/SLAM-Hive/slam_hive_results/mapping_results/3017/2225_vins-fusion-stereo+MH_03_medium+Image_comb_test-5.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720502360.045788895]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720502360.047307052]: init begins[0m
[31m[ERROR] [1720502360.048275802]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/cb974328-3db2-11ef-bb87-0242ac110005/roslaunch-889fff1ecfb8-119.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://889fff1ecfb8:40825/[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] [1720502361.155188794]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720502361.159634483]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720502361.159938818]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720502361.159963051]: ROW: 96 COL: 150 [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] [1720502361.160190533]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720502361.160371399]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720502361.160541025]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://889fff1ecfb8:11311/[0m
]2;roscore http://889fff1ecfb8:11311/
[1msetting /run_id to cb974328-3db2-11ef-bb87-0242ac110005[0m
[0m[ INFO] [1720502361.201762193]: 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 [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720502370.202028280]: 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: 316865239.87 
[0m[ INFO] [1720502371.621028710]: Initialization finish![0m
time: 1403637131.588319, t: 0.000437 0.001454 0.002129 q: 1.000000 0.000140 -0.000134 0.000152 
time: 1403637131.688319, t: -0.000013 -0.001443 0.003408 q: 1.000000 0.000193 -0.000252 0.000050 
time: 1403637131.788319, t: -0.000052 -0.002930 0.003404 q: 1.000000 -0.000144 -0.000257 -0.000496 
time: 1403637131.888319, t: 0.000043 -0.002121 0.001464 q: 1.000000 -0.000522 -0.000159 -0.000760 
time: 1403637131.988319, t: 0.000135 -0.001888 0.001435 q: 0.999999 -0.000465 -0.000350 -0.001244 
time: 1403637132.088319, t: 0.000271 -0.002172 -0.000369 q: 0.999998 -0.000916 -0.000281 -0.001665 
time: 1403637132.188319, t: 0.000323 -0.002126 -0.000419 q: 0.999998 -0.001048 -0.000233 -0.001789 
time: 1403637132.288319, t: 0.000259 -0.002038 0.000171 q: 0.999997 -0.000963 -0.000251 -0.002139 
time: 1403637132.388319, t: 0.000034 -0.002422 0.002334 q: 0.999999 -0.000551 0.000056 -0.001287 
time: 1403637132.488319, t: 0.000152 -0.002229 0.000945 q: 0.999997 -0.001001 -0.000199 -0.002004 
time: 1403637132.588319, t: 0.000272 -0.001992 0.000532 q: 0.999995 -0.001296 -0.000199 -0.002759 
time: 1403637132.688319, t: 0.000064 -0.002280 0.002839 q: 0.999998 -0.001030 0.000007 -0.001927 
time: 1403637132.788319, t: 0.000043 -0.002322 0.003260 q: 0.999998 -0.000973 0.000154 -0.001922 
time: 1403637132.888319, t: 0.000062 -0.002429 0.003109 q: 0.999998 -0.001242 0.000549 -0.001751 
time: 1403637132.988319, t: 0.000039 -0.002637 0.003201 q: 0.999998 -0.001465 0.000469 -0.000890 
time: 1403637133.088319, t: 0.000269 -0.002739 0.003016 q: 0.999997 -0.001639 0.000630 -0.001400 
