/SLAM-Hive/slam_hive_results/mapping_results/3110/2315_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-5.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720541692.952687965]: init begins[0m
[31m[ERROR] [1720541692.953120814]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720541692.953664663]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/5fd53e7c-3e0e-11ef-adaf-0242ac110005/roslaunch-36be29257d22-118.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://36be29257d22:40977/[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
[1mROS_MASTER_URI=http://36be29257d22:11311/[0m
]2;roscore http://36be29257d22:11311/
[1msetting /run_id to 5fd53e7c-3e0e-11ef-adaf-0242ac110005[0m
[0m[ INFO] [1720541694.108911901]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720541694.109420387]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720541694.117063369]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720541694.117275332]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720541694.117298534]: ROW: 96 COL: 150 [0m
 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 9.81007
[0m[ INFO] [1720541694.117577238]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720541694.117812868]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720541694.117974242]: 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
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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [230][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720541703.070459697]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316905124.34 
init first imu pose
averge acc 7.745210 -0.452196 -2.672312
init R0 
  0.330294    0.15748   0.930648
         0  -0.985983   0.166843
  0.943878 -0.0551073  -0.325664
[33m[ WARN] [1720541705.315068999]: gyroscope bias initial calibration 0.00368699  0.0190576  0.0654809[0m
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time: 1403636593.113555, t: 0.116813 -0.080832 -0.017694 q: -0.096874 0.890195 0.097751 0.434297 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
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time: 1403636599.313555, t: -0.007871 -0.113403 -0.208842 q: -0.137659 0.801717 0.154677 0.560691 
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time: 1403636599.813555, t: 0.053895 -0.092695 -0.261324 q: -0.124404 0.790237 0.137865 0.583989 
time: 1403636599.913555, t: 0.057134 -0.094367 -0.269265 q: -0.127667 0.785472 0.135837 0.590155 
time: 1403636600.013556, t: 0.059063 -0.096234 -0.275568 q: -0.127588 0.787041 0.132732 0.588787 
time: 1403636600.113555, t: 0.058467 -0.098327 -0.275908 q: -0.131814 0.785393 0.129585 0.590755 
time: 1403636600.213556, t: 0.058072 -0.098817 -0.275820 q: -0.131239 0.785435 0.129511 0.590842 
time: 1403636600.313555, t: 0.058340 -0.098970 -0.276500 q: -0.131445 0.785680 0.129036 0.590575 
time: 1403636600.413555, t: 0.058368 -0.098955 -0.276393 q: -0.131250 0.785803 0.128400 0.590594 
time: 1403636600.513556, t: 0.058219 -0.098986 -0.276306 q: -0.130651 0.785840 0.127634 0.590844 
time: 1403636600.613555, t: 0.058172 -0.098796 -0.276229 q: -0.130327 0.786060 0.127318 0.590689 
wait for imu ... 
wait for imu ... 
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wait for imu ... 
wait for imu ... 
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time: 1403636600.913555, t: 0.058552 -0.098986 -0.276618 q: -0.128896 0.786379 0.127050 0.590637 
time: 1403636601.013556, t: 0.058609 -0.099023 -0.276685 q: -0.128317 0.786528 0.126733 0.590633 
time: 1403636601.113555, t: 0.058521 -0.098887 -0.276623 q: -0.127876 0.786661 0.126309 0.590642 
time: 1403636601.213556, t: 0.058518 -0.098926 -0.276531 q: -0.127594 0.786728 0.126056 0.590668 
time: 1403636601.313555, t: 0.058501 -0.099003 -0.276610 q: -0.127207 0.786823 0.125734 0.590693 
time: 1403636601.413555, t: 0.058464 -0.099069 -0.276631 q: -0.127053 0.786897 0.125455 0.590688 
time: 1403636601.513556, t: 0.058417 -0.099404 -0.276161 q: -0.127065 0.786871 0.125351 0.590742 
wait for imu ... 
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time: 1403636601.713556, t: 0.058362 -0.099909 -0.275812 q: -0.126673 0.787001 0.124943 0.590739 
wait for imu ... 
