/SLAM-Hive/slam_hive_results/mapping_results/3028/2236_vins-fusion-stereo+MH_03_medium+Image_comb_test-16.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720504256.355132828]: init begins[0m
[31m[ERROR] [1720504256.355583858]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720504256.356130480]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/35e0c688-3db7-11ef-b861-0242ac110005/roslaunch-4572a5db803e-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://4572a5db803e:39445/[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] [1720504257.462164991]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720504257.462779587]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720504257.470078052]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720504257.470275350]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720504257.470295729]: ROW: 192 COL: 300 [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] [1720504257.470537351]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720504257.470738548]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720504257.470899992]: 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://4572a5db803e:11311/[0m
]2;roscore http://4572a5db803e:11311/
[1msetting /run_id to 35e0c688-3db7-11ef-b861-0242ac110005[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] [1720504266.513896911]: 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: 316867136.18 
[0m[ INFO] [1720504271.122715186]: Initialization finish![0m
time: 1403637134.738319, t: 0.543371 0.279210 0.079503 q: 0.997174 -0.066170 -0.035509 -0.002343 
feature tracking not enough, please slowly move you device! 
time: 1403637135.138319, t: 0.442840 0.309992 0.474533 q: 0.983041 -0.057858 -0.135691 -0.108949 
feature tracking not enough, please slowly move you device! 
time: 1403637135.538319, t: 0.442840 0.309992 0.474533 q: 0.983041 -0.057858 -0.135691 -0.108949 
time: 1403637135.938319, t: 0.651978 0.058590 0.359575 q: 0.984352 -0.081408 -0.051902 -0.147410 
time: 1403637136.338319, t: 0.447009 0.181114 0.400513 q: 0.980729 -0.080904 -0.124286 -0.127191 
time: 1403637136.738319, t: 0.513265 0.086877 0.215955 q: 0.967254 -0.097753 -0.233773 -0.014653 
feature tracking not enough, please slowly move you device! 
time: 1403637137.138319, t: 0.513265 0.086877 0.215955 q: 0.967254 -0.097753 -0.233773 -0.014653 
time: 1403637137.538319, t: 0.747099 -0.016271 0.110502 q: 0.965450 -0.095935 -0.241535 -0.019054 
feature tracking not enough, please slowly move you device! 
time: 1403637137.938319, t: 0.405512 0.307167 0.378174 q: 0.967366 -0.075080 -0.241446 -0.016406 
feature tracking not enough, please slowly move you device! 
time: 1403637138.338319, t: 0.405512 0.307167 0.378174 q: 0.967366 -0.075080 -0.241446 -0.016406 
time: 1403637138.738319, t: 0.543618 0.303026 0.396092 q: 0.980836 -0.092294 -0.170977 -0.014453 
unstable tracking...
time: 1403637139.138319, t: 0.235561 0.327338 0.404694 q: 0.972638 -0.073014 -0.219945 0.016396 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637139.538319, t: 0.192461 0.273912 0.151372 q: 0.971953 -0.065030 -0.225984 0.002971 
unstable tracking...