time: 1403637133.188319, t: 0.000964 -0.002735 0.001431 q: 0.999996 -0.001156 0.002203 -0.001179 
time: 1403637133.288319, t: 0.002500 -0.002005 -0.000181 q: 0.999981 -0.003871 0.001516 -0.004607 
time: 1403637133.388319, t: 0.005992 -0.002020 -0.003135 q: 0.999958 -0.008036 -0.001029 -0.004214 
time: 1403637133.488319, t: 0.009295 -0.002331 -0.006568 q: 0.999919 -0.009264 -0.008642 0.001241 
time: 1403637133.588319, t: 0.015016 -0.001297 -0.011109 q: 0.999739 -0.014161 -0.017523 0.003775 
time: 1403637133.688319, t: 0.016999 0.002798 -0.009340 q: 0.999569 -0.020169 -0.021191 0.002294 
time: 1403637133.788319, t: 0.037395 0.004546 -0.023617 q: 0.999367 -0.022292 -0.024965 0.012100 
time: 1403637133.888319, t: 0.027693 0.007962 0.071687 q: 0.999267 -0.033352 -0.018111 0.004938 
time: 1403637133.988319, t: 0.102725 -0.011079 -0.025503 q: 0.998591 -0.040107 -0.030539 0.016580 
time: 1403637134.088319, t: 0.148679 -0.015185 -0.041415 q: 0.998384 -0.048984 -0.027421 0.008836 
time: 1403637134.188319, t: 0.170189 -0.003418 -0.064115 q: 0.997940 -0.060615 -0.021028 -0.000045 
time: 1403637134.288319, t: 0.278594 -0.054662 -0.000301 q: 0.997593 -0.068509 -0.010545 -0.002107 
time: 1403637134.388319, t: 0.242881 -0.035206 -0.037845 q: 0.997515 -0.068993 0.013545 -0.004411 
time: 1403637134.488319, t: 0.232448 -0.024311 -0.042826 q: 0.997156 -0.070461 0.026275 0.004936 
time: 1403637134.588319, t: 0.244456 -0.023576 -0.046663 q: 0.997051 -0.073118 0.021707 0.008510 
time: 1403637134.688319, t: 0.192668 -0.001666 -0.023083 q: 0.997233 -0.073514 0.008875 0.006528 
time: 1403637134.788319, t: 0.062794 -0.002046 0.042706 q: 0.997671 -0.066142 -0.009970 0.013360 
time: 1403637134.888319, t: -0.111388 -0.140451 -0.041435 q: 0.996163 -0.085161 -0.019620 0.004713 
time: 1403637135.088319, t: -0.036889 0.079791 -0.241663 q: 0.995761 -0.070692 -0.058089 0.009364 
time: 1403637135.188319, t: -0.070661 -0.091081 -0.188716 q: 0.992431 -0.062036 -0.091757 0.053033 
time: 1403637135.388319, t: -2.792775 -1.037216 1.810585 q: 0.932498 -0.237515 0.270987 -0.024491 
time: 1403637135.488319, t: -6.198436 -3.140291 6.513429 q: 0.751783 -0.008565 0.530041 0.392181 
time: 1403637135.588319, t: -3.572201 -0.087463 2.308228 q: 0.910972 0.004253 0.410770 0.037145 
time: 1403637135.688319, t: -0.667523 3.772223 3.256444 q: 0.832408 0.553127 -0.032925 -0.008034 
time: 1403637135.788319, t: -56.027284 -16.498529 25.298001 q: -0.341513 -0.610078 0.684329 0.207042 
time: 1403637135.888319, t: 241.814301 123.357066 -39.623793 q: 0.467814 0.261861 0.451102 0.713502 
time: 1403637135.988319, t: 81.160183 1.600784 -61.179033 q: 0.589489 -0.240776 0.750156 0.178312 
time: 1403637136.088319, t: 117.087078 -194.881522 -283.555740 q: 0.545058 0.077374 0.821921 -0.146188 
time: 1403637136.188319, t: -23.606226 -197.694357 -232.303098 q: 0.690840 0.289233 0.312582 -0.584274 
time: 1403637136.288319, t: -139.649677 281.291059 -985.989606 q: 0.773053 0.177288 -0.229810 0.564044 
time: 1403637136.388319, t: -10998.539318 -11093.474879 -3491.382953 q: -0.178119 0.121732 0.794003 -0.568344 
unstable tracking...
unstable tracking...