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time: 1403636601.913555, t: 0.058979 -0.100667 -0.274358 q: -0.126645 0.787095 0.124979 0.590612 
time: 1403636602.013556, t: 0.059413 -0.101226 -0.273214 q: -0.126620 0.787122 0.124975 0.590583 
time: 1403636602.113555, t: 0.060127 -0.101819 -0.272040 q: -0.126585 0.787216 0.124934 0.590474 
time: 1403636602.213556, t: 0.060988 -0.102491 -0.270893 q: -0.126536 0.787266 0.124919 0.590421 
wait for imu ... 
time: 1403636602.313555, t: 0.061976 -0.103559 -0.270102 q: -0.126422 0.787348 0.124945 0.590330 
time: 1403636602.413555, t: 0.062807 -0.104732 -0.269645 q: -0.126312 0.787399 0.124931 0.590289 
time: 1403636602.513556, t: 0.063606 -0.105813 -0.268983 q: -0.126148 0.787467 0.124857 0.590249 
time: 1403636602.613555, t: 0.064284 -0.106933 -0.268465 q: -0.126003 0.787549 0.124804 0.590181 
time: 1403636602.713556, t: 0.065065 -0.107785 -0.267840 q: -0.125852 0.787604 0.124644 0.590173 
time: 1403636602.813555, t: 0.065301 -0.108565 -0.267240 q: -0.125620 0.787656 0.124494 0.590186 
time: 1403636602.913555, t: 0.065416 -0.109356 -0.266869 q: -0.125398 0.787712 0.124378 0.590182 
time: 1403636603.013556, t: 0.065748 -0.109963 -0.266464 q: -0.125110 0.787764 0.124226 0.590206 
wait for imu ... 
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wait for imu ... 
time: 1403636603.213556, t: 0.065438 -0.110831 -0.266759 q: -0.124534 0.787887 0.123895 0.590233 
time: 1403636603.313555, t: 0.065506 -0.111156 -0.266581 q: -0.124346 0.787920 0.123810 0.590247 
time: 1403636603.413555, t: 0.065950 -0.111536 -0.266329 q: -0.124181 0.787937 0.123693 0.590284 
time: 1403636603.513556, t: 0.066177 -0.111692 -0.265976 q: -0.123951 0.788036 0.123533 0.590232 
time: 1403636603.613555, t: 0.066531 -0.111891 -0.265709 q: -0.123787 0.788095 0.123431 0.590210 
time: 1403636603.713556, t: 0.066763 -0.112299 -0.265667 q: -0.123615 0.788137 0.123306 0.590216 
time: 1403636603.813555, t: 0.067074 -0.112577 -0.265253 q: -0.123482 0.788217 0.123223 0.590154 
time: 1403636603.913555, t: 0.067406 -0.113089 -0.264942 q: -0.123458 0.788226 0.123103 0.590173 
time: 1403636604.013556, t: 0.067646 -0.113702 -0.264762 q: -0.123368 0.788229 0.122962 0.590216 
time: 1403636604.113555, t: 0.067937 -0.114257 -0.264677 q: -0.123222 0.788259 0.122871 0.590226 
time: 1403636604.213556, t: 0.068210 -0.114822 -0.264557 q: -0.123054 0.788301 0.122792 0.590221 
time: 1403636604.313555, t: 0.068730 -0.115406 -0.264346 q: -0.122930 0.788348 0.122692 0.590205 
wait for imu ... 
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time: 1403636604.513556, t: 0.069684 -0.117025 -0.263953 q: -0.122664 0.788425 0.122577 0.590182 
wait for imu ... 
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wait for imu ... 
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time: 1403636604.813555, t: 0.071383 -0.118446 -0.263418 q: -0.122203 0.788567 0.122397 0.590125 
wait for imu ... 
