/SLAM-Hive/slam_hive_results/mapping_results/3019/2227_vins-fusion-stereo+MH_03_medium+Image_comb_test-7.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720502708.549670559]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720502708.551435468]: init begins[0m
[31m[ERROR] [1720502708.552584487]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9b50880e-3db3-11ef-8b26-0242ac110005/roslaunch-2562ec9114cf-116.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://2562ec9114cf:33443/[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 [153][0m
[0m[ INFO] [1720502709.655652230]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720502709.657372322]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720502709.663031846]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720502709.663246193]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720502709.663268865]: ROW: 384 COL: 601 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720502709.663456692]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720502709.663678207]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720502709.663842996]: 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://2562ec9114cf:11311/[0m
]2;roscore http://2562ec9114cf:11311/
[1msetting /run_id to 9b50880e-3db3-11ef-8b26-0242ac110005[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 [240][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720502718.702484782]: 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: 316865588.37 
[0m[ INFO] [1720502721.239897583]: Initialization finish![0m
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time: 1403637133.038319, t: 0.000851 0.000036 0.000521 q: 0.999998 -0.000951 0.000041 0.001580 
time: 1403637133.238319, t: 0.003664 0.001095 -0.003857 q: 0.999994 -0.002015 0.002162 -0.001656 
time: 1403637133.438319, t: 0.017539 0.002796 -0.010931 q: 0.999916 -0.011343 -0.004305 -0.004465 
time: 1403637133.638319, t: 0.027811 0.006595 -0.016310 q: 0.999610 -0.017991 -0.021327 0.000736 
time: 1403637133.838319, t: 0.067802 0.012190 -0.032152 q: 0.999222 -0.030832 -0.024580 -0.000382 
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time: 1403637195.238319, t: -1.163637 2.263556 -6.410804 q: -0.301784 0.913227 -0.020039 -0.273022 
time: 1403637195.638319, t: -1.183994 2.678033 -6.581656 q: -0.319387 0.909116 -0.023326 -0.266375 
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time: 1403637197.238319, t: -0.890471 4.495095 -5.768810 q: -0.355916 0.907153 -0.020447 -0.223559 
time: 1403637197.438319, t: -0.796004 4.738015 -5.415955 q: -0.410696 0.881196 -0.023283 -0.232983 
time: 1403637197.638319, t: -0.658011 4.985336 -5.072028 q: -0.485500 0.844274 -0.003918 -0.226883 
time: 1403637197.838319, t: -0.440126 5.188901 -4.693237 q: 0.558294 -0.804119 -0.009025 0.204008 
time: 1403637198.038319, t: -0.224959 5.424277 -4.248404 q: 0.611302 -0.771005 -0.022549 0.177068 
time: 1403637198.238319, t: -0.040743 5.544867 -3.914589 q: 0.664257 -0.730170 -0.017626 0.159072 