time: 1403637140.338319, t: 0.270068 0.211349 0.094431 q: 0.962007 -0.066859 -0.245467 0.099088 
time: 1403637140.738319, t: 0.193663 0.219710 0.157427 q: 0.978612 -0.079259 -0.188543 0.022114 
time: 1403637141.138319, t: 0.193866 0.219590 0.157140 q: 0.978536 -0.079286 -0.188876 0.022528 
time: 1403637141.538319, t: 0.193800 0.219652 0.157205 q: 0.978501 -0.079176 -0.189046 0.022975 
time: 1403637141.938319, t: 0.193785 0.219694 0.157220 q: 0.978466 -0.079159 -0.189169 0.023531 
time: 1403637142.338319, t: 0.193805 0.220521 0.155361 q: 0.978439 -0.079148 -0.189286 0.023742 
time: 1403637142.738319, t: 0.193789 0.220662 0.155091 q: 0.978435 -0.079141 -0.189308 0.023747 
time: 1403637143.138319, t: 0.193790 0.220602 0.155216 q: 0.978428 -0.079105 -0.189346 0.023874 
time: 1403637143.538319, t: 0.213532 0.212932 0.150537 q: 0.975495 -0.076965 -0.202174 0.040154 
time: 1403637143.938319, t: 0.219259 0.205866 0.147438 q: 0.975248 -0.077384 -0.203076 0.040784 
time: 1403637144.338319, t: 0.221403 0.207092 0.147971 q: 0.974381 -0.076662 -0.206431 0.045720 
time: 1403637144.738319, t: 0.222813 0.206745 0.147975 q: 0.974435 -0.076539 -0.206347 0.045162 
time: 1403637145.138319, t: 0.222870 0.206937 0.147841 q: 0.974428 -0.076550 -0.206383 0.045115 
time: 1403637145.538319, t: 0.222851 0.206915 0.147804 q: 0.974456 -0.076612 -0.206205 0.045221 
time: 1403637145.938319, t: 0.222877 0.206917 0.147792 q: 0.974466 -0.076536 -0.206179 0.045251 
time: 1403637146.338319, t: 0.222967 0.206900 0.147800 q: 0.974511 -0.076636 -0.206074 0.044604 
time: 1403637146.738319, t: 0.222921 0.206910 0.147823 q: 0.974473 -0.076534 -0.206217 0.044934 
time: 1403637147.138319, t: 0.222912 0.206912 0.147814 q: 0.974488 -0.076561 -0.206132 0.044949 
time: 1403637147.538319, t: 0.222928 0.206909 0.147821 q: 0.974500 -0.076514 -0.206119 0.044837 
time: 1403637147.938319, t: 0.222926 0.206909 0.147819 q: 0.974501 -0.076527 -0.206104 0.044858 
time: 1403637148.338319, t: 0.222936 0.206911 0.147840 q: 0.974502 -0.076368 -0.206178 0.044769 
time: 1403637148.738319, t: 0.222952 0.206950 0.148046 q: 0.974437 -0.074734 -0.207122 0.044586 
time: 1403637149.138319, t: 0.222917 0.207013 0.148341 q: 0.974324 -0.072444 -0.208470 0.044549 
time: 1403637149.538319, t: 0.222959 0.207105 0.148748 q: 0.974354 -0.068471 -0.209883 0.043531 
feature tracking not enough, please slowly move you device! 
time: 1403637150.338319, t: 0.223533 0.209316 0.151092 q: 0.966875 -0.049971 -0.247638 0.036484 
feature tracking not enough, please slowly move you device! 
time: 1403637150.738319, t: 0.223533 0.209316 0.151092 q: 0.966875 -0.049971 -0.247638 0.036484 
time: 1403637151.138319, t: 0.223533 0.209316 0.151092 q: 0.966875 -0.049971 -0.247638 0.036484 
time: 1403637151.938319, t: 0.410884 0.367487 0.365492 q: 0.966772 -0.044716 -0.249859 0.030398 
time: 1403637152.338319, t: 0.452566 0.414648 0.447428 q: 0.965742 -0.043371 -0.253150 0.037112 
time: 1403637152.738319, t: 0.440764 0.489610 0.528094 q: 0.966576 -0.042725 -0.250136 0.036586 
time: 1403637153.138319, t: 0.438576 0.592269 0.622874 q: 0.969075 -0.041665 -0.240486 0.036390 
time: 1403637153.538319, t: 0.445936 0.689023 0.692147 q: 0.966889 -0.043073 -0.249898 0.028654 
time: 1403637153.938319, t: 0.493321 0.764775 0.781617 q: 0.968712 -0.043567 -0.242580 0.029237 
unstable tracking...
