/SLAM-Hive/slam_hive_results/mapping_results/3079/2287_vins-fusion-stereo+MH_05_difficult+Image_comb_test-7.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720511905.424680300]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720511905.426516742]: init begins[0m
[31m[ERROR] [1720511905.427511965]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/05140b52-3dc9-11ef-8157-0242ac110005/roslaunch-8657bf49e2d2-118.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://8657bf49e2d2:40699/[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] [1720511906.533119337]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720511906.538085410]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720511906.538320083]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720511906.538350202]: 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] [1720511906.538570320]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720511906.538754809]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720511906.538943361]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://8657bf49e2d2:11311/[0m
]2;roscore http://8657bf49e2d2:11311/
[1msetting /run_id to 05140b52-3dc9-11ef-8157-0242ac110005[0m
[0m[ INFO] [1720511906.580080435]: 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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720511915.581673623]: 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: 316873397.65 
[0m[ INFO] [1720511918.088242976]: Initialization finish![0m
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time: 1403638520.577830, t: -0.000410 0.000418 -0.000856 q: 1.000000 -0.000009 -0.000150 -0.000021 
time: 1403638520.777829, t: -0.000459 -0.000080 -0.000087 q: 1.000000 -0.000013 -0.000288 -0.000023 
time: 1403638520.977829, t: -0.000815 0.000393 -0.000826 q: 1.000000 0.000053 -0.000378 -0.000090 
time: 1403638521.177830, t: -0.000882 0.000276 -0.000624 q: 1.000000 0.000059 -0.000442 0.000129 
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time: 1403638521.577830, t: -0.000950 0.000136 -0.000587 q: 0.999999 0.000094 -0.000484 0.001460 
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time: 1403638521.977829, t: -0.000424 -0.000046 -0.000522 q: 0.999998 0.001966 0.000234 -0.000510 
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time: 1403638523.577830, t: 0.338866 -0.064860 -0.061443 q: 0.998838 0.041848 0.022940 0.006708 
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time: 1403638540.977829, t: 0.466938 0.027996 0.497851 q: 0.998573 0.024901 0.014475 -0.044968 
time: 1403638541.177830, t: 0.518510 -0.008320 0.601917 q: 0.996174 0.062204 0.015752 -0.059336 
time: 1403638541.377830, t: 0.564145 -0.056826 0.697761 q: 0.994877 0.075983 0.014450 -0.065098 
time: 1403638541.577830, t: 0.626177 -0.132266 0.793924 q: 0.994721 0.076642 0.017062 -0.066066 
time: 1403638541.777829, t: 0.713642 -0.241823 0.874488 q: 0.993378 0.092254 0.019588 -0.065614 
time: 1403638541.977829, t: 0.814436 -0.357501 0.940334 q: 0.989463 0.124563 0.016565 -0.071917 
time: 1403638542.177830, t: 0.901019 -0.484330 1.003529 q: 0.981815 0.168404 0.013014 -0.086660 