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time: 1403636605.013556, t: 0.071751 -0.119589 -0.262939 q: -0.122005 0.788644 0.122283 0.590087 
time: 1403636605.113555, t: 0.071792 -0.120407 -0.263011 q: -0.121871 0.788646 0.122268 0.590115 
time: 1403636605.213556, t: 0.072211 -0.120987 -0.262828 q: -0.121799 0.788690 0.122170 0.590091 
time: 1403636605.313555, t: 0.072113 -0.121475 -0.262663 q: -0.121649 0.788699 0.122092 0.590126 
time: 1403636605.413555, t: 0.072173 -0.121925 -0.262665 q: -0.121544 0.788733 0.122003 0.590121 
time: 1403636605.513556, t: 0.072216 -0.122241 -0.262459 q: -0.121453 0.788781 0.121927 0.590092 
wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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time: 1403636605.913555, t: 0.070411 -0.123748 -0.262949 q: -0.121131 0.788813 0.121590 0.590184 
wait for imu ... 
time: 1403636606.013556, t: 0.070384 -0.124758 -0.263993 q: -0.121062 0.788795 0.121525 0.590236 
time: 1403636606.113555, t: 0.070423 -0.125623 -0.264319 q: -0.120987 0.788778 0.121476 0.590284 
time: 1403636606.313555, t: 0.070034 -0.126654 -0.265182 q: -0.120685 0.788804 0.121317 0.590344 
time: 1403636606.413555, t: 0.070013 -0.126976 -0.264977 q: -0.120580 0.788828 0.121259 0.590345 
time: 1403636606.513556, t: 0.069958 -0.127167 -0.264854 q: -0.120516 0.788864 0.121148 0.590332 
time: 1403636606.613555, t: 0.070079 -0.127458 -0.264805 q: -0.120363 0.788875 0.121096 0.590360 
time: 1403636606.713556, t: 0.070995 -0.127870 -0.264220 q: -0.120351 0.788906 0.121165 0.590307 
time: 1403636606.813555, t: 0.071605 -0.128300 -0.263599 q: -0.120334 0.788960 0.121204 0.590230 
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time: 1403636607.013556, t: 0.072969 -0.129335 -0.262224 q: -0.120323 0.789035 0.121220 0.590129 
time: 1403636607.113555, t: 0.073484 -0.130045 -0.261678 q: -0.120326 0.789054 0.121267 0.590093 
time: 1403636607.213556, t: 0.073671 -0.130629 -0.261076 q: -0.120280 0.789099 0.121265 0.590043 
time: 1403636607.313555, t: 0.073977 -0.131188 -0.260507 q: -0.120239 0.789144 0.121248 0.589994 
time: 1403636607.413555, t: 0.074246 -0.131652 -0.259989 q: -0.120192 0.789176 0.121216 0.589968 
time: 1403636607.513556, t: 0.074270 -0.132037 -0.259514 q: -0.120161 0.789166 0.121176 0.589995 
time: 1403636607.613555, t: 0.074391 -0.132528 -0.259088 q: -0.120042 0.789186 0.121128 0.590003 
time: 1403636607.713556, t: 0.074524 -0.132973 -0.258825 q: -0.119958 0.789250 0.121072 0.589946 
wait for imu ... 
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wait for imu ... 
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time: 1403636608.113555, t: 0.075413 -0.134425 -0.258441 q: -0.119642 0.789355 0.120794 0.589927 
wait for imu ... 
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time: 1403636608.313555, t: 0.075941 -0.135397 -0.258897 q: -0.119555 0.789353 0.120717 0.589962 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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time: 1403636609.313555, t: 0.077545 -0.140488 -0.258021 q: -0.119097 0.789435 0.120529 0.589983 
wait for imu ... 
time: 1403636609.413555, t: 0.077719 -0.140731 -0.257897 q: -0.119029 0.789481 0.120486 0.589945 
wait for imu ... 
time: 1403636609.513556, t: 0.078077 -0.140875 -0.257721 q: -0.118975 0.789505 0.120473 0.589926 
wait for imu ... 
time: 1403636609.613555, t: 0.078186 -0.141113 -0.257394 q: -0.118984 0.789499 0.120429 0.589942 
wait for imu ... 
time: 1403636609.713556, t: 0.078569 -0.141505 -0.257099 q: -0.118951 0.789503 0.120420 0.589945 
time: 1403636609.813555, t: 0.078941 -0.141889 -0.256844 q: -0.119028 0.789607 0.120427 0.589788 
wait for imu ... 
time: 1403636609.913555, t: 0.079443 -0.142488 -0.256499 q: -0.119075 0.789580 0.120419 0.589817 
wait for imu ... 
time: 1403636610.013556, t: 0.079645 -0.143181 -0.256269 q: -0.119076 0.789586 0.120391 0.589814 
wait for imu ... 