time: 1403637154.338319, t: 0.448800 0.818116 0.888264 q: 0.961679 -0.041346 -0.263397 0.063916 
time: 1403637154.738319, t: 0.389968 0.943034 0.983833 q: 0.963013 -0.052718 -0.262771 0.027899 
time: 1403637155.138319, t: 0.315179 1.070619 1.149441 q: 0.958661 -0.101747 -0.263254 0.036254 
time: 1403637155.538319, t: 0.318225 1.191722 1.338613 q: 0.959261 -0.147606 -0.236663 0.044965 
time: 1403637155.938319, t: 0.252750 1.329286 1.486173 q: 0.945931 -0.208132 -0.237944 0.072650 
time: 1403637156.338319, t: 0.145434 1.529088 1.571388 q: 0.920789 -0.306955 -0.221426 0.094319 
time: 1403637156.738319, t: 0.034619 1.796234 1.593690 q: 0.881613 -0.411322 -0.210353 0.096564 
time: 1403637157.138319, t: -0.118175 2.080692 1.535705 q: 0.857452 -0.449718 -0.232427 0.092235 
time: 1403637157.538319, t: -0.208810 2.425846 1.477666 q: 0.862810 -0.438892 -0.223086 0.114739 
time: 1403637157.938319, t: -0.209040 2.907965 1.362912 q: 0.871176 -0.430099 -0.214042 0.101256 
time: 1403637158.338319, t: -0.208783 3.350696 1.205430 q: 0.870373 -0.436846 -0.211972 0.081761 
time: 1403637158.738319, t: -0.235500 3.879751 0.988337 q: 0.838632 -0.499140 -0.191780 0.103808 
time: 1403637159.138319, t: -0.275598 4.319664 0.706152 q: 0.812376 -0.536663 -0.205280 0.099491 
time: 1403637159.538319, t: -0.301338 4.729051 0.439109 q: 0.815082 -0.532664 -0.201513 0.106315 
time: 1403637159.938319, t: -0.338214 5.170924 0.170609 q: 0.806936 -0.542936 -0.215283 0.087907 
time: 1403637160.338319, t: -0.336590 5.539097 -0.096302 q: 0.751104 -0.625377 -0.189926 0.093135 
time: 1403637160.738319, t: -0.487588 5.975851 -0.425572 q: 0.661054 -0.720307 -0.187767 0.094386 
time: 1403637161.138319, t: -0.462579 6.397735 -0.612223 q: 0.629569 -0.746155 -0.184515 0.113356 
time: 1403637161.538319, t: -0.431388 6.780057 -0.977074 q: 0.630949 -0.753418 -0.139139 0.122084 
time: 1403637161.938319, t: -0.285204 7.149785 -1.321561 q: 0.601379 -0.787193 -0.117488 0.069768 
time: 1403637162.338319, t: -0.204939 7.448703 -1.668453 q: 0.592630 -0.795892 -0.098698 0.074854 
time: 1403637162.738319, t: -0.224500 7.559525 -2.116283 q: 0.593743 -0.794632 -0.101645 0.075482 
time: 1403637163.138319, t: -0.196718 7.528849 -2.539946 q: 0.510846 -0.853683 -0.088223 0.049783 
time: 1403637163.538319, t: -0.201835 7.368437 -3.008763 q: -0.400043 0.912142 0.062960 -0.063242 
time: 1403637163.938319, t: -0.111104 7.061275 -3.395156 q: -0.363677 0.923301 0.040765 -0.116584 
time: 1403637164.338319, t: 0.074315 6.614970 -3.869466 q: -0.367729 0.923608 0.053623 -0.094060 
time: 1403637164.738319, t: 0.207721 5.988559 -4.436919 q: -0.388038 0.914534 0.053856 -0.100769 
time: 1403637165.138319, t: 0.787684 5.558367 -5.198354 q: -0.356590 0.923374 0.108923 -0.091431 
time: 1403637165.538319, t: 0.754568 5.078616 -5.560221 q: -0.253985 0.952739 0.116896 -0.118806 
time: 1403637165.938319, t: 0.571331 4.615718 -5.957518 q: -0.203230 0.965679 0.139226 -0.082324 
time: 1403637166.338319, t: -0.133972 9.242526 -4.591993 q: 0.021365 0.995778 0.074975 -0.048453 
time: 1403637166.738319, t: 1.015933 1.232855 -4.859967 q: -0.345524 0.921944 0.156451 -0.078462 
time: 1403637167.138319, t: 0.588223 2.371391 -3.601787 q: -0.320649 0.913916 0.247553 -0.025679 
time: 1403637167.538319, t: 0.374800 2.559393 -3.023695 q: -0.319270 0.926858 0.187759 -0.061213 
time: 1403637167.938319, t: 0.207900 2.825128 -2.497176 q: -0.352722 0.917757 0.144045 -0.112070 
time: 1403637168.338319, t: -0.008847 3.228317 -2.115168 q: -0.374470 0.909037 0.152892 -0.100237 
time: 1403637168.738319, t: -0.210006 3.539360 -1.728676 q: -0.383289 0.906613 0.147130 -0.097443 
time: 1403637169.138319, t: -0.457075 3.829326 -1.321161 q: -0.382382 0.905218 0.161721 -0.090608 
time: 1403637169.538319, t: -0.563205 4.294926 -0.777790 q: -0.452760 0.872027 0.167149 -0.081471 
unstable tracking...