time: 1403638542.377830, t: 0.965123 -0.611708 1.075762 q: 0.970158 0.216580 0.013559 -0.108179 
time: 1403638542.577830, t: 1.012950 -0.752069 1.163892 q: 0.959837 0.239468 0.042482 -0.139872 
time: 1403638542.777829, t: 1.049525 -0.869422 1.213508 q: 0.956326 0.253549 0.037121 -0.140628 
time: 1403638542.977829, t: 1.106722 -1.019540 1.239626 q: 0.956725 0.259959 0.020548 -0.129136 
optimize pose graph 
time: 1403638543.177830, t: 1.163302 -1.168101 1.252138 q: 0.957581 0.260328 0.014722 -0.122683 
time: 1403638543.377830, t: 1.216772 -1.323796 1.268193 q: 0.958354 0.259078 0.013001 -0.119447 
time: 1403638543.577830, t: 1.242905 -1.491140 1.296424 q: 0.952919 0.274468 0.011501 -0.128376 
time: 1403638543.777829, t: 1.254649 -1.644130 1.328123 q: 0.937945 0.311980 0.013391 -0.150824 
time: 1403638543.977829, t: 1.295676 -1.830082 1.346196 q: 0.918441 0.356456 0.016173 -0.170714 
time: 1403638544.177830, t: 1.351740 -2.021641 1.352160 q: 0.905653 0.387504 0.009129 -0.171900 
time: 1403638544.377830, t: 1.392380 -2.212080 1.376806 q: 0.900942 0.398228 0.007673 -0.172216 
time: 1403638544.577830, t: 1.429804 -2.410332 1.404450 q: 0.900605 0.399135 0.009890 -0.171768 
time: 1403638544.777829, t: 1.476967 -2.600131 1.433135 q: 0.898511 0.404737 0.019620 -0.168764 
time: 1403638544.977829, t: 1.519452 -2.790847 1.459979 q: 0.898080 0.404458 0.010555 -0.172496 
time: 1403638545.177830, t: 1.536082 -2.978292 1.495044 q: 0.897536 0.405419 0.011719 -0.172994 
time: 1403638545.377830, t: 1.526703 -3.158066 1.543333 q: 0.896904 0.406598 0.016876 -0.173078 
time: 1403638545.577830, t: 1.510665 -3.339238 1.589122 q: 0.892259 0.415790 0.013472 -0.175532 
time: 1403638545.777829, t: 1.522645 -3.520877 1.639987 q: 0.874603 0.446485 0.009041 -0.188782 
time: 1403638545.977829, t: 1.552558 -3.701421 1.671989 q: 0.847016 0.487519 0.008105 -0.211717 
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time: 1403638546.377830, t: 1.604306 -4.066241 1.715549 q: 0.814789 0.531502 0.006077 -0.231487 
time: 1403638546.577830, t: 1.612114 -4.255132 1.748601 q: 0.810602 0.537198 0.003482 -0.233090 
time: 1403638546.777829, t: 1.630675 -4.449321 1.770499 q: 0.801112 0.548576 0.004859 -0.239291 
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time: 1403638603.377830, t: 6.737078 -7.942732 8.000201 q: 0.909978 0.393162 0.030678 -0.128152 
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time: 1403638603.977829, t: 6.652170 -8.029250 7.733301 q: 0.901651 0.396125 0.062138 -0.162019 
time: 1403638604.177830, t: 6.570304 -8.024454 7.610974 q: 0.901325 0.392624 0.068783 -0.169497 
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time: 1403638604.777829, t: 6.333208 -7.962977 7.013446 q: 0.904602 0.397130 0.019463 -0.153640 
time: 1403638604.977829, t: 6.255586 -7.926174 6.792280 q: 0.905277 0.395399 0.002929 -0.155324 
optimize pose graph 
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time: 1403638605.377830, t: 6.158137 -7.856485 6.379235 q: 0.904994 0.388597 -0.009593 -0.172873 
time: 1403638605.577830, t: 6.107583 -7.842522 6.198724 q: 0.903641 0.384020 0.021171 -0.188449 