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637136.888319, t: -30347.197381 -6903.744835 4776.556486 q: 0.762933 -0.121975 -0.605945 -0.189433 
unstable tracking...
time: 1403637136.988319, t: -27874.600562 -9184.388730 6485.360183 q: 0.780757 0.367662 0.353473 -0.360971 
unstable tracking...
unstable tracking...
time: 1403637137.188319, t: -42479.545754 -12166.330599 4231.884735 q: -0.058625 -0.470533 -0.268237 0.838577 
unstable tracking...
unstable tracking...
time: 1403637137.388319, t: -88056.673769 -13774.218096 6882.637865 q: -0.116793 -0.518687 -0.101140 0.840889 
unstable tracking...
time: 1403637137.488319, t: -86873.774881 -13655.601891 7275.839841 q: 0.175046 -0.279539 -0.214786 0.919284 
unstable tracking...
time: 1403637137.588319, t: -158525.132777 -46135.727076 11130.045510 q: 0.036400 -0.434897 -0.592230 0.677350 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637137.888319, t: -158526.390145 -46138.586103 11128.681928 q: 0.028385 -0.443527 -0.595825 0.668932 
time: 1403637137.988319, t: -158536.346781 -46149.250028 11126.676495 q: -0.016743 0.358387 0.835412 -0.416371 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637138.888319, t: -158615.804582 -46249.870739 11127.211943 q: -0.143976 -0.195562 0.786963 -0.567199 
unstable tracking...
time: 1403637138.988319, t: -158615.742104 -46249.849989 11127.166317 q: -0.125157 -0.198289 0.785358 -0.572913 
unstable tracking...
unstable tracking...
time: 1403637139.288319, t: -158615.521572 -46249.954429 11127.088903 q: -0.094081 -0.199196 0.776070 -0.590919 
time: 1403637139.388319, t: -158615.494193 -46249.949395 11127.046647 q: -0.095580 -0.205871 0.772164 -0.593501 
time: 1403637139.488319, t: -158615.496987 -46249.967764 11127.041282 q: -0.095629 -0.210142 0.765167 -0.601011 
time: 1403637139.588319, t: -158615.501015 -46249.972555 11127.039108 q: -0.094732 -0.209036 0.760667 -0.607219 
time: 1403637139.688319, t: -158615.505978 -46249.982620 11127.038308 q: -0.103068 -0.210345 0.757002 -0.609984 
time: 1403637139.788319, t: -158615.499451 -46249.971337 11127.053693 q: -0.104896 -0.215998 0.759450 -0.604630 
time: 1403637139.888319, t: -158615.483091 -46249.977157 11127.044237 q: -0.110452 -0.212368 0.759379 -0.605015 
time: 1403637139.988319, t: -158615.529516 -46249.948934 11126.918314 q: -0.113655 -0.206632 0.759179 -0.606657 
time: 1403637140.088319, t: -158615.053003 -46250.008430 11127.321081 q: -0.145721 -0.232808 0.777136 -0.566238 
time: 1403637140.188319, t: -158613.959855 -46249.006316 11128.396924 q: -0.170566 -0.275718 0.790530 -0.519567 
time: 1403637140.288319, t: -158614.231648 -46249.063496 11127.727804 q: -0.183098 -0.305124 0.786920 -0.504115 
time: 1403637140.388319, t: -158614.250711 -46248.918806 11127.684075 q: -0.183098 -0.305124 0.786920 -0.504114 
time: 1403637140.488319, t: -158613.931933 -46247.303580 11128.614185 q: -0.171318 -0.325114 0.783532 -0.501027 
time: 1403637140.588319, t: -158614.113654 -46247.831545 11128.252516 q: -0.180772 -0.341008 0.783045 -0.487725 