time: 1403637169.938319, t: -0.652217 4.733271 -0.108367 q: 0.559860 -0.803942 -0.191568 0.059470 
time: 1403637170.338319, t: -0.918115 5.472791 1.102396 q: 0.590768 -0.770194 -0.237049 0.040034 
time: 1403637170.738319, t: -1.491501 5.407240 1.669887 q: 0.734686 -0.652960 -0.183372 -0.015939 
time: 1403637171.138319, t: -1.092554 5.021369 2.412093 q: 0.831067 -0.521393 -0.182128 0.065621 
time: 1403637171.538319, t: -1.515678 4.943317 2.909945 q: 0.863852 -0.470722 -0.177896 0.023105 
time: 1403637171.938319, t: -1.427877 4.670696 3.550409 q: 0.853360 -0.480240 -0.202654 0.008869 
time: 1403637172.338319, t: -1.401276 4.203296 4.329968 q: 0.828049 -0.512602 -0.219737 0.057351 
time: 1403637172.738319, t: -2.881357 3.071769 5.998053 q: 0.801076 -0.591136 0.012455 0.093170 
time: 1403637173.138319, t: -2.764162 3.629099 4.895564 q: 0.850329 -0.494773 -0.056736 0.170061 
time: 1403637173.538319, t: -3.465279 3.274492 5.243322 q: 0.785467 -0.594031 0.059927 0.163027 
time: 1403637173.938319, t: -3.492675 3.171154 5.099199 q: 0.729498 -0.643441 0.048925 0.226766 
time: 1403637174.338319, t: -3.537456 3.336201 4.917570 q: 0.703149 -0.694416 0.074576 0.133440 
time: 1403637174.738319, t: -3.378137 3.171541 4.020145 q: 0.697397 -0.696442 0.087534 0.144721 
time: 1403637175.138319, t: -3.532264 3.325580 3.857999 q: 0.606595 -0.769377 0.104056 0.171097 
time: 1403637175.538319, t: -3.710137 3.330656 3.373808 q: 0.575040 -0.788838 0.142092 0.163933 
time: 1403637175.938319, t: -3.908241 3.128929 2.814068 q: 0.582442 -0.784920 0.113807 0.178073 
time: 1403637176.338319, t: -4.022347 2.762100 2.330098 q: 0.573865 -0.796589 0.122237 0.145544 
time: 1403637176.738319, t: -4.146120 2.331734 1.708384 q: 0.551973 -0.808632 0.099684 0.177491 
time: 1403637177.138319, t: -4.498305 1.902645 1.096049 q: 0.541286 -0.806618 0.068063 0.227476 
time: 1403637177.538319, t: -4.726402 1.558233 0.515720 q: 0.531568 -0.808235 0.027684 0.251844 
time: 1403637177.938319, t: -4.973873 1.474094 -0.088559 q: 0.503020 -0.835411 0.018453 0.220724 
time: 1403637178.338319, t: -5.112456 1.601177 -0.370415 q: -0.419704 0.888602 0.013790 -0.184512 
time: 1403637178.738319, t: -5.087850 1.954459 -0.857941 q: -0.420332 0.888341 -0.012520 -0.184429 
time: 1403637179.138319, t: -5.071394 2.388119 -1.021801 q: -0.427857 0.881044 -0.073029 -0.188062 
time: 1403637179.538319, t: -5.014190 2.797385 -1.058797 q: -0.434401 0.877295 -0.062832 -0.194168 
time: 1403637179.938319, t: -4.973368 3.214224 -0.960766 q: -0.426098 0.888138 -0.036039 -0.168383 
time: 1403637180.338319, t: -4.962879 3.675844 -0.795619 q: -0.441189 0.869699 -0.071372 -0.209479 
time: 1403637180.738319, t: -4.943985 4.114310 -0.423697 q: -0.439056 0.873581 -0.051907 -0.203448 
