/SLAM-Hive/slam_hive_results/mapping_results/3118/2323_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-13.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720543496.635100162]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720543496.636717400]: init begins[0m
[31m[ERROR] [1720543496.637724162]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/92e8b416-3e12-11ef-8f87-0242ac110005/roslaunch-2fad0787b901-118.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://2fad0787b901:45171/[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://2fad0787b901:11311/[0m
]2;roscore http://2fad0787b901:11311/
[1msetting /run_id to 92e8b416-3e12-11ef-8f87-0242ac110005[0m
[0m[ INFO] [1720543497.790630854]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720543497.793313472]: 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] [1720543497.801558071]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720543497.801797951]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720543497.801824528]: ROW: 384 COL: 601 [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] [1720543497.802144230]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720543497.802351066]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720543497.802524479]: 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 [210][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720543506.782368131]: 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: 316906928.05 
init first imu pose
averge acc 8.132320 -0.420480 -2.900939
init R0 
   0.33909   0.134948   0.931025
         0  -0.989658   0.143447
  0.940754 -0.0486414  -0.335583
[33m[ WARN] [1720543512.221063619]: gyroscope bias initial calibration 0.000466449   0.0257525   0.0760308[0m
[0m[ INFO] [1720543512.259736139]: Initialization finish![0m
time: 1403636584.363555, t: -0.072760 0.077226 -0.050905 q: -0.017242 0.842504 0.030570 0.537546 
time: 1403636584.763556, t: 0.043058 -0.004619 0.205954 q: -0.003510 0.802232 0.020897 0.596636 
time: 1403636585.163555, t: 0.035641 0.010038 0.277335 q: 0.020830 0.796114 -0.009326 0.604716 
time: 1403636585.563555, t: 0.047335 -0.012323 0.066401 q: 0.029140 0.812026 0.004568 0.582875 
time: 1403636585.963556, t: 0.003008 -0.016942 -0.012151 q: -0.024842 0.846481 0.019491 0.531481 
time: 1403636586.363555, t: -0.023644 -0.008935 0.001634 q: -0.002346 0.891261 -0.013469 0.453284 
time: 1403636586.763556, t: -0.043539 -0.035322 0.011996 q: -0.043069 0.909435 0.022743 0.412983 
time: 1403636587.163555, t: -0.021978 -0.049300 0.011735 q: -0.051951 0.905678 0.044557 0.418406 
time: 1403636587.563555, t: 0.013481 -0.124980 0.008533 q: -0.048821 0.909972 0.029941 0.410697 
time: 1403636587.963556, t: 0.051101 -0.266414 0.006437 q: -0.039007 0.907218 0.004088 0.418829 
time: 1403636588.363555, t: 0.064936 -0.342113 -0.011616 q: -0.032733 0.912205 -0.005688 0.408384 
time: 1403636588.763556, t: 0.045601 -0.292613 -0.004008 q: -0.032191 0.912153 -0.006342 0.408533 
time: 1403636589.163555, t: 0.005396 -0.144669 0.010117 q: -0.045124 0.908286 0.010715 0.415771 