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time: 1403638605.977829, t: 5.985069 -7.865523 5.787396 q: 0.902394 0.379073 0.033428 -0.202165 
time: 1403638606.177830, t: 5.921690 -7.909527 5.540449 q: 0.902508 0.375827 0.034221 -0.207515 
time: 1403638606.377830, t: 5.824590 -7.975620 5.285914 q: 0.903924 0.376608 0.019126 -0.201799 
time: 1403638606.577830, t: 5.700365 -8.074647 5.024937 q: 0.905501 0.382257 -0.012904 -0.183795 
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time: 1403638606.977829, t: 5.419850 -8.345368 4.572041 q: 0.880029 0.429226 -0.038245 -0.199628 
optimize pose graph 
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time: 1403638607.777829, t: 4.981747 -9.119235 3.895911 q: 0.846928 0.497662 -0.005102 -0.187133 
time: 1403638607.977829, t: 4.849199 -9.291380 3.794139 q: 0.848197 0.497688 -0.014456 -0.180720 
time: 1403638608.177830, t: 4.706204 -9.444116 3.707300 q: 0.850177 0.494464 -0.003393 -0.180809 
time: 1403638608.377830, t: 4.558388 -9.594856 3.642054 q: 0.851102 0.492916 0.015827 -0.180022 
time: 1403638608.577830, t: 4.384469 -9.717638 3.566669 q: 0.852249 0.490625 0.013830 -0.181019 
time: 1403638608.777829, t: 4.214112 -9.821283 3.516666 q: 0.851543 0.494085 0.018678 -0.174372 
time: 1403638608.977829, t: 4.064218 -9.905182 3.435929 q: 0.852137 0.492401 0.005294 -0.177131 
time: 1403638609.177830, t: 3.947866 -9.980429 3.370692 q: 0.852155 0.492940 -0.000238 -0.175619 
optimize pose graph 
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time: 1403638609.577830, t: 3.698950 -10.065074 3.292289 q: 0.852433 0.492730 0.001344 -0.174854 
time: 1403638609.777829, t: 3.550718 -10.089140 3.285359 q: 0.852211 0.491843 0.003578 -0.178364 
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time: 1403638610.377830, t: 3.210226 -10.092503 3.220229 q: 0.853796 0.493511 0.017026 -0.164893 
time: 1403638610.577830, t: 3.083758 -10.057371 3.208018 q: 0.854262 0.493644 0.028984 -0.160348 
time: 1403638610.777829, t: 2.963144 -9.992797 3.215933 q: 0.853647 0.495587 0.027329 -0.157904 
time: 1403638610.977829, t: 2.852933 -9.901285 3.195427 q: 0.853525 0.494932 0.015080 -0.162206 
time: 1403638611.177830, t: 2.759096 -9.791188 3.194206 q: 0.852336 0.498187 0.020206 -0.157872 
optimize pose graph 
time: 1403638611.377830, t: 2.660578 -9.658010 3.187928 q: 0.852326 0.495438 0.024798 -0.165731 
time: 1403638611.577830, t: 2.569272 -9.497331 3.169202 q: 0.853002 0.485879 0.034970 -0.187310 
time: 1403638611.777829, t: 2.503042 -9.338497 3.123457 q: 0.854283 0.486740 0.021650 -0.181152 
time: 1403638611.977829, t: 2.418909 -9.174930 3.071229 q: 0.855595 0.488720 0.006962 -0.170477 
time: 1403638612.177830, t: 2.338979 -9.008380 3.034545 q: 0.856127 0.488615 0.002237 -0.168220 
time: 1403638612.377830, t: 2.291821 -8.841595 2.998505 q: 0.856353 0.487932 0.003536 -0.169025 
time: 1403638612.577830, t: 2.252386 -8.671902 2.972593 q: 0.857348 0.485323 0.010682 -0.171177 
time: 1403638612.777829, t: 2.175638 -8.501772 2.950589 q: 0.859124 0.479343 0.018773 -0.178280 