time: 1403636610.113555, t: 0.080033 -0.143796 -0.255976 q: -0.119131 0.789580 0.120370 0.589815 
time: 1403636610.213556, t: 0.080540 -0.144425 -0.255584 q: -0.119128 0.789589 0.120328 0.589813 
time: 1403636610.313555, t: 0.080882 -0.145228 -0.255415 q: -0.119086 0.789602 0.120287 0.589812 
wait for imu ... 
time: 1403636610.413555, t: 0.081328 -0.145714 -0.255459 q: -0.118953 0.789628 0.120299 0.589802 
wait for imu ... 
time: 1403636610.513556, t: 0.081645 -0.146098 -0.255495 q: -0.118900 0.789662 0.120327 0.589761 
wait for imu ... 
time: 1403636610.613555, t: 0.081967 -0.146440 -0.255359 q: -0.118809 0.789669 0.120310 0.589773 
time: 1403636610.713556, t: 0.077144 -0.142506 -0.259179 q: -0.118143 0.789582 0.119849 0.590118 
wait for imu ... 
time: 1403636610.813555, t: 0.076949 -0.142458 -0.259614 q: -0.118034 0.789622 0.119954 0.590065 
time: 1403636610.913555, t: 0.076598 -0.142587 -0.259643 q: -0.118029 0.789553 0.120092 0.590130 
time: 1403636611.013556, t: 0.076198 -0.142316 -0.259711 q: -0.118005 0.789484 0.120005 0.590244 
time: 1403636611.113555, t: 0.076245 -0.142088 -0.260221 q: -0.118006 0.789550 0.120032 0.590150 
time: 1403636611.213556, t: 0.076221 -0.141613 -0.260638 q: -0.117663 0.789585 0.120057 0.590167 
time: 1403636611.313555, t: 0.075450 -0.141019 -0.261442 q: -0.117686 0.789569 0.119940 0.590208 
time: 1403636611.413555, t: 0.075675 -0.140326 -0.261906 q: -0.118082 0.789516 0.119853 0.590217 
wait for imu ... 
time: 1403636611.513556, t: 0.076509 -0.141577 -0.263425 q: -0.117330 0.789501 0.120043 0.590348 
time: 1403636611.613555, t: 0.078426 -0.141618 -0.265514 q: -0.117776 0.789559 0.120015 0.590188 
time: 1403636611.713556, t: 0.079549 -0.143843 -0.267094 q: -0.117814 0.789388 0.120084 0.590394 
time: 1403636611.813555, t: 0.079863 -0.147073 -0.267606 q: -0.118902 0.789471 0.119849 0.590113 
time: 1403636611.913555, t: 0.081763 -0.149648 -0.268309 q: -0.118680 0.789393 0.120512 0.590128 
time: 1403636612.113555, t: 0.085423 -0.150534 -0.269735 q: -0.119935 0.789418 0.120104 0.589923 
time: 1403636612.213556, t: 0.086853 -0.150479 -0.270514 q: -0.119720 0.789447 0.120243 0.589900 
time: 1403636612.313555, t: 0.087502 -0.150570 -0.271075 q: -0.120008 0.789297 0.120127 0.590066 
time: 1403636612.413555, t: 0.087370 -0.150897 -0.271355 q: -0.119712 0.789163 0.120470 0.590235 
time: 1403636612.513556, t: 0.088456 -0.151113 -0.271825 q: -0.119458 0.789121 0.120593 0.590318 
time: 1403636612.613555, t: 0.088989 -0.151169 -0.271736 q: -0.119071 0.789061 0.120717 0.590451 
time: 1403636612.713556, t: 0.089179 -0.150640 -0.271657 q: -0.119034 0.789065 0.120735 0.590449 
time: 1403636612.813555, t: 0.089018 -0.150489 -0.271604 q: -0.118682 0.789064 0.120804 0.590508 
time: 1403636612.913555, t: 0.089382 -0.150281 -0.272188 q: -0.118423 0.789073 0.120888 0.590530 
time: 1403636613.013556, t: 0.089968 -0.150024 -0.272089 q: -0.118400 0.789005 0.120841 0.590635 
