/SLAM-Hive/slam_hive_results/mapping_results/3073/2281_vins-fusion-stereo+MH_05_difficult+Image_comb_test-1.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720510993.044566376]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720510993.046484838]: init begins[0m
[31m[ERROR] [1720510993.047660854]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e541f1d8-3dc6-11ef-bfb3-0242ac110005/roslaunch-6de581eea3e1-118.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://6de581eea3e1:38305/[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] [1720510994.151585583]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720510994.152537647]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720510994.160086312]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720510994.160316183]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720510994.160340404]: 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] [1720510994.160616903]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720510994.160831824]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720510994.160987889]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://6de581eea3e1:11311/[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
]2;roscore http://6de581eea3e1:11311/
[1msetting /run_id to e541f1d8-3dc6-11ef-bfb3-0242ac110005[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_05_difficult.bag  --clock 
[0m[ INFO] [1720511003.202882984]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316872485.28 
[0m[ INFO] [1720511004.592045539]: Initialization finish![0m
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time: 1403638519.327830, t: 0.000010 -0.000002 0.000009 q: 1.000000 0.000010 0.000003 0.000008 
time: 1403638519.427830, t: 0.000007 0.000003 0.000008 q: 1.000000 0.000005 -0.000000 -0.000016 
time: 1403638519.527829, t: 0.000003 0.000002 0.000009 q: 1.000000 0.000006 0.000005 -0.000018 
time: 1403638519.627830, t: 0.000007 0.000003 0.000009 q: 1.000000 0.000004 0.000009 0.000000 
time: 1403638519.727829, t: 0.000008 0.000005 0.000009 q: 1.000000 0.000003 0.000001 -0.000017 
time: 1403638519.827830, t: 0.000041 -0.000004 0.000008 q: 1.000000 0.000012 -0.000102 -0.000029 
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time: 1403638520.027829, t: 0.000004 0.000003 0.000004 q: 1.000000 0.000010 -0.000001 -0.000010 
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time: 1403638520.327830, t: 0.000025 0.000011 0.000014 q: 1.000000 0.000009 -0.000114 -0.000041 
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time: 1403638520.527829, t: -0.000509 -0.000581 0.001011 q: 1.000000 0.000009 -0.000191 0.000055 
time: 1403638520.627830, t: -0.001251 -0.000655 0.001131 q: 1.000000 0.000022 -0.000229 0.000085 
time: 1403638520.727829, t: -0.000989 -0.000728 0.001358 q: 1.000000 0.000035 -0.000380 0.000137 
time: 1403638520.827830, t: -0.000986 -0.000813 0.001442 q: 1.000000 0.000034 -0.000363 0.000138 
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time: 1403638522.927830, t: 1.109044 1.874009 1.091145 q: 0.994673 0.099287 0.027431 0.003832 
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time: 1403638528.227829, t: 0.585200 4.311985 -0.219080 q: 0.999175 0.033977 0.013613 -0.017589 