time: 1403638612.977829, t: 2.113072 -8.336311 2.930067 q: 0.860433 0.478267 0.021212 -0.174546 
time: 1403638613.177830, t: 2.063911 -8.169123 2.882527 q: 0.861192 0.477571 0.013139 -0.173501 
time: 1403638613.377830, t: 2.029583 -7.998240 2.811856 q: 0.861610 0.476322 0.013560 -0.174820 
time: 1403638613.577830, t: 2.004826 -7.830383 2.759778 q: 0.863737 0.473740 0.015716 -0.171119 
time: 1403638613.777829, t: 1.938119 -7.660033 2.694215 q: 0.867735 0.471600 0.022910 -0.155255 
time: 1403638613.977829, t: 1.845144 -7.471189 2.639025 q: 0.879443 0.452183 0.026101 -0.146390 
time: 1403638614.177830, t: 1.740773 -7.260619 2.587759 q: 0.898148 0.415999 0.021763 -0.140714 
time: 1403638614.377830, t: 1.658667 -7.047969 2.520082 q: 0.912670 0.386218 0.015122 -0.132819 
time: 1403638614.577830, t: 1.607864 -6.831279 2.442427 q: 0.920605 0.370462 0.010877 -0.122987 
time: 1403638614.777829, t: 1.589596 -6.609170 2.359175 q: 0.931127 0.350207 -0.000171 -0.101775 
time: 1403638614.977829, t: 1.592228 -6.372378 2.283889 q: 0.946117 0.312687 -0.012452 -0.083270 
time: 1403638615.177830, t: 1.639232 -6.119530 2.198663 q: 0.964378 0.254970 -0.004135 -0.070340 
time: 1403638615.377830, t: 1.701087 -5.862106 2.165917 q: 0.979694 0.191618 0.009282 -0.058276 
time: 1403638615.577830, t: 1.720716 -5.622297 2.100521 q: 0.990561 0.130665 0.016493 -0.037989 
time: 1403638615.777829, t: 1.760443 -5.381082 2.047375 q: 0.995099 0.095028 0.014058 -0.023471 
time: 1403638615.977829, t: 1.792944 -5.143388 2.002853 q: 0.997150 0.072803 0.015008 -0.012908 
time: 1403638616.177830, t: 1.784940 -4.911389 1.947504 q: 0.998989 0.041281 0.017789 -0.000353 
time: 1403638616.377830, t: 1.752105 -4.657918 1.914752 q: 0.999734 0.001413 0.016352 0.016218 
time: 1403638616.577830, t: 1.672800 -4.424893 1.878462 q: 0.998891 -0.034204 0.012456 0.029864 
time: 1403638616.777829, t: 1.578730 -4.182874 1.861183 q: 0.997725 -0.047634 -0.011647 0.046257 
time: 1403638616.977829, t: 1.491407 -3.938270 1.857387 q: 0.997294 -0.051146 -0.018681 0.049403 
time: 1403638617.177830, t: 1.458141 -3.681912 1.855206 q: 0.997916 -0.055002 -0.006825 0.033043 
time: 1403638617.377830, t: 1.459082 -3.424027 1.870685 q: 0.998157 -0.051718 -0.018626 0.025727 
time: 1403638617.577830, t: 1.506881 -3.175752 1.888164 q: 0.998244 -0.049175 -0.025983 0.020380 
time: 1403638617.777829, t: 1.573006 -2.922537 1.933325 q: 0.998671 -0.045520 -0.019807 0.013815 
time: 1403638617.977829, t: 1.678933 -2.692222 1.983927 q: 0.998859 -0.042787 -0.018003 0.011237 
time: 1403638618.177830, t: 1.774568 -2.474787 2.061720 q: 0.999004 -0.039522 -0.017012 0.011800 
time: 1403638618.377830, t: 1.853218 -2.269200 2.161310 q: 0.999095 -0.038451 -0.015242 0.009944 
time: 1403638618.577830, t: 1.937188 -2.069461 2.275835 q: 0.999163 -0.037828 -0.013722 0.007374 
time: 1403638618.777829, t: 2.016342 -1.874484 2.404210 q: 0.998842 -0.045679 -0.012112 0.008977 
time: 1403638618.977829, t: 2.124637 -1.690364 2.542597 q: 0.998148 -0.059191 -0.002164 0.013853 
time: 1403638619.177830, t: 2.201338 -1.519357 2.685897 q: 0.994809 -0.097931 0.007687 0.026546 