time: 1403636613.113555, t: 0.090295 -0.149836 -0.272180 q: -0.118309 0.789038 0.120991 0.590579 
time: 1403636613.213556, t: 0.089833 -0.149913 -0.272167 q: -0.118336 0.788982 0.120845 0.590679 
time: 1403636613.313555, t: 0.089178 -0.150211 -0.271969 q: -0.118553 0.788895 0.120774 0.590765 
time: 1403636613.413555, t: 0.089013 -0.150323 -0.271982 q: -0.118516 0.788981 0.120801 0.590652 
time: 1403636613.513556, t: 0.088902 -0.150064 -0.272467 q: -0.118494 0.788962 0.120591 0.590725 
time: 1403636613.613555, t: 0.088556 -0.150849 -0.272298 q: -0.118468 0.789049 0.120607 0.590610 
time: 1403636613.713556, t: 0.088974 -0.150693 -0.272174 q: -0.118597 0.789066 0.120518 0.590580 
time: 1403636613.813555, t: 0.089027 -0.150691 -0.272092 q: -0.118654 0.789096 0.120546 0.590524 
time: 1403636613.913555, t: 0.088944 -0.150690 -0.272186 q: -0.118667 0.789132 0.120676 0.590446 
time: 1403636614.013556, t: 0.088999 -0.150744 -0.272252 q: -0.118811 0.789156 0.120685 0.590383 
time: 1403636614.113555, t: 0.089182 -0.150770 -0.272206 q: -0.118809 0.789138 0.120720 0.590400 
time: 1403636614.213556, t: 0.089191 -0.150815 -0.272258 q: -0.118815 0.789171 0.120772 0.590344 
time: 1403636614.313555, t: 0.089301 -0.150953 -0.272176 q: -0.118820 0.789158 0.120743 0.590367 
time: 1403636614.413555, t: 0.089242 -0.150704 -0.272295 q: -0.118758 0.789185 0.120648 0.590362 
time: 1403636614.513556, t: 0.089316 -0.151015 -0.272224 q: -0.118802 0.789108 0.120768 0.590432 
time: 1403636614.613555, t: 0.089175 -0.151028 -0.272269 q: -0.118732 0.789188 0.120735 0.590346 
time: 1403636614.713556, t: 0.089247 -0.150848 -0.272251 q: -0.118685 0.789195 0.120759 0.590341 
time: 1403636614.813555, t: 0.089201 -0.150840 -0.272239 q: -0.118539 0.789229 0.120815 0.590314 
time: 1403636614.913555, t: 0.089170 -0.150824 -0.272254 q: -0.118511 0.789234 0.120855 0.590304 
time: 1403636615.013556, t: 0.089223 -0.150746 -0.272238 q: -0.118485 0.789208 0.120834 0.590348 
time: 1403636615.113555, t: 0.089215 -0.150752 -0.272230 q: -0.118475 0.789240 0.120998 0.590274 
time: 1403636615.213556, t: 0.089224 -0.150803 -0.272200 q: -0.118426 0.789240 0.121082 0.590266 
time: 1403636615.313555, t: 0.089197 -0.150827 -0.272198 q: -0.118404 0.789254 0.121144 0.590240 
time: 1403636615.413555, t: 0.089213 -0.150765 -0.272197 q: -0.118375 0.789258 0.121128 0.590244 
time: 1403636615.513556, t: 0.089226 -0.150753 -0.272194 q: -0.118341 0.789267 0.121142 0.590235 
time: 1403636615.613555, t: 0.089239 -0.150746 -0.272163 q: -0.118315 0.789311 0.121187 0.590173 
time: 1403636615.713556, t: 0.089285 -0.150701 -0.272126 q: -0.118380 0.789367 0.121269 0.590067 
time: 1403636615.813555, t: 0.089427 -0.150769 -0.271997 q: -0.118365 0.789326 0.121240 0.590132 
time: 1403636615.913555, t: 0.089667 -0.150714 -0.271813 q: -0.118303 0.789380 0.121248 0.590071 
time: 1403636616.013556, t: 0.089823 -0.150656 -0.271778 q: -0.118311 0.789400 0.121252 0.590040 