time: 1403637140.688319, t: -158614.152310 -46247.927979 11128.324852 q: -0.181183 -0.346043 0.783932 -0.482574 
time: 1403637140.788319, t: -158614.014382 -46248.023977 11128.320321 q: -0.179176 -0.328816 0.785928 -0.492029 
time: 1403637140.888319, t: -158614.050677 -46248.019624 11128.363353 q: -0.178406 -0.331429 0.786084 -0.490305 
time: 1403637140.988319, t: -158614.126693 -46248.067003 11128.335725 q: -0.179656 -0.337958 0.785691 -0.486002 
time: 1403637141.088319, t: -158614.074810 -46248.069853 11128.395076 q: -0.177340 -0.330797 0.786717 -0.490102 
time: 1403637141.188319, t: -158614.077513 -46248.073087 11128.394455 q: -0.177340 -0.330797 0.786717 -0.490102 
time: 1403637141.288319, t: -158614.077738 -46248.073493 11128.393119 q: -0.177340 -0.330797 0.786717 -0.490102 
time: 1403637141.388319, t: -158614.077688 -46248.069415 11128.395242 q: -0.177648 -0.331203 0.786652 -0.489821 
time: 1403637141.488319, t: -158614.079230 -46248.070667 11128.393142 q: -0.177617 -0.331344 0.786561 -0.489883 
time: 1403637141.588319, t: -158614.079114 -46248.070720 11128.392916 q: -0.177666 -0.331375 0.786542 -0.489874 
time: 1403637141.688319, t: -158614.079526 -46248.070619 11128.392920 q: -0.177607 -0.331383 0.786550 -0.489877 
time: 1403637141.788319, t: -158614.079293 -46248.070656 11128.392990 q: -0.177670 -0.331404 0.786554 -0.489834 
time: 1403637141.888319, t: -158614.079118 -46248.070747 11128.393040 q: -0.177751 -0.331466 0.786567 -0.489742 
time: 1403637141.988319, t: -158614.079208 -46248.070638 11128.393027 q: -0.177721 -0.331424 0.786566 -0.489783 
time: 1403637142.088319, t: -158614.079204 -46248.070662 11128.393009 q: -0.177708 -0.331434 0.786569 -0.489776 
time: 1403637142.188319, t: -158614.079221 -46248.070658 11128.393020 q: -0.177692 -0.331469 0.786564 -0.489766 
time: 1403637142.288319, t: -158614.079202 -46248.070669 11128.393017 q: -0.177690 -0.331448 0.786573 -0.489766 
time: 1403637142.388319, t: -158614.079231 -46248.070657 11128.393040 q: -0.177745 -0.331545 0.786549 -0.489720 
time: 1403637142.488319, t: -158614.079232 -46248.070657 11128.393048 q: -0.177741 -0.331555 0.786554 -0.489707 
time: 1403637142.588319, t: -158614.079242 -46248.070655 11128.393052 q: -0.177748 -0.331564 0.786559 -0.489689 
time: 1403637142.688319, t: -158614.079248 -46248.070651 11128.393062 q: -0.177750 -0.331615 0.786541 -0.489684 
time: 1403637142.788319, t: -158614.079251 -46248.070639 11128.393079 q: -0.177817 -0.331635 0.786533 -0.489657 
time: 1403637142.888319, t: -158614.079257 -46248.070631 11128.393084 q: -0.177804 -0.331623 0.786554 -0.489637 
time: 1403637142.988319, t: -158614.079262 -46248.070618 11128.393096 q: -0.177797 -0.331640 0.786547 -0.489639 
time: 1403637143.088319, t: -158614.079263 -46248.070623 11128.393099 q: -0.177791 -0.331676 0.786540 -0.489630 
time: 1403637143.188319, t: -158614.079264 -46248.070624 11128.393094 q: -0.177771 -0.331664 0.786558 -0.489615 