time: 1403637181.138319, t: -4.784911 4.543429 -0.075964 q: -0.424064 0.889201 -0.039296 -0.167175 
time: 1403637181.538319, t: -4.418830 5.063684 0.364404 q: -0.409508 0.894593 -0.067756 -0.165576 
time: 1403637182.338319, t: -3.719684 5.572628 1.289849 q: -0.438377 0.877828 -0.118061 -0.152660 
time: 1403637182.738319, t: -3.467807 5.943728 1.889829 q: -0.425128 0.888316 -0.121323 -0.124259 
time: 1403637183.138319, t: -3.066625 5.996199 2.438582 q: -0.435921 0.875643 -0.135367 -0.157791 
time: 1403637183.538319, t: -3.026518 5.866029 3.009773 q: -0.436885 0.869089 -0.157743 -0.170097 
time: 1403637183.938319, t: -3.129435 5.342382 3.469737 q: -0.457046 0.849582 -0.173184 -0.198310 
time: 1403637184.338319, t: -3.097153 4.624226 3.871736 q: -0.458462 0.852242 -0.137101 -0.211423 
feature tracking not enough, please slowly move you device! 
time: 1403637185.138319, t: -3.589112 3.555229 4.124244 q: -0.465337 0.850607 -0.058886 -0.237615 
time: 1403637185.538319, t: -3.739863 2.914696 5.211817 q: -0.387909 0.883372 -0.064437 -0.255005 
time: 1403637185.938319, t: -4.278881 1.884894 3.785767 q: -0.457649 0.867539 -0.079838 -0.177649 
time: 1403637186.338319, t: -4.299769 1.654952 3.614718 q: -0.452383 0.872302 -0.089287 -0.162683 
time: 1403637186.738319, t: -4.273155 1.384428 3.285108 q: -0.457529 0.866094 -0.111469 -0.167701 
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feature tracking not enough, please slowly move you device! 
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time: 1403637250.338319, t: -1.664476 2.788087 4.773233 q: 0.867349 -0.203260 -0.426790 0.155699 
time: 1403637250.738319, t: -1.630690 2.236237 5.051138 q: 0.861023 -0.185664 -0.440898 0.172563 
time: 1403637251.138319, t: -1.461404 1.936848 5.252265 q: 0.858710 -0.168850 -0.446213 0.187088 
time: 1403637251.538319, t: -1.303198 1.588635 5.515605 q: 0.870568 -0.138345 -0.441245 0.168152 
time: 1403637251.938319, t: -1.150703 1.604779 5.590319 q: 0.882543 -0.086767 -0.430378 0.168417 
time: 1403637252.338319, t: -1.071923 1.465211 5.653460 q: 0.891124 -0.082814 -0.414050 0.166137 
time: 1403637252.738319, t: -1.033555 1.298431 5.611318 q: 0.874461 -0.082959 -0.441809 0.182321 
time: 1403637253.138319, t: -0.984172 1.212524 5.579257 q: 0.879629 -0.087456 -0.437018 0.166188 
time: 1403637253.538319, t: -0.940870 1.180331 5.527630 q: 0.879640 -0.090993 -0.436673 0.165136 
time: 1403637253.938319, t: -0.880737 1.158600 5.452526 q: 0.882448 -0.090700 -0.435799 0.152112 
time: 1403637254.338319, t: -0.728887 1.135237 5.391722 q: 0.883455 -0.069757 -0.438477 0.149597 
time: 1403637254.738319, t: -0.562463 1.104637 5.296414 q: 0.884598 -0.044270 -0.438746 0.151751 
time: 1403637255.138319, t: -0.440674 1.035210 5.176535 q: 0.889457 -0.035412 -0.427108 0.158717 