time: 1403637198.438319, t: 0.208126 5.672888 -3.571834 q: 0.705864 -0.696033 -0.019817 0.130007 
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time: 1403637199.238319, t: 0.841182 5.974931 -1.586736 q: 0.745231 -0.655313 0.024559 0.120798 
time: 1403637199.438319, t: 1.002131 5.928505 -1.035653 q: 0.774545 -0.622984 0.022689 0.107034 
time: 1403637199.638319, t: 1.137182 5.829479 -0.539702 q: 0.809991 -0.578273 0.029162 0.093077 
time: 1403637199.838319, t: 1.272351 5.696638 -0.028537 q: 0.847515 -0.519539 0.053276 0.094652 
time: 1403637200.038319, t: 1.292043 5.525755 0.466372 q: 0.885992 -0.443069 0.098580 0.094816 
time: 1403637200.238319, t: 1.238737 5.309028 0.943478 q: 0.917300 -0.377295 0.108733 0.066226 
time: 1403637200.438319, t: 1.192815 5.089196 1.315806 q: 0.937247 -0.343556 0.043728 0.040307 
time: 1403637200.638319, t: 1.179928 4.836465 1.564009 q: 0.945980 -0.318787 0.014601 0.057300 
time: 1403637200.838319, t: 1.171306 4.530026 1.788146 q: 0.944700 -0.317720 0.019290 0.078891 
time: 1403637201.038319, t: 1.152721 4.246482 1.977016 q: 0.937955 -0.335606 0.024728 0.083655 
time: 1403637201.438319, t: 1.192870 3.728933 2.226682 q: 0.921967 -0.361108 0.027331 0.137227 
time: 1403637201.638319, t: 1.185148 3.535979 2.278385 q: 0.909924 -0.373229 0.028311 0.178708 
time: 1403637201.838319, t: 1.157200 3.374941 2.281559 q: 0.903869 -0.391143 0.035161 0.169684 
time: 1403637202.038319, t: 1.127670 3.273989 2.219553 q: 0.903256 -0.392581 0.030956 0.170440 
time: 1403637202.238319, t: 1.111813 3.214026 2.107149 q: 0.905059 -0.388489 0.000080 0.173042 
time: 1403637202.438319, t: 1.085835 3.189415 1.972371 q: 0.905971 -0.398311 -0.031222 0.139963 
time: 1403637202.638319, t: 1.057454 3.209532 1.832007 q: 0.907526 -0.400722 -0.018016 0.124478 
time: 1403637202.838319, t: 1.057229 3.244961 1.692039 q: 0.907687 -0.406237 -0.011850 0.104571 
time: 1403637203.038319, t: 1.047669 3.291006 1.561173 q: 0.906567 -0.412319 -0.016698 0.088601 
time: 1403637203.238319, t: 1.022640 3.336035 1.443707 q: 0.906002 -0.413844 -0.015154 0.087539 
optimize pose graph 
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time: 1403637203.638319, t: 0.939624 3.415102 1.250838 q: 0.904552 -0.418081 -0.015009 0.082274 
time: 1403637203.838319, t: 0.884608 3.451093 1.181212 q: 0.904037 -0.418948 -0.012782 0.083887 
time: 1403637204.038319, t: 0.813680 3.480050 1.126371 q: 0.903566 -0.420309 -0.012675 0.082143 
time: 1403637204.238319, t: 0.762894 3.489919 1.076480 q: 0.903096 -0.421215 -0.012767 0.082659 
time: 1403637204.438319, t: 0.751231 3.502711 1.020866 q: 0.903036 -0.420482 -0.007943 0.087510 
time: 1403637204.638319, t: 0.764025 3.489485 0.967902 q: 0.901582 -0.422720 -0.002497 0.091934 
time: 1403637204.838319, t: 0.785972 3.469241 0.912493 q: 0.899645 -0.426229 -0.008329 0.094332 
time: 1403637205.038319, t: 0.777799 3.442353 0.869522 q: 0.898571 -0.427470 -0.017466 0.097647 
time: 1403637205.238319, t: 0.757284 3.420459 0.839847 q: 0.899270 -0.425817 -0.021006 0.097738 
time: 1403637205.438319, t: 0.740697 3.394937 0.828029 q: 0.905007 -0.415116 -0.021647 0.090398 