time: 1403638528.327830, t: 0.524810 4.246145 -0.048115 q: 0.998449 0.052058 0.016386 -0.010968 
time: 1403638528.427830, t: 0.592835 4.219581 -0.173669 q: 0.998256 0.052127 0.015001 -0.023282 
time: 1403638528.527829, t: 0.599506 4.189983 -0.141076 q: 0.998361 0.049840 0.014018 -0.024392 
time: 1403638528.627830, t: 0.614009 4.168139 -0.107364 q: 0.998749 0.045534 0.009535 -0.018360 
time: 1403638528.727829, t: 0.621555 4.150616 -0.076924 q: 0.999037 0.040293 0.009366 -0.014608 
time: 1403638528.827830, t: 0.627717 4.134215 -0.054960 q: 0.999274 0.034912 0.011171 -0.010372 
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time: 1403638529.027829, t: 0.657029 4.116541 -0.076531 q: 0.999268 0.036601 0.009052 0.006510 
optimize pose graph 
time: 1403638529.127830, t: 0.649644 4.111794 -0.104265 q: 0.999520 0.029367 0.009546 -0.002318 
time: 1403638529.227829, t: 0.639096 4.102054 -0.138401 q: 0.999604 0.020204 0.009335 -0.017246 
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time: 1403638529.527829, t: 0.557757 4.068101 -0.227060 q: 0.998888 0.018628 -0.029145 -0.032021 
time: 1403638529.627830, t: 0.562325 4.059760 -0.252941 q: 0.998148 0.018761 -0.044909 -0.036503 
time: 1403638529.727829, t: 0.496647 4.058515 -0.245112 q: 0.998154 0.020103 -0.042827 -0.038079 
time: 1403638529.827830, t: 0.457397 4.047791 -0.245443 q: 0.998642 0.021050 -0.030991 -0.036197 
time: 1403638529.927830, t: 0.452838 4.047815 -0.242981 q: 0.998884 0.021522 -0.022650 -0.035419 
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time: 1403638530.227829, t: 0.434862 4.042342 -0.196373 q: 0.999063 0.013971 -0.027185 -0.030644 
time: 1403638530.327830, t: 0.431404 4.043774 -0.179929 q: 0.999267 0.009874 -0.026471 -0.025820 
time: 1403638530.427830, t: 0.426366 4.046607 -0.164045 q: 0.999369 0.004983 -0.025616 -0.024113 
time: 1403638530.527829, t: 0.423918 4.049148 -0.150567 q: 0.999465 0.004663 -0.025767 -0.019581 
time: 1403638530.627830, t: 0.421785 4.053039 -0.142033 q: 0.999423 0.001699 -0.028237 -0.018791 
time: 1403638530.727829, t: 0.417128 4.054949 -0.134102 q: 0.999217 -0.000110 -0.035498 -0.017476 
time: 1403638530.827830, t: 0.413307 4.057439 -0.129112 q: 0.999070 -0.000364 -0.039814 -0.016571 
time: 1403638530.927830, t: 0.410883 4.057804 -0.126202 q: 0.999148 0.001493 -0.037854 -0.016404 
time: 1403638531.027829, t: 0.408536 4.057490 -0.124358 q: 0.999328 0.003102 -0.033125 -0.015352 
optimize pose graph 
time: 1403638531.127830, t: 0.408022 4.056341 -0.124859 q: 0.999502 0.002364 -0.026151 -0.017494 
time: 1403638531.227829, t: 0.407437 4.054826 -0.124185 q: 0.999462 0.002203 -0.025210 -0.020856 
time: 1403638531.327830, t: 0.406469 4.053522 -0.123807 q: 0.999616 0.001811 -0.018347 -0.020679 
time: 1403638531.427830, t: 0.406378 4.053551 -0.123833 q: 0.999576 0.001590 -0.019577 -0.021501 
time: 1403638531.527829, t: 0.406370 4.053565 -0.124374 q: 0.999617 0.001859 -0.018262 -0.020728 
time: 1403638531.627830, t: 0.406245 4.053649 -0.124421 q: 0.999589 0.002070 -0.018401 -0.021864 
time: 1403638531.727829, t: 0.406200 4.053599 -0.124433 q: 0.999592 0.001957 -0.018616 -0.021562 