time: 1403636616.113555, t: 0.090005 -0.150587 -0.271845 q: -0.118313 0.789379 0.121190 0.590082 
time: 1403636616.213556, t: 0.090245 -0.150284 -0.272280 q: -0.118234 0.789391 0.121165 0.590086 
time: 1403636616.313555, t: 0.090748 -0.149922 -0.272511 q: -0.118185 0.789383 0.121165 0.590107 
time: 1403636616.413555, t: 0.091162 -0.149438 -0.272850 q: -0.118197 0.789393 0.121121 0.590100 
time: 1403636616.513556, t: 0.091474 -0.148894 -0.273123 q: -0.118161 0.789367 0.121048 0.590157 
time: 1403636616.613555, t: 0.091833 -0.148283 -0.273201 q: -0.118113 0.789405 0.121067 0.590111 
time: 1403636616.713556, t: 0.092180 -0.147835 -0.273238 q: -0.118167 0.789407 0.121103 0.590091 
time: 1403636616.813555, t: 0.092531 -0.147349 -0.273246 q: -0.118207 0.789403 0.121100 0.590089 
time: 1403636616.913555, t: 0.092837 -0.147030 -0.273376 q: -0.118212 0.789405 0.121094 0.590087 
time: 1403636617.013556, t: 0.093065 -0.146906 -0.273590 q: -0.118233 0.789388 0.121136 0.590096 
time: 1403636617.113555, t: 0.093440 -0.146565 -0.273948 q: -0.118181 0.789384 0.121125 0.590115 
time: 1403636617.213556, t: 0.093695 -0.146382 -0.274386 q: -0.118223 0.789363 0.121131 0.590132 
time: 1403636617.313555, t: 0.093744 -0.146389 -0.274769 q: -0.118183 0.789358 0.121139 0.590146 
time: 1403636617.413555, t: 0.093804 -0.146324 -0.275077 q: -0.118182 0.789369 0.121147 0.590130 
time: 1403636617.513556, t: 0.093786 -0.146331 -0.275273 q: -0.118196 0.789355 0.121168 0.590141 
time: 1403636617.613555, t: 0.093772 -0.146332 -0.275413 q: -0.118202 0.789359 0.121226 0.590123 
time: 1403636617.713556, t: 0.093844 -0.146191 -0.275531 q: -0.118239 0.789320 0.121228 0.590167 
time: 1403636617.813555, t: 0.094090 -0.145829 -0.275692 q: -0.118212 0.789332 0.121164 0.590170 
time: 1403636617.913555, t: 0.094321 -0.145504 -0.275982 q: -0.118135 0.789351 0.121099 0.590173 
time: 1403636618.013556, t: 0.094513 -0.145294 -0.276179 q: -0.118100 0.789344 0.121083 0.590193 
time: 1403636618.113555, t: 0.094707 -0.145069 -0.276469 q: -0.118048 0.789332 0.121071 0.590221 
time: 1403636618.213556, t: 0.095068 -0.144707 -0.276749 q: -0.117985 0.789339 0.121130 0.590213 
time: 1403636618.313555, t: 0.095318 -0.144420 -0.277085 q: -0.117988 0.789340 0.121118 0.590214 
time: 1403636618.413555, t: 0.095423 -0.144257 -0.277459 q: -0.118004 0.789298 0.121098 0.590271 
time: 1403636618.513556, t: 0.094663 -0.145317 -0.277900 q: -0.118374 0.789206 0.121492 0.590239 
time: 1403636618.613555, t: 0.095384 -0.144872 -0.278516 q: -0.118374 0.789226 0.121384 0.590234 
time: 1403636618.713556, t: 0.096036 -0.144043 -0.279195 q: -0.118118 0.789323 0.120967 0.590241 
time: 1403636618.813555, t: 0.096479 -0.143311 -0.279630 q: -0.118401 0.789291 0.121139 0.590192 
time: 1403636618.913555, t: 0.096628 -0.142992 -0.279877 q: -0.118850 0.789212 0.121392 0.590155 
time: 1403636619.013556, t: 0.097183 -0.142430 -0.280016 q: -0.118971 0.789229 0.121373 0.590113 
wait for imu ... 