time: 1403637143.288319, t: -158614.079263 -46248.070628 11128.393098 q: -0.177789 -0.331692 0.786549 -0.489605 
time: 1403637143.388319, t: -158614.079269 -46248.070621 11128.393100 q: -0.177725 -0.331701 0.786560 -0.489604 
time: 1403637143.488319, t: -158614.079261 -46248.070627 11128.393101 q: -0.177805 -0.331681 0.786568 -0.489574 
time: 1403637143.588319, t: -158614.079262 -46248.070631 11128.393109 q: -0.177894 -0.331714 0.786555 -0.489542 
time: 1403637143.688319, t: -158614.079263 -46248.070633 11128.393105 q: -0.177778 -0.331753 0.786583 -0.489512 
time: 1403637143.788319, t: -158614.079264 -46248.070632 11128.393108 q: -0.177804 -0.331753 0.786570 -0.489523 
time: 1403637143.888319, t: -158614.079266 -46248.070635 11128.393110 q: -0.177804 -0.331781 0.786561 -0.489519 
time: 1403637143.988319, t: -158614.079267 -46248.070678 11128.393088 q: -0.177703 -0.331902 0.786453 -0.489647 
time: 1403637144.088319, t: -158614.080002 -46248.069837 11128.394435 q: -0.177703 -0.331902 0.786453 -0.489647 
time: 1403637144.188319, t: -158614.080157 -46248.069469 11128.394408 q: -0.177703 -0.331902 0.786453 -0.489647 
time: 1403637144.288319, t: -158614.077851 -46248.069597 11128.395628 q: -0.177703 -0.331902 0.786453 -0.489647 
time: 1403637144.388319, t: -158614.079311 -46248.070716 11128.392943 q: -0.177733 -0.331645 0.786626 -0.489533 
time: 1403637144.488319, t: -158614.079123 -46248.070479 11128.393406 q: -0.177709 -0.331694 0.786561 -0.489613 
time: 1403637144.588319, t: -158614.079257 -46248.070648 11128.393089 q: -0.178045 -0.331789 0.786670 -0.489250 
time: 1403637144.688319, t: -158614.079213 -46248.070623 11128.393065 q: -0.177753 -0.331791 0.786636 -0.489410 
time: 1403637144.788319, t: -158614.079236 -46248.070668 11128.393085 q: -0.178052 -0.331849 0.786515 -0.489457 
time: 1403637144.888319, t: -158614.079272 -46248.070703 11128.393086 q: -0.177864 -0.331902 0.786462 -0.489575 
time: 1403637144.988319, t: -158614.079250 -46248.070829 11128.392975 q: -0.177428 -0.332155 0.786295 -0.489829 
time: 1403637145.088319, t: -158614.079341 -46248.070261 11128.393121 q: -0.177605 -0.332054 0.786456 -0.489575 
time: 1403637145.188319, t: -158614.081014 -46248.071008 11128.392308 q: -0.177605 -0.332054 0.786456 -0.489575 
time: 1403637145.288319, t: -158614.081305 -46248.071650 11128.392704 q: -0.177605 -0.332054 0.786456 -0.489575 
time: 1403637145.388319, t: -158614.079337 -46248.070610 11128.393078 q: -0.177802 -0.332068 0.786519 -0.489394 
time: 1403637145.488319, t: -158614.079312 -46248.070625 11128.393108 q: -0.177842 -0.332072 0.786501 -0.489404 
time: 1403637145.588319, t: -158614.079314 -46248.070616 11128.393144 q: -0.177870 -0.332139 0.786507 -0.489339 
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feature tracking not enough, please slowly move you device! 
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unstable tracking...
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unstable tracking...
unstable tracking...
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unstable tracking...