time: 1403637255.538319, t: -0.290639 0.943926 5.056814 q: 0.890934 0.008439 -0.422375 0.166628 
time: 1403637255.938319, t: -0.150556 0.833633 4.908127 q: 0.888528 0.087894 -0.418770 0.165601 
time: 1403637256.338319, t: 0.112478 0.714656 4.784567 q: 0.890788 0.124795 -0.404851 0.164375 
time: 1403637256.738319, t: 0.303727 0.572941 4.585680 q: 0.884262 0.121506 -0.416042 0.173857 
time: 1403637257.138319, t: 0.476790 0.392021 4.408036 q: 0.884695 0.134220 -0.410047 0.176527 
time: 1403637257.538319, t: 0.689599 0.259762 4.239373 q: 0.883364 0.158636 -0.409255 0.164358 
time: 1403637257.938319, t: 0.851077 0.101002 4.074381 q: 0.870031 0.182158 -0.424798 0.171499 
time: 1403637258.338319, t: 0.948568 -0.115775 3.985880 q: 0.870043 0.244966 -0.389368 0.177226 
time: 1403637258.738319, t: 0.977288 -0.358944 3.933853 q: 0.863485 0.267779 -0.379502 0.196636 
time: 1403637259.138319, t: 1.001985 -0.499658 3.896781 q: 0.864670 0.265627 -0.375294 0.202341 
time: 1403637259.538319, t: 1.090317 -0.569209 3.905652 q: 0.861781 0.260955 -0.376336 0.218189 
time: 1403637259.938319, t: 1.135539 -0.596045 3.874143 q: 0.862191 0.260697 -0.380158 0.210102 
time: 1403637260.338319, t: 1.124438 -0.576143 3.824344 q: 0.868303 0.264615 -0.376388 0.185367 
time: 1403637260.738319, t: 1.077329 -0.583417 3.748146 q: 0.861799 0.269762 -0.391367 0.177094 
time: 1403637261.138319, t: 1.053684 -0.595090 3.659821 q: 0.864158 0.270844 -0.382816 0.182554 
time: 1403637261.538319, t: 1.053390 -0.659886 3.605727 q: 0.860600 0.270688 -0.385775 0.193065 
time: 1403637261.938319, t: 1.084562 -0.720832 3.622169 q: 0.864159 0.269107 -0.381514 0.187769 
time: 1403637262.338319, t: 1.040843 -0.797945 3.628165 q: 0.865313 0.253961 -0.358017 0.241995 
time: 1403637262.738319, t: 1.034145 -0.780856 3.622013 q: 0.872788 0.222825 -0.373528 0.221512 
time: 1403637263.138319, t: 1.039985 -0.766333 3.607268 q: 0.874451 0.222581 -0.368741 0.223212 
time: 1403637263.538319, t: 1.039540 -0.767499 3.607791 q: 0.874285 0.222722 -0.369186 0.222984 
time: 1403637263.938319, t: 1.038535 -0.769520 3.608288 q: 0.874323 0.222698 -0.369281 0.222703 
time: 1403637264.338319, t: 1.038865 -0.768737 3.607899 q: 0.874331 0.222681 -0.369243 0.222749 
time: 1403637264.738319, t: 1.038636 -0.768495 3.607472 q: 0.874306 0.222591 -0.369358 0.222749 
time: 1403637265.138319, t: 1.038560 -0.768503 3.607597 q: 0.874254 0.222641 -0.369385 0.222857 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720504403.334306076]: Shutdown request received.[0m
[33m[ WARN] [1720504403.334350151]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720504403.335228826]: Shutdown request received.[0m
[33m[ WARN] [1720504403.335261694]: Reason given for shutdown: [user request][0m
killed