time: 1403638531.827830, t: 0.406207 4.053566 -0.124415 q: 0.999595 0.002034 -0.018604 -0.021433 
time: 1403638531.927830, t: 0.406201 4.053514 -0.124414 q: 0.999600 0.002105 -0.018569 -0.021229 
time: 1403638532.027829, t: 0.406185 4.053468 -0.124416 q: 0.999603 0.002153 -0.018572 -0.021059 
time: 1403638532.127830, t: 0.406209 4.053464 -0.124403 q: 0.999604 0.002171 -0.018568 -0.021010 
time: 1403638532.227829, t: 0.406184 4.053495 -0.124415 q: 0.999600 0.002129 -0.018599 -0.021187 
time: 1403638532.327830, t: 0.406167 4.053536 -0.124324 q: 0.999598 0.002082 -0.018580 -0.021307 
time: 1403638532.427830, t: 0.406169 4.053561 -0.124329 q: 0.999596 0.002083 -0.018607 -0.021385 
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time: 1403638532.627830, t: 0.406202 4.053533 -0.124408 q: 0.999596 0.002053 -0.018632 -0.021366 
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optimize pose graph 
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optimize pose graph 
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time: 1403638597.527829, t: 5.894537 5.843493 6.410170 q: 0.988203 -0.148540 0.016625 -0.033372 
time: 1403638597.627830, t: 5.905991 5.613985 6.398487 q: 0.989053 -0.144395 0.020880 -0.022114 
time: 1403638597.727829, t: 5.887390 5.361275 6.423704 q: 0.988876 -0.145456 0.023223 -0.020688 
time: 1403638597.827830, t: 5.870765 5.101910 6.430300 q: 0.988737 -0.144869 0.020033 -0.031784 
time: 1403638597.927830, t: 5.854969 4.830506 6.444388 q: 0.988647 -0.142900 0.016883 -0.043262 
time: 1403638598.027829, t: 5.843473 4.561673 6.439117 q: 0.989326 -0.136817 0.016284 -0.047439 
time: 1403638598.127830, t: 5.832303 4.288304 6.433750 q: 0.991232 -0.125951 0.017158 -0.036062 
time: 1403638598.327830, t: 5.807368 3.711472 6.400947 q: 0.994263 -0.106209 0.012501 -0.002265 
time: 1403638598.427830, t: 5.792336 3.423104 6.385472 q: 0.994705 -0.102284 0.008907 0.004510 
time: 1403638598.527829, t: 5.770674 3.143952 6.367037 q: 0.995095 -0.098544 0.006084 0.006115 
time: 1403638598.627830, t: 5.742538 2.873020 6.352306 q: 0.995854 -0.090849 0.001806 0.004172 
time: 1403638598.727829, t: 5.713480 2.593903 6.331259 q: 0.996833 -0.079516 0.000901 -0.000494 
time: 1403638598.827830, t: 5.694490 2.323283 6.303392 q: 0.997924 -0.064122 0.001007 -0.005920 
time: 1403638598.927830, t: 5.670015 2.052681 6.284899 q: 0.998796 -0.047239 -0.000310 -0.013219 
time: 1403638599.027829, t: 5.639211 1.763863 6.264868 q: 0.999414 -0.028761 -0.000167 -0.018568 
time: 1403638599.127830, t: 5.619674 1.488484 6.232139 q: 0.999583 -0.009791 0.000190 -0.027176 
time: 1403638599.227829, t: 5.760492 1.793798 6.075923 q: 0.998538 0.044686 -0.007691 -0.029425 
time: 1403638599.327830, t: 5.608593 0.966216 6.156021 q: 0.998577 0.031788 -0.003445 -0.042683 
time: 1403638599.427830, t: 5.603066 0.720628 6.106717 q: 0.997402 0.049930 -0.007870 -0.051323 
time: 1403638599.527829, t: 5.608438 0.439080 6.060192 q: 0.996482 0.061164 -0.011875 -0.056056 
time: 1403638599.627830, t: 5.609578 0.141758 6.022873 q: 0.995991 0.067089 -0.015510 -0.057107 
time: 1403638599.727829, t: 5.604807 -0.124641 5.986636 q: 0.995619 0.070455 -0.018297 -0.058685 