time: 1403638619.377830, t: 2.256547 -1.373906 2.840609 q: 0.987335 -0.149966 0.013377 0.050008 
time: 1403638619.577830, t: 2.290512 -1.239089 2.986988 q: 0.980055 -0.184779 0.018108 0.070858 
time: 1403638619.777829, t: 2.310065 -1.105100 3.154999 q: 0.975843 -0.193803 0.023022 0.098188 
time: 1403638619.977829, t: 2.331471 -0.973182 3.305218 q: 0.973683 -0.200320 0.024713 0.105842 
time: 1403638620.177830, t: 2.356498 -0.832921 3.430165 q: 0.972627 -0.206405 0.032001 0.101831 
time: 1403638620.377830, t: 2.403033 -0.679827 3.516234 q: 0.972806 -0.209031 0.027601 0.095877 
time: 1403638620.577830, t: 2.453235 -0.530103 3.585862 q: 0.973535 -0.207959 0.023281 0.091877 
time: 1403638620.777829, t: 2.471588 -0.373382 3.646888 q: 0.974467 -0.202640 0.013906 0.095699 
time: 1403638620.977829, t: 2.474877 -0.212935 3.710732 q: 0.975585 -0.203285 0.008448 0.082689 
time: 1403638621.177830, t: 2.473442 -0.050869 3.770635 q: 0.976516 -0.201243 0.014474 0.075554 
time: 1403638621.377830, t: 2.495125 0.099279 3.816413 q: 0.977214 -0.199833 0.015704 0.069811 
time: 1403638621.577830, t: 2.507323 0.244434 3.855820 q: 0.977780 -0.197824 0.022764 0.065533 
time: 1403638621.777829, t: 2.494424 0.372831 3.900245 q: 0.977993 -0.196960 0.027410 0.063122 
time: 1403638621.977829, t: 2.465345 0.490297 3.928910 q: 0.977865 -0.197019 0.037360 0.059728 
time: 1403638622.177830, t: 2.415142 0.587049 3.951173 q: 0.978002 -0.194848 0.036207 0.065081 
time: 1403638622.377830, t: 2.367738 0.667714 3.951201 q: 0.977849 -0.194500 0.035261 0.068832 
time: 1403638622.577830, t: 2.346911 0.733451 3.916303 q: 0.977516 -0.198646 0.033427 0.062332 
time: 1403638622.777829, t: 2.354738 0.777764 3.857803 q: 0.976018 -0.202533 0.057381 0.055462 
time: 1403638622.977829, t: 2.354855 0.804779 3.762432 q: 0.975637 -0.203530 0.058787 0.057024 
time: 1403638623.177830, t: 2.329813 0.815184 3.645758 q: 0.976493 -0.200162 0.041451 0.068391 
time: 1403638623.377830, t: 2.275011 0.811559 3.512127 q: 0.976855 -0.197809 0.031563 0.075033 
time: 1403638623.577830, t: 2.209055 0.797575 3.367880 q: 0.976818 -0.199106 0.028272 0.073373 
time: 1403638623.777829, t: 2.159168 0.784581 3.209347 q: 0.976545 -0.201757 0.025453 0.070751 
time: 1403638624.177830, t: 2.079359 0.738801 2.866184 q: 0.975683 -0.204411 0.020445 0.076420 
time: 1403638624.377830, t: 2.013146 0.712550 2.698767 q: 0.975166 -0.204800 0.020968 0.081659 
time: 1403638624.577830, t: 1.932632 0.691364 2.532782 q: 0.974242 -0.205022 0.034364 0.087398 
time: 1403638624.777829, t: 1.827141 0.674676 2.358174 q: 0.975756 -0.203248 0.033716 0.073844 
time: 1403638624.977829, t: 1.762696 0.631600 2.170422 q: 0.978478 -0.193523 0.020667 0.068575 
time: 1403638625.177830, t: 1.691855 0.597232 1.970152 q: 0.980209 -0.181808 0.019664 0.075827 
time: 1403638625.377830, t: 1.625062 0.549255 1.770573 q: 0.980818 -0.178689 0.018021 0.075766 
time: 1403638625.577830, t: 1.544948 0.534335 1.571124 q: 0.981094 -0.177486 0.018965 0.074786 
time: 1403638625.777829, t: 1.503279 0.505402 1.359315 q: 0.981098 -0.177552 0.007800 0.076556 
time: 1403638625.977829, t: 1.445129 0.495843 1.157322 q: 0.980924 -0.178672 0.002108 0.076550 