time: 1403636589.563555, t: -0.037841 0.039835 0.021065 q: -0.050678 0.908731 0.026966 0.413417 
time: 1403636589.963556, t: -0.074461 0.205927 0.010990 q: -0.068600 0.910196 0.047414 0.405697 
time: 1403636590.363555, t: -0.090519 0.248903 0.013433 q: -0.075139 0.904654 0.056165 0.415694 
time: 1403636590.763556, t: -0.077805 0.120587 0.022348 q: -0.053079 0.905204 0.041370 0.419615 
time: 1403636591.163555, t: -0.037821 -0.058516 0.012139 q: -0.053065 0.909228 0.031047 0.411733 
time: 1403636591.563555, t: -0.000896 -0.172071 -0.012153 q: -0.041541 0.910506 0.014954 0.411132 
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time: 1403636592.763556, t: 0.234520 -0.161692 -0.030090 q: -0.039671 0.890127 0.009130 0.453891 
time: 1403636593.163555, t: 0.208590 0.053267 -0.033499 q: -0.113569 0.888886 0.098278 0.432811 
time: 1403636593.563555, t: 0.012651 0.169241 -0.034205 q: -0.137296 0.890766 0.115276 0.417609 
time: 1403636593.963556, t: -0.136270 0.028315 -0.054779 q: -0.076982 0.904543 0.009542 0.419267 
time: 1403636594.363555, t: -0.098731 -0.198861 -0.057452 q: 0.002377 0.899387 -0.084244 0.428953 
time: 1403636594.763556, t: 0.097933 -0.296116 -0.062399 q: 0.007172 0.885810 -0.077039 0.457552 
time: 1403636595.163555, t: 0.255484 0.000535 -0.001491 q: -0.068306 0.884379 0.041932 0.459837 
time: 1403636595.563555, t: 0.058983 0.103636 -0.071583 q: -0.120556 0.883825 0.105707 0.439484 
time: 1403636595.963556, t: -0.051422 -0.109547 -0.100193 q: -0.058440 0.895101 0.048647 0.439331 
time: 1403636596.363555, t: -0.183923 -0.168486 -0.091459 q: -0.024019 0.898898 -0.012902 0.437309 
time: 1403636596.763556, t: 0.247855 0.796396 -0.042050 q: -0.003602 0.897611 -0.000044 0.440773 
time: 1403636597.163555, t: 0.154757 0.195893 -0.190588 q: -0.007285 0.900310 0.013574 0.434977 
time: 1403636597.563555, t: 0.094690 -0.052348 -0.059526 q: -0.052657 0.891285 0.079530 0.443298 
time: 1403636597.963556, t: 0.084013 0.032136 -0.072920 q: -0.095568 0.871747 0.131610 0.462172 
time: 1403636598.363555, t: -0.061157 0.018438 -0.110723 q: -0.075550 0.895275 0.134173 0.418058 
time: 1403636598.763556, t: 0.026298 -0.012513 -0.170203 q: -0.090067 0.874663 0.141989 0.454633 
time: 1403636599.163555, t: 0.127110 -0.023546 -0.250634 q: -0.122008 0.831507 0.141671 0.523105 
time: 1403636599.563555, t: 0.170015 -0.022654 -0.287278 q: -0.118152 0.801318 0.123210 0.573367 
time: 1403636599.963556, t: 0.172318 -0.030218 -0.299895 q: -0.119034 0.790686 0.114350 0.589551 
time: 1403636600.363555, t: 0.170899 -0.033073 -0.301605 q: -0.123891 0.789321 0.109088 0.591374 
wait for imu ... 
wait for imu ... 
time: 1403636600.763556, t: 0.172533 -0.032685 -0.302580 q: -0.123937 0.789613 0.108830 0.591022 
time: 1403636601.163555, t: 0.172164 -0.033278 -0.302525 q: -0.123219 0.789838 0.108612 0.590912 
time: 1403636601.563555, t: 0.171980 -0.033893 -0.302624 q: -0.122700 0.789931 0.108414 0.590931 
time: 1403636601.963556, t: 0.171871 -0.034347 -0.302722 q: -0.122195 0.790037 0.108441 0.590889 
time: 1403636602.363555, t: 0.171726 -0.034833 -0.302773 q: -0.121674 0.790167 0.108410 0.590829 