time: 1403638599.827830, t: 5.587110 -0.400580 5.951742 q: 0.995703 0.070142 -0.019540 -0.057226 
time: 1403638599.927830, t: 5.574764 -0.663687 5.938742 q: 0.995947 0.069891 -0.022320 -0.052019 
time: 1403638600.027829, t: 5.547044 -0.908076 5.914991 q: 0.996289 0.070948 -0.021718 -0.043630 
time: 1403638600.127830, t: 5.521317 -1.180065 5.892398 q: 0.996642 0.071134 -0.026365 -0.030823 
time: 1403638600.227829, t: 5.502743 -1.417828 5.874688 q: 0.996564 0.074279 -0.033633 -0.014565 
time: 1403638600.327830, t: 5.475206 -1.660633 5.865236 q: 0.996414 0.075460 -0.038225 -0.002009 
time: 1403638600.427830, t: 5.458786 -1.889461 5.851184 q: 0.996058 0.077179 -0.042693 0.009466 
time: 1403638600.527829, t: 5.435233 -2.096747 5.855959 q: 0.995976 0.076995 -0.044163 0.012351 
time: 1403638600.627830, t: 5.426598 -2.288576 5.858408 q: 0.995880 0.076583 -0.046745 0.013182 
time: 1403638600.727829, t: 5.430858 -2.472329 5.863200 q: 0.995683 0.076277 -0.051036 0.013862 
time: 1403638600.827830, t: 5.451772 -2.639527 5.869423 q: 0.995434 0.075272 -0.058068 0.008572 
time: 1403638600.927830, t: 5.477209 -2.790879 5.886283 q: 0.995556 0.070338 -0.061716 -0.010560 
time: 1403638601.027829, t: 5.499025 -2.940354 5.913997 q: 0.995533 0.066122 -0.061738 -0.027036 
optimize pose graph 
time: 1403638601.127830, t: 5.510948 -3.086766 5.956075 q: 0.995574 0.064326 -0.058496 -0.035679 
time: 1403638601.227829, t: 5.536347 -3.236290 6.003708 q: 0.995608 0.061750 -0.052771 -0.046544 
time: 1403638601.327830, t: 5.548844 -3.390336 6.063416 q: 0.995880 0.060971 -0.038852 -0.054736 
time: 1403638601.427830, t: 5.555596 -3.536468 6.130801 q: 0.995682 0.071638 -0.030788 -0.050379 
time: 1403638601.527829, t: 5.578392 -3.678721 6.193191 q: 0.994535 0.087838 -0.023952 -0.051102 
time: 1403638601.627830, t: 5.601882 -3.824044 6.244239 q: 0.992333 0.107318 -0.018938 -0.058298 
time: 1403638601.727829, t: 5.632863 -3.969109 6.296017 q: 0.988764 0.131051 -0.016228 -0.070052 
time: 1403638601.827830, t: 5.673215 -4.115117 6.346618 q: 0.983623 0.158769 -0.012211 -0.084430 
time: 1403638601.927830, t: 5.709469 -4.260310 6.393360 q: 0.977400 0.186876 -0.008917 -0.098422 
time: 1403638602.027829, t: 5.737257 -4.427094 6.431306 q: 0.972104 0.208317 -0.009029 -0.107405 
time: 1403638602.127830, t: 5.761086 -4.581107 6.479071 q: 0.967724 0.224061 -0.007241 -0.115130 
time: 1403638602.227829, t: 5.779266 -4.743580 6.533302 q: 0.963082 0.238479 -0.000146 -0.124901 
time: 1403638602.327830, t: 5.795655 -4.897516 6.575260 q: 0.957026 0.259500 0.008684 -0.129173 
time: 1403638602.427830, t: 5.815999 -5.063334 6.611480 q: 0.949590 0.290391 0.025847 -0.115251 
time: 1403638602.527829, t: 5.853863 -5.203667 6.624923 q: 0.939672 0.323923 0.052763 -0.096467 
time: 1403638602.627830, t: 5.885754 -5.335307 6.609653 q: 0.929486 0.352662 0.068081 -0.083965 
time: 1403638602.727829, t: 5.922626 -5.465122 6.603524 q: 0.920568 0.374219 0.068192 -0.088678 
time: 1403638602.827830, t: 5.958169 -5.588496 6.566499 q: 0.912414 0.391179 0.065097 -0.101206 
time: 1403638602.927830, t: 5.997663 -5.670024 6.518266 q: 0.902842 0.412401 0.056756 -0.107615 
time: 1403638603.027829, t: 6.030511 -5.736307 6.469548 q: 0.891714 0.437582 0.045583 -0.106258 