optimize pose graph 
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time: 1403637205.838319, t: 0.724511 3.336441 0.823202 q: 0.912071 -0.401969 -0.014909 0.079529 
time: 1403637206.038319, t: 0.699944 3.302721 0.833543 q: 0.912971 -0.399861 -0.013530 0.080078 
time: 1403637206.238319, t: 0.695783 3.259371 0.842189 q: 0.914222 -0.394802 -0.008371 0.090879 
time: 1403637206.438319, t: 0.719523 3.212596 0.840766 q: 0.914366 -0.393650 -0.005235 0.094590 
time: 1403637206.638319, t: 0.749436 3.166709 0.833256 q: 0.913737 -0.395625 -0.005567 0.092380 
time: 1403637206.838319, t: 0.756303 3.123678 0.827203 q: 0.912878 -0.398452 -0.005313 0.088663 
time: 1403637207.038319, t: 0.768837 3.074896 0.814366 q: 0.912230 -0.400165 -0.001886 0.087758 
time: 1403637207.238319, t: 0.779217 3.022630 0.797835 q: 0.911114 -0.402477 0.000916 0.088783 
time: 1403637207.438319, t: 0.762321 2.967300 0.782175 q: 0.910144 -0.404417 0.000184 0.089917 
optimize pose graph 
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time: 1403637207.838319, t: 0.702262 2.854200 0.739819 q: 0.909067 -0.402100 -0.013624 0.108289 
time: 1403637208.038319, t: 0.725128 2.811286 0.698307 q: 0.908239 -0.406910 -0.012292 0.096828 
time: 1403637208.238319, t: 0.770967 2.769516 0.652887 q: 0.907437 -0.409599 -0.013806 0.092714 
time: 1403637208.438319, t: 0.802808 2.730924 0.615343 q: 0.907057 -0.407789 -0.005085 0.104551 
time: 1403637208.638319, t: 0.811391 2.705051 0.576303 q: 0.906261 -0.411121 -0.005644 0.098178 
time: 1403637208.838319, t: 0.797621 2.675262 0.542362 q: 0.905775 -0.413562 -0.004732 0.092283 
time: 1403637209.038319, t: 0.760953 2.644511 0.514615 q: 0.904253 -0.420217 -0.014591 0.074377 
time: 1403637209.238319, t: 0.716988 2.595485 0.505026 q: 0.910539 -0.406963 -0.017532 0.070661 
time: 1403637209.438319, t: 0.700600 2.532871 0.502295 q: 0.921875 -0.378113 -0.028951 0.079614 
optimize pose graph 
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time: 1403637209.838319, t: 0.764724 2.438426 0.529021 q: 0.928153 -0.352645 -0.077645 0.090243 
time: 1403637210.038319, t: 0.805435 2.437565 0.596110 q: 0.927016 -0.349488 -0.094539 0.097787 
time: 1403637210.238319, t: 0.799885 2.475436 0.718780 q: 0.924283 -0.347272 -0.116505 0.107371 
time: 1403637210.438319, t: 0.804034 2.557104 0.903914 q: 0.923387 -0.346454 -0.123418 0.109976 
time: 1403637210.638319, t: 0.835513 2.694422 1.150810 q: 0.927290 -0.347722 -0.095324 0.100674 
time: 1403637210.838319, t: 0.870834 2.858700 1.444880 q: 0.930092 -0.343905 -0.074725 0.105237 
time: 1403637211.038319, t: 0.902987 3.061239 1.758651 q: 0.932467 -0.339953 -0.042547 0.114578 
time: 1403637211.238319, t: 0.927064 3.287392 2.077748 q: 0.931943 -0.346336 -0.025935 0.104220 
time: 1403637211.438319, t: 0.939392 3.523086 2.388148 q: 0.930048 -0.356408 -0.011407 0.088623 
optimize pose graph 
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time: 1403637211.838319, t: 0.971924 3.985422 2.961240 q: 0.929070 -0.350427 -0.029384 0.114746 