time: 1403636602.763556, t: 0.171616 -0.035095 -0.302808 q: -0.121491 0.790219 0.108243 0.590828 
time: 1403636603.163555, t: 0.171481 -0.035399 -0.302862 q: -0.121147 0.790268 0.108193 0.590842 
time: 1403636603.563555, t: 0.171418 -0.035691 -0.302900 q: -0.120890 0.790337 0.108197 0.590801 
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time: 1403636698.763556, t: 6.078963 -3.527940 -0.628002 q: -0.093477 0.809993 0.138568 0.562114 
time: 1403636699.163555, t: 5.951058 -3.384647 -0.707111 q: -0.039827 0.820941 0.033603 0.568631 
time: 1403636699.563555, t: 5.843867 -3.268804 -0.694212 q: 0.010898 0.822934 -0.076122 0.562909 
time: 1403636699.963556, t: 5.766072 -3.235251 -0.717526 q: 0.066384 0.809618 -0.136901 0.566895 
time: 1403636700.363555, t: 5.700812 -3.253237 -0.802923 q: 0.070447 0.807876 -0.152824 0.564818 
time: 1403636700.763556, t: 5.628090 -3.334957 -0.951406 q: 0.107721 0.794158 -0.180425 0.570225 
time: 1403636701.163555, t: 5.545385 -3.431882 -1.031874 q: 0.116204 0.805940 -0.192366 0.547679 
time: 1403636701.563555, t: 5.504109 -3.545238 -1.000333 q: 0.113759 0.803153 -0.179657 0.556531 
time: 1403636701.963556, t: 5.490246 -3.663651 -0.998177 q: 0.125201 0.795773 -0.197763 0.558533 
time: 1403636702.363555, t: 5.464224 -3.787771 -1.074303 q: 0.167145 0.780512 -0.261233 0.542790 
time: 1403636702.763556, t: 5.464444 -3.910720 -1.225962 q: 0.186953 0.783192 -0.275085 0.525344 
time: 1403636703.163555, t: 5.528490 -4.038359 -1.386427 q: 0.178704 0.776203 -0.278258 0.536792 
time: 1403636703.563555, t: 5.597886 -4.190182 -1.439478 q: 0.182911 0.771857 -0.272489 0.544546 
time: 1403636703.963556, t: 5.648211 -4.348253 -1.442475 q: 0.176776 0.771377 -0.271052 0.547958 
time: 1403636704.363555, t: 5.687132 -4.500499 -1.502382 q: 0.173869 0.781772 -0.266618 0.536206 
time: 1403636704.763556, t: 5.755423 -4.668708 -1.513604 q: 0.175221 0.794325 -0.263179 0.518732 
time: 1403636705.163555, t: 5.907725 -4.862798 -1.579590 q: 0.175074 0.797018 -0.257808 0.517346 
time: 1403636705.563555, t: 6.156857 -5.073439 -1.621073 q: 0.179078 0.790866 -0.254134 0.527142 
time: 1403636705.963556, t: 6.462570 -5.274500 -1.685815 q: 0.170385 0.778441 -0.261050 0.544840 
time: 1403636706.363555, t: 6.746770 -5.494063 -1.713259 q: 0.174898 0.777951 -0.251105 0.548771 
time: 1403636706.763556, t: 7.014982 -5.709841 -1.762857 q: 0.180055 0.788811 -0.246549 0.533452 
time: 1403636707.163555, t: 7.329811 -5.901185 -1.742971 q: 0.185691 0.784703 -0.253230 0.534447 
time: 1403636707.563555, t: 7.687629 -6.064040 -1.662144 q: 0.189320 0.784770 -0.261278 0.529176 
time: 1403636707.963556, t: 8.069201 -6.214969 -1.610934 q: 0.171887 0.780980 -0.269999 0.536307 
time: 1403636708.363555, t: 8.450293 -6.387944 -1.691273 q: 0.161923 0.772860 -0.266499 0.552672 
time: 1403636708.763556, t: 8.788189 -6.588328 -1.754369 q: 0.179332 0.770051 -0.256653 0.555870 
time: 1403636709.163555, t: 9.061259 -6.765316 -1.810596 q: 0.204753 0.763928 -0.253973 0.556766 
time: 1403636709.563555, t: 9.312693 -6.849729 -1.807640 q: 0.203870 0.773697 -0.259434 0.540855 