time: 1403636619.113555, t: 0.097653 -0.141958 -0.280255 q: -0.118976 0.789279 0.121228 0.590074 
time: 1403636619.213556, t: 0.098167 -0.141430 -0.280525 q: -0.118799 0.789314 0.121046 0.590101 
time: 1403636619.313555, t: 0.098696 -0.141013 -0.280719 q: -0.118802 0.789304 0.121201 0.590081 
time: 1403636619.413555, t: 0.099039 -0.140682 -0.280826 q: -0.119129 0.789196 0.121526 0.590092 
time: 1403636619.513556, t: 0.099431 -0.140426 -0.281250 q: -0.119000 0.789274 0.121320 0.590057 
wait for imu ... 
time: 1403636619.613555, t: 0.100152 -0.140359 -0.281804 q: -0.118987 0.789250 0.121378 0.590080 
time: 1403636619.713556, t: 0.100092 -0.140237 -0.282391 q: -0.118910 0.789233 0.121348 0.590124 
time: 1403636619.913555, t: 0.100463 -0.138710 -0.283571 q: -0.118947 0.789169 0.121205 0.590232 
wait for imu ... 
time: 1403636620.013556, t: 0.100916 -0.137602 -0.283811 q: -0.118983 0.789226 0.121254 0.590138 
wait for imu ... 
time: 1403636620.113555, t: 0.100903 -0.137625 -0.284310 q: -0.119047 0.789139 0.121400 0.590212 
time: 1403636620.213556, t: 0.101054 -0.137652 -0.284547 q: -0.119155 0.789146 0.121495 0.590161 
time: 1403636620.313555, t: 0.101639 -0.137312 -0.284499 q: -0.119200 0.789170 0.121439 0.590131 
time: 1403636620.413555, t: 0.102218 -0.136682 -0.284346 q: -0.119211 0.789181 0.121555 0.590091 
time: 1403636620.513556, t: 0.102255 -0.136637 -0.284474 q: -0.119258 0.789193 0.121422 0.590093 
wait for imu ... 
time: 1403636620.613555, t: 0.102713 -0.136234 -0.284737 q: -0.119290 0.789247 0.121480 0.590001 
time: 1403636620.713556, t: 0.103031 -0.136223 -0.284870 q: -0.119323 0.789211 0.121554 0.590028 
time: 1403636620.813555, t: 0.103450 -0.136099 -0.284942 q: -0.119415 0.789220 0.121570 0.589994 
time: 1403636620.913555, t: 0.103790 -0.135964 -0.284843 q: -0.119405 0.789215 0.121545 0.590007 
time: 1403636621.013556, t: 0.104305 -0.135404 -0.285083 q: -0.119297 0.789288 0.121516 0.589937 
wait for imu ... 
time: 1403636621.113555, t: 0.104747 -0.134640 -0.285405 q: -0.119365 0.789247 0.121490 0.589984 
time: 1403636621.213556, t: 0.105314 -0.133866 -0.285988 q: -0.119303 0.789172 0.121603 0.590073 
time: 1403636621.313555, t: 0.105731 -0.133706 -0.286760 q: -0.119337 0.789167 0.121670 0.590060 
wait for imu ... 
time: 1403636621.413555, t: 0.106712 -0.133153 -0.287138 q: -0.119451 0.789191 0.121680 0.590002 
wait for imu ... 
time: 1403636621.513556, t: 0.107004 -0.132937 -0.287609 q: -0.119365 0.789140 0.121740 0.590076 
time: 1403636621.613555, t: 0.107373 -0.132681 -0.287963 q: -0.119329 0.789157 0.121707 0.590068 
wait for imu ... 
time: 1403636621.713556, t: 0.107592 -0.132442 -0.288306 q: -0.119295 0.789123 0.121716 0.590118 
wait for imu ... 
time: 1403636621.813555, t: 0.107133 -0.132557 -0.288810 q: -0.119217 0.789090 0.121743 0.590172 
wait for imu ... 
time: 1403636621.913555, t: 0.106921 -0.132489 -0.289278 q: -0.119135 0.789099 0.121740 0.590178 
time: 1403636622.013556, t: 0.106700 -0.132280 -0.289573 q: -0.118998 0.789086 0.121742 0.590221 
wait for imu ... 