time: 1403637212.038319, t: 1.026344 4.223411 3.233441 q: 0.928083 -0.355223 -0.030484 0.107466 
time: 1403637212.238319, t: 1.091143 4.489233 3.492538 q: 0.927846 -0.362359 -0.005025 0.088161 
time: 1403637212.438319, t: 1.186427 4.741684 3.719299 q: 0.926745 -0.366289 0.002833 0.083469 
time: 1403637212.638319, t: 1.327692 4.989980 3.904729 q: 0.925560 -0.367688 -0.015065 0.088980 
time: 1403637212.838319, t: 1.431368 5.231591 4.099809 q: 0.924843 -0.368707 -0.027162 0.089350 
time: 1403637213.038319, t: 1.560769 5.463785 4.289239 q: 0.925165 -0.369070 -0.030583 0.083194 
time: 1403637213.238319, t: 1.686185 5.695409 4.484400 q: 0.926941 -0.363489 -0.028971 0.088412 
time: 1403637213.438319, t: 1.776512 5.927868 4.690446 q: 0.927670 -0.362602 -0.023527 0.085993 
time: 1403637213.638319, t: 1.862882 6.149291 4.884231 q: 0.926960 -0.367900 -0.022904 0.069783 
time: 1403637213.838319, t: 1.936506 6.356689 5.091698 q: 0.926029 -0.371668 -0.034291 0.056196 
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time: 1403637214.238319, t: 2.042241 6.731004 5.566419 q: 0.936703 -0.345757 -0.011235 0.053985 
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time: 1403637214.638319, t: 2.267260 6.971120 6.018351 q: 0.961757 -0.273430 -0.002219 -0.015945 
time: 1403637214.838319, t: 2.399925 7.009598 6.218474 q: 0.966826 -0.251365 0.000021 -0.045413 
time: 1403637215.038319, t: 2.514518 6.981879 6.418432 q: 0.969185 -0.241631 0.004141 -0.047730 
time: 1403637215.238319, t: 2.584090 6.889038 6.625982 q: 0.969719 -0.239720 0.015839 -0.043921 
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time: 1403637219.238319, t: 1.440559 3.537115 3.285679 q: 0.993147 0.065752 -0.005415 -0.096474 
time: 1403637219.438319, t: 1.271737 3.375002 2.861298 q: 0.993704 0.063926 -0.012782 -0.091116 
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time: 1403637232.038319, t: -0.529366 0.823920 -1.329934 q: 0.591204 -0.759580 0.031322 0.269324 
time: 1403637232.238319, t: -0.622080 0.921597 -1.447552 q: 0.541665 -0.795887 0.059243 0.263919 
time: 1403637232.438319, t: -0.708211 1.002902 -1.601459 q: -0.494169 0.828012 -0.061212 -0.257771 
time: 1403637232.638319, t: -0.746690 1.062915 -1.758448 q: -0.443012 0.845555 -0.072858 -0.288909 
time: 1403637232.838319, t: -0.766792 1.100349 -1.949548 q: -0.392557 0.857080 -0.075515 -0.324978 
time: 1403637233.038319, t: -0.776875 1.115544 -2.175711 q: -0.363305 0.863910 -0.053819 -0.344634 
time: 1403637233.238319, t: -0.797232 1.136720 -2.468989 q: -0.355158 0.863285 -0.032604 -0.357125 
time: 1403637233.438319, t: -0.864719 1.185919 -2.812886 q: -0.359125 0.856939 -0.017254 -0.369307 
time: 1403637233.638319, t: -0.985852 1.257595 -3.165170 q: -0.367087 0.873223 0.032685 -0.318843 
optimize pose graph 
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time: 1403637234.038319, t: -1.287450 1.603538 -3.805577 q: -0.370121 0.896323 0.090142 -0.226913 
time: 1403637234.238319, t: -1.407544 1.876562 -4.019555 q: -0.367301 0.901626 0.104169 -0.203249 