time: 1403638603.127830, t: 6.058194 -5.796357 6.416736 q: 0.880946 0.458647 0.045249 -0.107377 
time: 1403638603.227829, t: 6.067890 -5.844722 6.361550 q: 0.873579 0.470639 0.038319 -0.117856 
optimize pose graph 
time: 1403638603.327830, t: 6.068743 -5.883420 6.307245 q: 0.869816 0.473878 0.014721 -0.136541 
time: 1403638603.427830, t: 6.064787 -5.904492 6.255274 q: 0.867161 0.474688 -0.006079 -0.150556 
time: 1403638603.527829, t: 6.055982 -5.917545 6.203324 q: 0.865337 0.475830 -0.013762 -0.156804 
time: 1403638603.627830, t: 6.044265 -5.924154 6.153806 q: 0.862751 0.481061 -0.006351 -0.155564 
time: 1403638603.727829, t: 6.033116 -5.928631 6.107112 q: 0.861211 0.482219 0.006666 -0.160427 
time: 1403638603.827830, t: 6.012160 -5.926413 6.061250 q: 0.860260 0.481144 0.019937 -0.167498 
time: 1403638603.927830, t: 5.983816 -5.917886 6.010820 q: 0.859772 0.478960 0.032489 -0.174170 
time: 1403638604.027829, t: 5.946855 -5.905206 5.957765 q: 0.859609 0.476762 0.041770 -0.178955 
time: 1403638604.127830, t: 5.906495 -5.887931 5.895872 q: 0.859488 0.475324 0.047210 -0.181986 
time: 1403638604.227829, t: 5.865770 -5.868000 5.821470 q: 0.859415 0.476767 0.044568 -0.179199 
time: 1403638604.327830, t: 5.830526 -5.840428 5.736464 q: 0.859780 0.479356 0.033173 -0.172906 
time: 1403638604.427830, t: 5.800672 -5.809942 5.640592 q: 0.860238 0.479743 0.019484 -0.171631 
time: 1403638604.527829, t: 5.771393 -5.776133 5.537111 q: 0.860703 0.477732 0.007945 -0.175782 
time: 1403638604.627830, t: 5.741307 -5.739473 5.432271 q: 0.860903 0.476892 0.002546 -0.177242 
time: 1403638604.727829, t: 5.706920 -5.702964 5.327392 q: 0.861131 0.478003 -0.002545 -0.173090 
time: 1403638604.827830, t: 5.671909 -5.663957 5.224099 q: 0.861293 0.478875 -0.006961 -0.169723 
time: 1403638604.927830, t: 5.643426 -5.615731 5.119553 q: 0.861233 0.478027 -0.014115 -0.171956 
time: 1403638605.027829, t: 5.619492 -5.573945 5.013819 q: 0.860985 0.476275 -0.026727 -0.176503 
time: 1403638605.127830, t: 5.604703 -5.526589 4.910720 q: 0.860544 0.474867 -0.036423 -0.180663 
time: 1403638605.227829, t: 5.593630 -5.491615 4.811308 q: 0.860426 0.473342 -0.039720 -0.184488 
time: 1403638605.327830, t: 5.581559 -5.457397 4.716893 q: 0.860224 0.471705 -0.037586 -0.189994 
optimize pose graph 
time: 1403638605.427830, t: 5.567075 -5.429000 4.626777 q: 0.860135 0.469823 -0.023764 -0.197153 
time: 1403638605.527829, t: 5.544941 -5.410796 4.536896 q: 0.859997 0.468086 -0.005648 -0.203145 
time: 1403638605.627830, t: 5.518015 -5.393208 4.444956 q: 0.859496 0.466066 0.007254 -0.209753 
time: 1403638605.727829, t: 5.487822 -5.378088 4.352079 q: 0.859135 0.465313 0.012870 -0.212615 
time: 1403638605.827830, t: 5.456663 -5.369776 4.251696 q: 0.859175 0.464500 0.012366 -0.214253 
time: 1403638605.927830, t: 5.433843 -5.361494 4.139959 q: 0.859210 0.463183 0.013739 -0.216866 
time: 1403638606.027829, t: 5.414738 -5.357813 4.019880 q: 0.859317 0.461032 0.015713 -0.220856 
time: 1403638606.127830, t: 5.389971 -5.356582 3.894596 q: 0.859459 0.459494 0.016254 -0.223453 
time: 1403638606.227829, t: 5.351581 -5.366742 3.763570 q: 0.859592 0.457690 0.016698 -0.226590 