time: 1403638626.177830, t: 1.379945 0.488910 0.972045 q: 0.980694 -0.178883 -0.001529 0.078983 
time: 1403638626.377830, t: 1.299733 0.490307 0.798760 q: 0.980623 -0.183911 0.003894 0.067384 
time: 1403638626.577830, t: 1.203954 0.485683 0.644334 q: 0.980689 -0.185092 0.002237 0.063128 
time: 1403638626.777829, t: 1.119518 0.484122 0.496524 q: 0.980763 -0.183169 -0.007918 0.067013 
time: 1403638626.977829, t: 1.065139 0.482465 0.360250 q: 0.980837 -0.182131 -0.014240 0.067715 
time: 1403638627.177830, t: 1.013868 0.481129 0.252563 q: 0.981054 -0.180904 -0.013895 0.067931 
time: 1403638627.377830, t: 0.960531 0.476117 0.157760 q: 0.981146 -0.182116 -0.012633 0.063459 
optimize pose graph 
time: 1403638627.577830, t: 0.905685 0.479158 0.089267 q: 0.981105 -0.182948 -0.011391 0.061915 
time: 1403638627.777829, t: 0.858979 0.478548 0.033605 q: 0.980977 -0.185186 -0.003337 0.058131 
time: 1403638627.977829, t: 0.808641 0.459484 -0.012157 q: 0.980696 -0.186786 -0.006045 0.057526 
time: 1403638628.177830, t: 0.776432 0.464086 -0.048285 q: 0.980396 -0.188280 -0.009974 0.057226 
time: 1403638628.377830, t: 0.757201 0.442276 -0.073119 q: 0.980145 -0.188649 -0.012021 0.059863 
time: 1403638628.577830, t: 0.744897 0.408188 -0.079558 q: 0.979989 -0.183863 0.005591 0.076063 
time: 1403638628.777829, t: 0.741257 0.392364 -0.091704 q: 0.979787 -0.182784 0.010310 0.080634 
time: 1403638628.977829, t: 0.723455 0.385788 -0.099791 q: 0.979760 -0.187142 0.007744 0.070625 
time: 1403638629.177830, t: 0.705325 0.378598 -0.114412 q: 0.979823 -0.189883 0.003571 0.062276 
time: 1403638629.377830, t: 0.691263 0.362136 -0.132019 q: 0.979744 -0.190567 -0.002618 0.061479 
optimize pose graph 
time: 1403638629.577830, t: 0.696556 0.346888 -0.135669 q: 0.979456 -0.188962 -0.016330 0.068503 
time: 1403638629.777829, t: 0.707681 0.334126 -0.130514 q: 0.979116 -0.182632 -0.003243 0.089261 
time: 1403638629.977829, t: 0.702807 0.340058 -0.114984 q: 0.978969 -0.187075 0.017503 0.079470 
time: 1403638630.177830, t: 0.662894 0.347770 -0.105814 q: 0.979066 -0.192209 0.018424 0.064387 
time: 1403638630.377830, t: 0.604936 0.350541 -0.133419 q: 0.979380 -0.189222 -0.023455 0.066783 
time: 1403638630.577830, t: 0.658004 0.355535 -0.067530 q: 0.979806 -0.188538 0.009263 0.065938 
time: 1403638630.777829, t: 0.559175 0.333334 -0.053317 q: 0.980622 -0.183716 -0.031079 0.060528 
time: 1403638630.977829, t: 0.562998 0.325670 -0.046333 q: 0.980912 -0.181511 -0.028422 0.063702 
time: 1403638631.177830, t: 0.531251 0.377535 -0.025203 q: 0.981236 -0.180178 -0.027138 0.063054 
time: 1403638631.377830, t: 0.546174 0.337639 -0.032919 q: 0.980994 -0.181360 -0.028177 0.062975 
time: 1403638631.577830, t: 0.547752 0.336245 -0.030302 q: 0.980992 -0.181197 -0.028073 0.063511 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720512031.237030247]: Shutdown request received.[0m
[33m[ WARN] [1720512031.237066991]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720512031.237956737]: Shutdown request received.[0m
[33m[ WARN] [1720512031.237981687]: Reason given for shutdown: [user request][0m
killed