time: 1403637234.438319, t: -1.511458 2.233354 -4.131202 q: -0.370118 0.903498 0.073361 -0.203278 
time: 1403637234.638319, t: -1.593859 2.629232 -4.160246 q: -0.394124 0.895612 0.030275 -0.204029 
time: 1403637234.838319, t: -1.664728 3.031783 -4.130978 q: -0.431480 0.877615 -0.005127 -0.208784 
time: 1403637235.038319, t: -1.761190 3.402674 -4.049047 q: -0.475308 0.853696 -0.032137 -0.210363 
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time: 1403637235.638319, t: -1.746416 4.365560 -3.629079 q: 0.563939 -0.792551 -0.004759 0.231979 
optimize pose graph 
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time: 1403637236.038319, t: -1.578225 4.942376 -3.280008 q: 0.620017 -0.769090 -0.029499 0.152349 
time: 1403637236.238319, t: -1.434628 5.204061 -3.064197 q: 0.654152 -0.743219 -0.041056 0.134256 
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time: 1403637237.038319, t: -0.597249 6.053913 -1.655607 q: 0.748111 -0.656453 0.047471 0.084535 
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time: 1403637243.438319, t: -1.337542 4.079147 -5.065924 q: -0.364746 0.903940 -0.015767 -0.222722 
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time: 1403637243.838319, t: -1.166084 4.315374 -4.597915 q: -0.365231 0.890751 -0.042088 -0.267202 
optimize pose graph 
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time: 1403637245.238319, t: -0.084260 4.938445 -3.417990 q: -0.423501 0.851109 -0.023919 -0.309335 
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time: 1403637250.238319, t: 0.476183 4.422006 0.974685 q: 0.923176 -0.377658 -0.004628 0.071402 
time: 1403637250.438319, t: 0.480997 4.182607 1.152458 q: 0.931428 -0.354852 -0.002081 0.080726 
time: 1403637250.638319, t: 0.497392 3.963591 1.321506 q: 0.935185 -0.342426 -0.010000 0.089851 
time: 1403637250.838319, t: 0.523893 3.761423 1.472184 q: 0.937924 -0.335704 -0.014134 0.086037 
time: 1403637251.038319, t: 0.566404 3.576885 1.616981 q: 0.938897 -0.332600 -0.011062 0.087907 
time: 1403637251.238319, t: 0.633483 3.431635 1.723019 q: 0.943456 -0.317052 -0.015129 0.095598 
time: 1403637251.438319, t: 0.737765 3.312310 1.802471 q: 0.949093 -0.305462 -0.013383 0.075742 
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time: 1403637251.838319, t: 0.900335 3.134015 1.934514 q: 0.962752 -0.265697 -0.012370 0.048585 
optimize pose graph 
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time: 1403637252.638319, t: 0.953865 2.876500 2.018933 q: 0.965798 -0.255287 -0.012419 0.043695 
time: 1403637252.838319, t: 0.907992 2.825158 2.011400 q: 0.965523 -0.251784 -0.029590 0.059111 
time: 1403637253.038319, t: 0.896456 2.788727 1.992791 q: 0.965027 -0.258060 -0.019925 0.041598 
time: 1403637253.238319, t: 0.903766 2.757953 1.963697 q: 0.964685 -0.260483 -0.013772 0.036619 
time: 1403637253.438319, t: 0.884791 2.728181 1.935837 q: 0.964467 -0.261074 -0.012428 0.038585 
time: 1403637253.638319, t: 0.850013 2.705529 1.905744 q: 0.964036 -0.263060 -0.014355 0.035051 
time: 1403637253.838319, t: 0.833162 2.680539 1.863883 q: 0.963559 -0.265907 -0.012554 0.026259 