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time: 1403637262.188319, t: -158611.846163 -46242.813886 11132.119112 q: -0.047441 0.593628 -0.458130 0.659903 
time: 1403637262.288319, t: -158611.800888 -46242.803250 11132.100294 q: -0.056617 0.578486 -0.462592 0.669445 
time: 1403637262.388319, t: -158611.802354 -46242.799724 11132.093638 q: -0.048554 0.556927 -0.465329 0.686253 
time: 1403637262.488319, t: -158611.821475 -46242.789550 11132.080626 q: -0.057160 0.560048 -0.493387 0.663060 
time: 1403637262.588319, t: -158611.819701 -46242.795645 11132.080875 q: -0.050571 0.533386 -0.499027 0.681113 
time: 1403637262.688319, t: -158611.813593 -46242.795712 11132.076784 q: -0.056843 0.545147 -0.499261 0.671060 
time: 1403637262.788319, t: -158611.816742 -46242.795785 11132.077443 q: -0.056509 0.542365 -0.500503 0.672416 
time: 1403637262.888319, t: -158611.815251 -46242.795339 11132.076662 q: -0.058488 0.541937 -0.500230 0.672796 
time: 1403637262.988319, t: -158611.812091 -46242.796943 11132.076511 q: -0.058167 0.541042 -0.500571 0.673290 
time: 1403637263.088319, t: -158611.812507 -46242.796663 11132.076718 q: -0.057402 0.541466 -0.500528 0.673046 
time: 1403637263.188319, t: -158611.813258 -46242.796452 11132.076357 q: -0.057224 0.541495 -0.500539 0.673030 
time: 1403637263.288319, t: -158611.812861 -46242.796621 11132.076882 q: -0.057136 0.542209 -0.500418 0.672552 
time: 1403637263.388319, t: -158611.813077 -46242.796753 11132.077028 q: -0.057086 0.542164 -0.500270 0.672703 
time: 1403637263.488319, t: -158611.812733 -46242.797554 11132.077040 q: -0.057493 0.542301 -0.500379 0.672477 
time: 1403637263.588319, t: -158611.812985 -46242.797254 11132.077254 q: -0.057187 0.542318 -0.500322 0.672532 
time: 1403637263.688319, t: -158611.813193 -46242.797212 11132.077425 q: -0.057276 0.542452 -0.500279 0.672449 
time: 1403637263.788319, t: -158611.813212 -46242.797260 11132.077468 q: -0.057308 0.542465 -0.500086 0.672578 
time: 1403637263.888319, t: -158611.813269 -46242.797031 11132.077142 q: -0.057345 0.541348 -0.500167 0.673415 
time: 1403637263.988319, t: -158611.813148 -46242.797252 11132.077301 q: -0.057102 0.542413 -0.500292 0.672485 
time: 1403637264.088319, t: -158611.813369 -46242.797238 11132.077403 q: -0.057140 0.542752 -0.499733 0.672623 
time: 1403637264.188319, t: -158611.813257 -46242.797210 11132.077556 q: -0.056679 0.543227 -0.499545 0.672418 
time: 1403637264.288319, t: -158611.813221 -46242.797264 11132.077219 q: -0.057432 0.542113 -0.500142 0.672809 
time: 1403637264.388319, t: -158611.813242 -46242.796689 11132.077673 q: -0.055958 0.542951 -0.499637 0.672634 
time: 1403637264.488319, t: -158611.813141 -46242.796858 11132.077491 q: -0.055991 0.542798 -0.499779 0.672648 
time: 1403637264.588319, t: -158611.812959 -46242.796597 11132.077484 q: -0.055577 0.542560 -0.500058 0.672668 
time: 1403637264.688319, t: -158611.813171 -46242.797299 11132.077183 q: -0.056733 0.542662 -0.499777 0.672697 
time: 1403637264.788319, t: -158611.813178 -46242.794368 11132.079093 q: -0.056707 0.543340 -0.499511 0.672350 
time: 1403637264.888319, t: -158611.812708 -46242.795813 11132.078467 q: -0.056021 0.543209 -0.500184 0.672013 
time: 1403637264.988319, t: -158611.811248 -46242.795728 11132.077833 q: -0.055365 0.541457 -0.502288 0.671912 
time: 1403637265.088319, t: -158611.812999 -46242.796535 11132.077866 q: -0.056576 0.542758 -0.500146 0.672359 
time: 1403637265.188319, t: -158611.813320 -46242.793519 11132.079818 q: -0.056278 0.543055 -0.500180 0.672119 
time: 1403637265.288319, t: -158611.811377 -46242.793937 11132.081835 q: -0.055693 0.543317 -0.501220 0.671181 
time: 1403637265.388319, t: -158611.812007 -46242.796237 11132.076517 q: -0.056496 0.542867 -0.499821 0.672520 
time: 1403637265.488319, t: -158611.812011 -46242.795940 11132.080148 q: -0.056270 0.543315 -0.500274 0.671840 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720502506.915517832]: Shutdown request received.[0m
[33m[ WARN] [1720502506.915569105]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720502506.916438047]: Shutdown request received.[0m
[33m[ WARN] [1720502506.916464734]: Reason given for shutdown: [user request][0m
killed