time: 1403636709.963556, t: 9.574583 -6.865986 -1.845447 q: 0.200559 0.776378 -0.254828 0.540440 
time: 1403636710.363555, t: 9.867516 -6.823531 -1.868302 q: 0.181716 0.773872 -0.254799 0.550617 
time: 1403636710.763556, t: 10.148099 -6.758761 -1.974765 q: 0.133754 0.781037 -0.226486 0.566388 
time: 1403636711.163555, t: 10.379124 -6.708496 -2.036167 q: 0.127915 0.798279 -0.153563 0.568160 
time: 1403636711.563555, t: 10.574795 -6.606245 -2.031431 q: 0.121504 0.782270 -0.148792 0.592581 
time: 1403636711.963556, t: 10.688011 -6.417209 -1.998398 q: 0.115649 0.786850 -0.164172 0.583558 
time: 1403636712.363555, t: 10.717120 -6.209462 -1.903932 q: 0.108142 0.791624 -0.145995 0.583372 
time: 1403636712.763556, t: 10.674871 -5.980918 -1.759763 q: 0.086095 0.788389 -0.108125 0.599449 
time: 1403636713.163555, t: 10.547855 -5.727598 -1.678380 q: 0.075846 0.795950 -0.103068 0.591682 
time: 1403636713.563555, t: 10.363300 -5.471277 -1.525321 q: 0.066840 0.801241 -0.110946 0.584154 
optimize pose graph 
time: 1403636713.963556, t: 10.145189 -5.252232 -1.398662 q: 0.061724 0.804757 -0.123567 0.577311 
time: 1403636714.363555, t: 9.906019 -5.086554 -1.353335 q: 0.070374 0.803286 -0.128479 0.577298 
time: 1403636714.763556, t: 9.667868 -4.961601 -1.365110 q: 0.047810 0.822666 -0.096296 0.558267 
time: 1403636715.163555, t: 9.488624 -4.874329 -1.290032 q: 0.009238 0.829801 -0.012095 0.557852 
time: 1403636715.563555, t: 9.378431 -4.798652 -1.214987 q: -0.023724 0.819879 -0.008694 0.571979 
optimize pose graph 
time: 1403636715.963556, t: 9.285637 -4.764186 -1.206629 q: -0.003466 0.800903 -0.003134 0.598776 
time: 1403636716.363555, t: 9.119759 -4.749564 -1.153455 q: -0.001513 0.814125 -0.016842 0.580443 
time: 1403636716.763556, t: 8.933968 -4.747612 -1.164922 q: -0.004057 0.814001 -0.004934 0.580829 
time: 1403636717.163555, t: 8.736909 -4.737694 -1.186609 q: -0.049246 0.812897 0.062721 0.576923 
time: 1403636717.563555, t: 8.533538 -4.719602 -1.161318 q: -0.049261 0.808364 0.104726 0.577195 
time: 1403636717.963556, t: 8.315834 -4.641101 -1.192955 q: -0.057987 0.806884 0.121597 0.575144 
time: 1403636718.363555, t: 8.074444 -4.485390 -1.186190 q: -0.113615 0.800802 0.164789 0.564492 
time: 1403636718.763556, t: 7.839169 -4.317538 -1.258451 q: -0.165300 0.795690 0.193271 0.549727 
time: 1403636719.163555, t: 7.654913 -4.189917 -1.323477 q: -0.154657 0.783682 0.218363 0.560572 
time: 1403636719.563555, t: 7.458623 -4.077347 -1.364133 q: -0.160398 0.779581 0.208313 0.568446 
optimize pose graph 
time: 1403636719.963556, t: 7.231147 -4.011431 -1.394161 q: -0.154407 0.792194 0.199483 0.555692 
time: 1403636720.363555, t: 7.034067 -3.960988 -1.431220 q: -0.153246 0.794020 0.197629 0.554068 
time: 1403636720.763556, t: 6.868393 -3.930587 -1.468306 q: -0.156830 0.794272 0.198109 0.552530 
time: 1403636721.163555, t: 6.743359 -3.932103 -1.478605 q: -0.129822 0.799803 0.156033 0.564903 
time: 1403636721.563555, t: 6.618501 -3.962115 -1.478043 q: -0.098870 0.805026 0.116269 0.573271 
optimize pose graph 
time: 1403636721.963556, t: 6.491795 -4.012830 -1.503390 q: -0.078542 0.807355 0.104384 0.575424 