time: 1403638606.427830, t: 5.250671 -5.392799 3.493675 q: 0.861090 0.459616 -0.006105 -0.217349 
time: 1403638606.527829, t: 5.195562 -5.409268 3.360395 q: 0.861485 0.462450 -0.024728 -0.208259 
time: 1403638606.627830, t: 5.135124 -5.431886 3.225871 q: 0.859867 0.466005 -0.037719 -0.205050 
time: 1403638606.727829, t: 5.067222 -5.465326 3.094795 q: 0.854961 0.472599 -0.046597 -0.208617 
time: 1403638606.827830, t: 4.999460 -5.505787 2.965988 q: 0.846982 0.483770 -0.052166 -0.214164 
time: 1403638606.927830, t: 4.930372 -5.550651 2.843454 q: 0.836227 0.499417 -0.055178 -0.219686 
time: 1403638607.027829, t: 4.873878 -5.606964 2.723561 q: 0.823533 0.518326 -0.057216 -0.223286 
time: 1403638607.127830, t: 4.821025 -5.671619 2.603606 q: 0.812200 0.536630 -0.059053 -0.221071 
time: 1403638607.227829, t: 4.770422 -5.746400 2.488417 q: 0.803932 0.551746 -0.048210 -0.216667 
time: 1403638607.327830, t: 4.718667 -5.822561 2.375277 q: 0.798306 0.563347 -0.035507 -0.209970 
time: 1403638607.427830, t: 4.664726 -5.902381 2.263934 q: 0.794769 0.570594 -0.029880 -0.204626 
optimize pose graph 
time: 1403638607.527829, t: 4.604001 -5.984366 2.165196 q: 0.792945 0.573749 -0.031378 -0.202646 
time: 1403638607.627830, t: 4.542500 -6.060155 2.078146 q: 0.791681 0.575500 -0.030775 -0.202714 
time: 1403638607.727829, t: 4.484338 -6.135608 1.995856 q: 0.791696 0.575513 -0.027317 -0.203115 
time: 1403638607.827830, t: 4.420034 -6.205520 1.911726 q: 0.792390 0.574479 -0.027733 -0.203280 
time: 1403638607.927830, t: 4.353319 -6.278423 1.841333 q: 0.793238 0.574257 -0.034510 -0.199529 
time: 1403638608.027829, t: 4.284154 -6.350964 1.776465 q: 0.794469 0.573807 -0.036721 -0.195486 
time: 1403638608.127830, t: 4.212111 -6.417332 1.722576 q: 0.795692 0.572632 -0.030588 -0.195017 
time: 1403638608.227829, t: 4.135236 -6.480844 1.672095 q: 0.796894 0.570720 -0.021686 -0.196897 
time: 1403638608.327830, t: 4.057202 -6.540647 1.629250 q: 0.797678 0.570640 -0.012144 -0.194763 
time: 1403638608.427830, t: 3.976367 -6.598721 1.585727 q: 0.797876 0.570991 -0.005974 -0.193206 
time: 1403638608.527829, t: 3.887107 -6.652263 1.549038 q: 0.797886 0.570399 -0.008634 -0.194803 
time: 1403638608.627830, t: 3.794954 -6.697772 1.510063 q: 0.798132 0.571215 -0.006824 -0.191445 
time: 1403638608.727829, t: 3.714675 -6.740532 1.467865 q: 0.797743 0.573171 -0.003304 -0.187271 
time: 1403638608.827830, t: 3.633369 -6.778581 1.429254 q: 0.797533 0.572598 -0.007588 -0.189776 
time: 1403638608.927830, t: 3.556873 -6.809759 1.394679 q: 0.797145 0.572182 -0.014088 -0.192274 
time: 1403638609.027829, t: 3.492362 -6.835062 1.348347 q: 0.797083 0.571950 -0.020744 -0.192615 
time: 1403638609.127830, t: 3.432785 -6.857028 1.309730 q: 0.796987 0.571628 -0.022965 -0.193716 
time: 1403638609.227829, t: 3.379628 -6.877551 1.266049 q: 0.797177 0.573954 -0.023814 -0.185792 
time: 1403638609.327830, t: 3.323201 -6.895387 1.224456 q: 0.797570 0.574872 -0.024784 -0.181079 
time: 1403638609.427830, t: 3.263588 -6.913196 1.195858 q: 0.797803 0.573504 -0.023960 -0.184471 
time: 1403638609.527829, t: 3.198570 -6.922955 1.166234 q: 0.798425 0.571399 -0.023038 -0.188388 
