795 
time: 1403637261.488319, t: 0.541875 -0.630920 -0.261900 q: 0.991167 0.110221 -0.049245 -0.054907 
time: 1403637261.588319, t: 0.534850 -0.646181 -0.260045 q: 0.990771 0.109969 -0.057727 -0.054281 
time: 1403637261.688319, t: 0.532107 -0.661611 -0.256529 q: 0.990118 0.108158 -0.068189 -0.057598 
optimize pose graph 
time: 1403637261.788319, t: 0.537616 -0.677181 -0.250749 q: 0.990370 0.107737 -0.064044 -0.058803 
time: 1403637261.888319, t: 0.547082 -0.693515 -0.242137 q: 0.991130 0.107907 -0.051603 -0.057926 
time: 1403637261.988319, t: 0.549892 -0.709842 -0.230800 q: 0.991638 0.107555 -0.043087 -0.056829 
time: 1403637262.088319, t: 0.543524 -0.725123 -0.218396 q: 0.992072 0.107937 -0.037596 -0.052242 
time: 1403637262.188319, t: 0.527883 -0.738598 -0.206186 q: 0.992301 0.108491 -0.037010 -0.046887 
time: 1403637262.288319, t: 0.504866 -0.750504 -0.191304 q: 0.992542 0.108328 -0.036114 -0.042684 
time: 1403637262.488319, t: 0.500588 -0.737569 -0.199673 q: 0.995915 0.082080 -0.030521 -0.022021 
time: 1403637262.588319, t: 0.502141 -0.734515 -0.208272 q: 0.996414 0.083904 -0.000765 -0.010858 
time: 1403637262.688319, t: 0.498036 -0.733860 -0.204192 q: 0.996409 0.081756 -0.017745 -0.013054 
time: 1403637262.788319, t: 0.498548 -0.733370 -0.205151 q: 0.996530 0.081291 -0.014462 -0.010539 
time: 1403637262.888319, t: 0.498288 -0.734451 -0.204506 q: 0.996426 0.082209 -0.016279 -0.010565 
time: 1403637262.988319, t: 0.498330 -0.734071 -0.204745 q: 0.996457 0.081951 -0.015581 -0.010683 
time: 1403637263.088319, t: 0.498331 -0.733865 -0.204804 q: 0.996478 0.081621 -0.015583 -0.011236 
time: 1403637263.188319, t: 0.498321 -0.733686 -0.204865 q: 0.996502 0.081331 -0.015304 -0.011578 
time: 1403637263.288319, t: 0.498293 -0.733761 -0.204837 q: 0.996491 0.081448 -0.015583 -0.011384 
time: 1403637263.388319, t: 0.498306 -0.733838 -0.204824 q: 0.996483 0.081566 -0.015586 -0.011209 
time: 1403637263.488319, t: 0.498259 -0.733763 -0.204824 q: 0.996494 0.081398 -0.015549 -0.011487 
time: 1403637263.588319, t: 0.498292 -0.733793 -0.204822 q: 0.996489 0.081469 -0.015596 -0.011372 
time: 1403637263.688319, t: 0.498258 -0.733823 -0.204848 q: 0.996485 0.081516 -0.015684 -0.011305 
time: 1403637263.788319, t: 0.498237 -0.733920 -0.204851 q: 0.996477 0.081657 -0.015667 -0.010921 
time: 1403637263.888319, t: 0.498248 -0.733919 -0.204873 q: 0.996476 0.081664 -0.015668 -0.010972 
time: 1403637263.988319, t: 0.498236 -0.733815 -0.204852 q: 0.996486 0.081505 -0.015665 -0.011288 
time: 1403637264.088319, t: 0.498244 -0.733828 -0.204826 q: 0.996482 0.081523 -0.015737 -0.011396 
time: 1403637264.188319, t: 0.498216 -0.733790 -0.204837 q: 0.996488 0.081459 -0.015649 -0.011442 
time: 1403637264.288319, t: 0.498233 -0.733838 -0.204870 q: 0.996483 0.081536 -0.015676 -0.011288 
time: 1403637264.388319, t: 0.498199 -0.733828 -0.204853 q: 0.996479 0.081576 -0.015716 -0.011275 
time: 1403637264.488319, t: 0.498203 -0.733809 -0.204833 q: 0.996485 0.081507 -0.015685 -0.011352 
time: 1403637264.588319, t: 0.498201 -0.733837 -0.204798 q: 0.996481 0.081545 -0.015727 -0.011304 
time: 1403637264.688319, t: 0.498196 -0.733838 -0.204828 q: 0.996482 0.081545 -0.015720 -0.011253 
time: 1403637264.788319, t: 0.498174 -0.733881 -0.204793 q: 0.996480 0.081576 -0.015737 -0.011170 
time: 1403637264.888319, t: 0.498199 -0.733805 -0.204803 q: 0.996481 0.081569 -0.015731 -0.011201 
time: 1403637264.988319, t: 0.498197 -0.733804 -0.204762 q: 0.996484 0.081502 -0.015773 -0.011358 
time: 1403637265.088319, t: 0.498196 -0.733820 -0.204728 q: 0.996479 0.081550 -0.015831 -0.011334 
time: 1403637265.188319, t: 0.498196 -0.733790 -0.204736 q: 0.996482 0.081530 -0.015755 -0.011318 
time: 1403637265.288319, t: 0.498158 -0.733783 -0.204703 q: 0.996480 0.081545 -0.015783 -0.011359 
time: 1403637265.388319, t: 0.498258 -0.733826 -0.204870 q: 0.996482 0.081510 -0.015827 -0.011388 
time: 1403637265.488319, t: 0.498190 -0.733813 -0.204889 q: 0.996481 0.081529 -0.015787 -0.011366 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720501991.091841824]: Shutdown request received.[0m
[33m[ WARN] [1720501991.091877205]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720501991.092717156]: Shutdown request received.[0m
[33m[ WARN] [1720501991.092752478]: Reason given for shutdown: [user request][0m
killed