time: 1403637254.038319, t: 0.836599 2.645181 1.810252 q: 0.963347 -0.267031 -0.011616 0.022850 
time: 1403637254.238319, t: 0.863249 2.592778 1.745969 q: 0.965995 -0.257499 -0.013268 0.019307 
time: 1403637254.438319, t: 0.896778 2.529699 1.676512 q: 0.970274 -0.240151 -0.025902 0.015020 
time: 1403637254.638319, t: 0.910414 2.457447 1.617409 q: 0.972764 -0.229653 -0.029098 0.011964 
time: 1403637254.838319, t: 0.907970 2.392350 1.561138 q: 0.974379 -0.223744 -0.020404 0.010391 
time: 1403637255.038319, t: 0.882164 2.320862 1.514617 q: 0.975018 -0.221442 -0.014308 0.009949 
time: 1403637255.238319, t: 0.854160 2.239452 1.463021 q: 0.978376 -0.206242 -0.014177 0.006551 
time: 1403637255.438319, t: 0.843600 2.151828 1.396688 q: 0.982419 -0.186036 -0.015101 0.003909 
time: 1403637255.638319, t: 0.818826 2.058982 1.333811 q: 0.986986 -0.159334 -0.019549 -0.009479 
time: 1403637255.838319, t: 0.785390 1.967812 1.261628 q: 0.991645 -0.122538 -0.031142 -0.025575 
time: 1403637256.038319, t: 0.774507 1.861013 1.189409 q: 0.994809 -0.086307 -0.038353 -0.037872 
optimize pose graph 
time: 1403637256.238319, t: 0.784655 1.748145 1.105948 q: 0.995972 -0.069293 -0.033253 -0.046178 
time: 1403637256.438319, t: 0.779219 1.632893 1.033245 q: 0.996184 -0.065503 -0.027834 -0.050516 
time: 1403637256.638319, t: 0.742684 1.517203 0.960671 q: 0.996150 -0.067797 -0.028527 -0.047707 
time: 1403637256.838319, t: 0.685744 1.400050 0.886892 q: 0.996641 -0.065157 -0.045019 -0.020852 
time: 1403637257.038319, t: 0.635842 1.283630 0.833223 q: 0.997161 -0.058425 -0.037600 -0.029032 
time: 1403637257.238319, t: 0.610109 1.171550 0.769430 q: 0.997419 -0.045597 -0.035600 -0.042529 
time: 1403637257.438319, t: 0.598350 1.058940 0.691638 q: 0.997225 -0.035774 -0.040584 -0.051147 
time: 1403637257.638319, t: 0.583028 0.944640 0.630538 q: 0.996988 -0.030867 -0.046553 -0.053813 
time: 1403637257.838319, t: 0.544454 0.827532 0.587389 q: 0.996687 -0.021769 -0.059629 -0.050840 
time: 1403637258.038319, t: 0.502574 0.713237 0.542075 q: 0.996326 0.002242 -0.067107 -0.053166 
time: 1403637258.238319, t: 0.471901 0.590768 0.539661 q: 0.995229 0.038890 -0.057515 -0.068549 
optimize pose graph 
time: 1403637258.438319, t: 0.452132 0.474090 0.521616 q: 0.993693 0.066164 -0.046727 -0.077539 
time: 1403637258.638319, t: 0.408939 0.360187 0.539398 q: 0.992988 0.081786 -0.050939 -0.068489 
time: 1403637258.838319, t: 0.363814 0.261509 0.548292 q: 0.993064 0.084778 -0.043077 -0.069148 
time: 1403637259.038319, t: 0.326229 0.173712 0.553445 q: 0.993494 0.085015 -0.041770 -0.063231 
time: 1403637259.238319, t: 0.330539 0.095278 0.546713 q: 0.993781 0.082797 -0.040110 -0.062726 
time: 1403637259.438319, t: 0.349220 0.028758 0.534327 q: 0.994285 0.082377 -0.039466 -0.055258 
time: 1403637259.638319, t: 0.355724 -0.019647 0.524110 q: 0.994734 0.084036 -0.037547 -0.045082 
time: 1403637259.838319, t: 0.349648 -0.044851 0.515772 q: 0.994203 0.078466 -0.045220 -0.057946 
time: 1403637260.038319, t: 0.331994 -0.053362 0.510776 q: 0.994608 0.079845 -0.038188 -0.054043 