time: 1403638609.627830, t: 3.128357 -6.932977 1.150401 q: 0.798794 0.570403 -0.022787 -0.189868 
optimize pose graph 
time: 1403638609.727829, t: 3.051811 -6.935074 1.137667 q: 0.798908 0.569325 -0.020025 -0.192909 
time: 1403638609.827830, t: 2.986469 -6.938296 1.131209 q: 0.798620 0.569777 -0.021960 -0.192557 
time: 1403638609.927830, t: 2.929620 -6.939010 1.125953 q: 0.798450 0.570118 -0.021376 -0.192319 
time: 1403638610.027829, t: 2.880432 -6.939714 1.113729 q: 0.798571 0.570932 -0.019740 -0.189558 
time: 1403638610.127830, t: 2.830566 -6.934202 1.094950 q: 0.799102 0.571791 -0.014803 -0.185126 
time: 1403638610.227829, t: 2.776510 -6.924928 1.074649 q: 0.799830 0.571720 -0.009793 -0.182517 
time: 1403638610.327830, t: 2.728532 -6.913516 1.068396 q: 0.800119 0.571972 -0.008490 -0.180514 
time: 1403638610.427830, t: 2.668656 -6.896442 1.071441 q: 0.800135 0.572685 -0.007664 -0.178208 
time: 1403638610.527829, t: 2.610413 -6.874968 1.071150 q: 0.800428 0.572445 -0.002482 -0.177810 
time: 1403638610.627830, t: 2.554492 -6.848762 1.068959 q: 0.800421 0.574576 0.008453 -0.170638 
time: 1403638610.727829, t: 2.507623 -6.815491 1.078336 q: 0.799749 0.575321 0.006728 -0.171356 
time: 1403638610.827830, t: 2.452694 -6.770763 1.079692 q: 0.799294 0.574389 -0.005534 -0.176565 
time: 1403638610.927830, t: 2.412973 -6.723267 1.082595 q: 0.798404 0.574453 -0.011555 -0.180061 
time: 1403638611.027829, t: 2.375234 -6.671199 1.081583 q: 0.798266 0.575683 -0.010866 -0.176755 
time: 1403638611.127830, t: 2.335454 -6.613195 1.082378 q: 0.797873 0.577089 -0.007626 -0.174096 
time: 1403638611.227829, t: 2.290678 -6.551345 1.094200 q: 0.797136 0.577807 -0.007294 -0.175101 
time: 1403638611.327830, t: 2.253503 -6.484229 1.111367 q: 0.796470 0.577624 -0.006268 -0.178736 
time: 1403638611.427830, t: 2.227776 -6.411823 1.117087 q: 0.796704 0.573579 0.002712 -0.190428 
time: 1403638611.527829, t: 2.190109 -6.333084 1.113908 q: 0.797337 0.568934 0.009277 -0.201202 
time: 1403638611.627830, t: 2.169247 -6.252905 1.105663 q: 0.798095 0.565991 0.006838 -0.206524 
time: 1403638611.727829, t: 2.149159 -6.168011 1.089368 q: 0.798736 0.565884 -0.000729 -0.204438 
optimize pose graph 
time: 1403638611.827830, t: 2.117953 -6.083816 1.076118 q: 0.799372 0.567485 -0.011020 -0.197087 
time: 1403638611.927830, t: 2.075191 -5.996299 1.060094 q: 0.800342 0.567608 -0.018770 -0.192149 
time: 1403638612.027829, t: 2.029719 -5.906319 1.046625 q: 0.800987 0.567409 -0.022795 -0.189599 
time: 1403638612.127830, t: 1.996867 -5.818054 1.035864 q: 0.801449 0.567281 -0.025998 -0.187603 
time: 1403638612.227829, t: 1.971156 -5.730915 1.023766 q: 0.801966 0.566351 -0.026416 -0.188148 
time: 1403638612.327830, t: 1.955241 -5.644190 1.007140 q: 0.802434 0.565518 -0.025742 -0.188750 
time: 1403638612.427830, t: 1.938125 -5.557135 0.995934 q: 0.803260 0.564434 -0.023245 -0.188803 
time: 1403638612.527829, t: 1.918140 -5.471049 0.999282 q: 0.804029 0.563267 -0.018379 -0.189550 
time: 1403638612.627830, t: 1.892792 -5.384157 1.005355 q: 0.804767 0.561032 -0.014001 -0.193383 
time: 1403638612.727829, t: 1.867578 -5.298858 1.017489 q: 0.805460 0.558987 -0.009882 -0.196645 