time: 1403636622.113555, t: 0.106272 -0.132366 -0.289913 q: -0.119121 0.789073 0.121789 0.590204 
time: 1403636622.213556, t: 0.105853 -0.131964 -0.290204 q: -0.119164 0.789075 0.121771 0.590198 
wait for imu ... 
time: 1403636622.313555, t: 0.105211 -0.132605 -0.290477 q: -0.119203 0.789056 0.121858 0.590196 
time: 1403636622.413555, t: 0.104694 -0.133168 -0.290766 q: -0.119357 0.789070 0.121952 0.590128 
wait for imu ... 
time: 1403636622.513556, t: 0.104487 -0.133460 -0.291142 q: -0.119439 0.789040 0.122011 0.590139 
wait for imu ... 
time: 1403636622.613555, t: 0.104196 -0.133838 -0.291460 q: -0.119468 0.789010 0.122076 0.590160 
time: 1403636622.713556, t: 0.103861 -0.134231 -0.291741 q: -0.119645 0.788958 0.122033 0.590201 
time: 1403636622.813555, t: 0.103566 -0.134557 -0.292035 q: -0.119658 0.788957 0.122010 0.590206 
wait for imu ... 
time: 1403636622.913555, t: 0.103520 -0.135363 -0.292351 q: -0.119645 0.788824 0.121821 0.590424 
wait for imu ... 
time: 1403636623.013556, t: 0.103460 -0.136109 -0.292717 q: -0.119607 0.788744 0.121769 0.590549 
time: 1403636623.113555, t: 0.103114 -0.136360 -0.293336 q: -0.119541 0.788799 0.121646 0.590515 
time: 1403636623.213556, t: 0.103484 -0.135277 -0.294111 q: -0.119255 0.788875 0.121532 0.590495 
time: 1403636623.313555, t: 0.102150 -0.136781 -0.294777 q: -0.119347 0.788771 0.121632 0.590595 
time: 1403636623.413555, t: 0.100984 -0.137209 -0.295498 q: -0.119437 0.788775 0.121605 0.590576 
wait for imu ... 
time: 1403636623.513556, t: 0.098830 -0.138471 -0.296067 q: -0.119538 0.788771 0.121540 0.590576 
time: 1403636623.613555, t: 0.096899 -0.140147 -0.296719 q: -0.119581 0.788877 0.121420 0.590450 
wait for imu ... 
time: 1403636623.713556, t: 0.097400 -0.140571 -0.296834 q: -0.119518 0.788881 0.121364 0.590469 
time: 1403636623.813555, t: 0.098306 -0.140362 -0.297023 q: -0.119152 0.789111 0.120953 0.590319 
time: 1403636623.913555, t: 0.098964 -0.140293 -0.296974 q: -0.118816 0.789043 0.120686 0.590533 
time: 1403636624.013556, t: 0.099253 -0.139536 -0.296593 q: -0.118538 0.789014 0.120522 0.590661 
time: 1403636624.113555, t: 0.099348 -0.139179 -0.296068 q: -0.117832 0.789411 0.119958 0.590386 
time: 1403636624.213556, t: 0.098402 -0.139497 -0.295529 q: -0.117769 0.789600 0.119691 0.590200 
time: 1403636624.313555, t: 0.097614 -0.140651 -0.294672 q: -0.116331 0.791310 0.119961 0.588137 
wait for imu ... 
time: 1403636624.413555, t: 0.097119 -0.142551 -0.295562 q: -0.112134 0.796524 0.119450 0.581986 
wait for imu ... 
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time: 1403636763.113555, t: -0.591628 -0.733327 -0.390555 q: -0.168807 0.786021 0.177824 0.567497 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636763.213556, t: -0.582829 -0.727369 -0.393241 q: -0.167230 0.785555 0.166003 0.572172 
time: 1403636763.313555, t: -0.598461 -0.731187 -0.406765 q: -0.167664 0.788594 0.164623 0.568250 
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time: 1403636763.813555, t: -0.576687 -0.773755 -0.405017 q: -0.169603 0.789341 0.165028 0.566517 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720541891.620824568]: Shutdown request received.[0m
[33m[ WARN] [1720541891.620861792]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720541891.621694888]: Shutdown request received.[0m
[33m[ WARN] [1720541891.621726200]: Reason given for shutdown: [user request][0m
killed