time: 1403637260.238319, t: 0.301659 -0.044545 0.505157 q: 0.993923 0.076129 -0.040017 -0.068706 
optimize pose graph 
time: 1403637260.438319, t: 0.262602 -0.031226 0.497782 q: 0.992760 0.070963 -0.037940 -0.089181 
time: 1403637260.638319, t: 0.215613 -0.027518 0.488440 q: 0.991926 0.070759 -0.057394 -0.088219 
time: 1403637260.838319, t: 0.168459 -0.037367 0.487820 q: 0.992558 0.073630 -0.050044 -0.083089 
time: 1403637261.038319, t: 0.121418 -0.054274 0.489984 q: 0.993047 0.076251 -0.038416 -0.081036 
time: 1403637261.238319, t: 0.072168 -0.075868 0.488957 q: 0.992023 0.074609 -0.060207 -0.081850 
time: 1403637261.438319, t: 0.043560 -0.104313 0.489975 q: 0.992681 0.075966 -0.052400 -0.077891 
time: 1403637261.638319, t: 0.030102 -0.134227 0.494665 q: 0.992181 0.075456 -0.064264 -0.075850 
time: 1403637261.838319, t: 0.039335 -0.164996 0.508189 q: 0.992479 0.073979 -0.057283 -0.078936 
time: 1403637262.038319, t: 0.043290 -0.196165 0.532340 q: 0.993600 0.074836 -0.040096 -0.074508 
time: 1403637262.238319, t: 0.011243 -0.220839 0.560511 q: 0.994335 0.075696 -0.035820 -0.065457 
time: 1403637262.438319, t: -0.001654 -0.216814 0.559202 q: 0.996234 0.059629 -0.023111 -0.058558 
optimize pose graph 
time: 1403637262.638319, t: -0.004166 -0.208153 0.548973 q: 0.998247 0.049027 0.003125 -0.033013 
time: 1403637262.838319, t: -0.007653 -0.208728 0.552441 q: 0.998199 0.048237 -0.011483 -0.033754 
time: 1403637263.038319, t: -0.007969 -0.209079 0.553350 q: 0.998177 0.048530 -0.012918 -0.033488 
time: 1403637263.238319, t: -0.008100 -0.209345 0.553484 q: 0.998180 0.048696 -0.013218 -0.033023 
time: 1403637263.438319, t: -0.008096 -0.209206 0.553531 q: 0.998178 0.048590 -0.013270 -0.033210 
time: 1403637263.638319, t: -0.008128 -0.209193 0.553550 q: 0.998180 0.048561 -0.013238 -0.033221 
time: 1403637263.838319, t: -0.008111 -0.209057 0.553550 q: 0.998171 0.048368 -0.013225 -0.033778 
time: 1403637264.038319, t: -0.008116 -0.209212 0.553543 q: 0.998177 0.048548 -0.013265 -0.033302 
time: 1403637264.238319, t: -0.008130 -0.209226 0.553558 q: 0.998176 0.048583 -0.013331 -0.033272 
time: 1403637264.438319, t: -0.008147 -0.209205 0.553553 q: 0.998176 0.048564 -0.013270 -0.033323 
time: 1403637264.638319, t: -0.008163 -0.209170 0.553572 q: 0.998174 0.048544 -0.013285 -0.033392 
time: 1403637264.838319, t: -0.008154 -0.209248 0.553412 q: 0.998176 0.048449 -0.013299 -0.033488 
time: 1403637265.038319, t: -0.008164 -0.209237 0.553500 q: 0.998174 0.048520 -0.013348 -0.033400 
time: 1403637265.238319, t: -0.008146 -0.209239 0.553472 q: 0.998173 0.048528 -0.013414 -0.033414 
time: 1403637265.438319, t: -0.008175 -0.209238 0.553511 q: 0.998173 0.048536 -0.013386 -0.033390 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720502855.496692122]: Shutdown request received.[0m
[33m[ WARN] [1720502855.496762057]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720502855.497703429]: Shutdown request received.[0m
[33m[ WARN] [1720502855.497730526]: Reason given for shutdown: [user request][0m
killed