time: 1403638612.827830, t: 1.830505 -5.211756 1.016075 q: 0.806882 0.557273 -0.006375 -0.195826 
time: 1403638612.927830, t: 1.800251 -5.124602 1.011418 q: 0.807871 0.556590 -0.004356 -0.193732 
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optimize pose graph 
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time: 1403638629.127830, t: 1.135089 4.079209 -0.517867 q: 0.993986 -0.105051 -0.019054 0.024358 
time: 1403638629.227829, t: 1.127353 4.074900 -0.527366 q: 0.993942 -0.105647 -0.020835 0.021983 
time: 1403638629.327830, t: 1.122196 4.068773 -0.536795 q: 0.993855 -0.106422 -0.022332 0.020676 
time: 1403638629.427830, t: 1.117651 4.062967 -0.544270 q: 0.993611 -0.106806 -0.029649 0.021234 
time: 1403638629.527829, t: 1.112934 4.056021 -0.550022 q: 0.993293 -0.106307 -0.038217 0.024639 
time: 1403638629.627830, t: 1.113819 4.048658 -0.550230 q: 0.993256 -0.103830 -0.039573 0.033113 
time: 1403638629.727829, t: 1.117874 4.040735 -0.548399 q: 0.993343 -0.100188 -0.033764 0.045736 
time: 1403638629.827830, t: 1.122484 4.036372 -0.543040 q: 0.993502 -0.098727 -0.023944 0.051317 
time: 1403638629.927830, t: 1.120682 4.037078 -0.534825 q: 0.993718 -0.100754 -0.012919 0.046960 
time: 1403638630.027829, t: 1.109383 4.041208 -0.524722 q: 0.993849 -0.104831 -0.002068 0.035639 
optimize pose graph 
time: 1403638630.127830, t: 1.086402 4.045655 -0.515496 q: 0.993833 -0.107267 -0.002033 0.028029 
time: 1403638630.227829, t: 1.054511 4.049194 -0.506504 q: 0.993780 -0.108291 -0.008765 0.024426 
time: 1403638630.327830, t: 1.014925 4.076296 -0.482365 q: 0.993576 -0.109131 -0.018950 0.023179 
time: 1403638630.427830, t: 1.017258 4.036973 -0.486159 q: 0.993601 -0.102636 -0.030857 0.035648 
time: 1403638630.527829, t: 0.972917 4.036711 -0.430400 q: 0.994124 -0.104372 -0.010313 0.026799 
time: 1403638630.627830, t: 1.018829 4.048232 -0.440069 q: 0.994072 -0.105054 -0.011531 0.025512 
time: 1403638630.727829, t: 1.006950 4.037059 -0.474675 q: 0.993621 -0.095085 -0.056230 0.022684 
time: 1403638630.927830, t: 0.912776 4.088405 -0.409303 q: 0.993898 -0.096172 -0.049166 0.022362 
time: 1403638631.027829, t: 0.942164 4.047893 -0.439492 q: 0.993735 -0.096781 -0.050997 0.022899 
time: 1403638631.127830, t: 0.932307 4.054286 -0.437740 q: 0.993748 -0.096718 -0.050774 0.023068 
time: 1403638631.227829, t: 0.929204 4.051110 -0.436350 q: 0.993724 -0.096820 -0.051083 0.022984 
time: 1403638631.327830, t: 0.924521 4.048717 -0.431002 q: 0.993760 -0.096949 -0.050098 0.023077 
time: 1403638631.427830, t: 0.923988 4.048725 -0.431228 q: 0.993752 -0.097141 -0.050106 0.022592 
time: 1403638631.527829, t: 0.923866 4.049034 -0.431227 q: 0.993749 -0.097085 -0.050268 0.022616 
time: 1403638631.627830, t: 0.923599 4.049609 -0.431475 q: 0.993748 -0.097141 -0.050298 0.022331 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720511118.916081703]: Shutdown request received.[0m
[33m[ WARN] [1720511118.916134971]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720511118.917039969]: Shutdown request received.[0m
[33m[ WARN] [1720511118.917065649]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/e541f1d8-3dc6-11ef-bfb3-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