time: 1403636722.363555, t: 6.357319 -4.049067 -1.504196 q: -0.081531 0.807992 0.108764 0.573300 
time: 1403636722.763556, t: 6.210406 -4.073949 -1.531843 q: -0.069324 0.809227 0.099508 0.574842 
time: 1403636723.163555, t: 6.054847 -4.079294 -1.517585 q: -0.073263 0.809608 0.094664 0.574636 
time: 1403636723.563555, t: 5.901325 -4.075271 -1.511750 q: -0.055351 0.803778 0.079889 0.586937 
time: 1403636723.963556, t: 5.729155 -4.056930 -1.481067 q: -0.044745 0.816117 0.051362 0.573857 
time: 1403636724.363555, t: 5.563069 -4.047745 -1.505062 q: -0.009082 0.823241 0.006593 0.567582 
time: 1403636724.763556, t: 5.429386 -4.028807 -1.489209 q: 0.018529 0.816343 -0.028853 0.576549 
time: 1403636725.163555, t: 5.313433 -3.990630 -1.353126 q: 0.004990 0.819100 -0.035789 0.572512 
time: 1403636725.563555, t: 5.221458 -3.971653 -1.216910 q: 0.011538 0.820081 -0.028809 0.571405 
optimize pose graph 
time: 1403636725.963556, t: 5.143898 -3.955657 -1.175832 q: 0.009506 0.820066 -0.029265 0.571441 
time: 1403636726.363555, t: 5.082282 -3.939527 -1.202936 q: 0.010377 0.816457 -0.023359 0.576840 
time: 1403636726.763556, t: 5.024322 -3.930305 -1.163695 q: -0.012389 0.811616 -0.033354 0.583107 
time: 1403636727.163555, t: 4.945781 -3.961095 -1.032800 q: 0.004491 0.811841 -0.007383 0.583815 
time: 1403636727.563555, t: 4.837315 -3.969769 -0.936460 q: 0.008536 0.812038 -0.002382 0.583537 
time: 1403636727.963556, t: 4.714008 -3.940142 -0.796107 q: 0.017979 0.812896 0.003592 0.582121 
optimize pose graph 
time: 1403636728.363555, t: 4.582679 -3.867340 -0.700868 q: 0.007760 0.811159 -0.005089 0.584752 
time: 1403636728.763556, t: 4.423289 -3.782997 -0.674847 q: -0.010972 0.811988 0.002467 0.583566 
time: 1403636729.163555, t: 4.248809 -3.705559 -0.621299 q: -0.027009 0.807191 0.048136 0.587704 
time: 1403636729.563555, t: 4.044482 -3.616190 -0.617049 q: -0.035797 0.808801 0.053799 0.584522 
time: 1403636729.963556, t: 3.821779 -3.519522 -0.565246 q: -0.036135 0.815773 0.051946 0.574900 
optimize pose graph 
time: 1403636730.363555, t: 3.611446 -3.419402 -0.577768 q: -0.039810 0.818196 0.051365 0.571255 
time: 1403636730.763556, t: 3.442266 -3.320669 -0.572127 q: -0.039937 0.829184 0.053094 0.555014 
time: 1403636731.163555, t: 3.352115 -3.225892 -0.497195 q: -0.064190 0.819822 0.033595 0.568016 
time: 1403636731.563555, t: 3.297182 -3.188842 -0.496949 q: -0.049378 0.814887 0.041616 0.576011 
time: 1403636731.963556, t: 3.240157 -3.195168 -0.557995 q: -0.046346 0.814210 0.045284 0.576943 
time: 1403636732.363555, t: 3.187262 -3.216257 -0.660487 q: -0.043158 0.811091 0.050323 0.581151 
time: 1403636732.763556, t: 3.083990 -3.225260 -0.662050 q: -0.026733 0.799474 0.064576 0.596621 
time: 1403636733.163555, t: 2.908246 -3.177512 -0.634549 q: -0.033654 0.806879 0.062407 0.586446 
time: 1403636733.563555, t: 2.696751 -3.103316 -0.549524 q: -0.041710 0.814673 0.060208 0.575277 
time: 1403636734.763556, t: 2.065783 -2.810135 -0.402844 q: -0.046840 0.819188 0.063960 0.568019 
time: 1403636735.163555, t: 1.887818 -2.710016 -0.414526 q: -0.051402 0.819658 0.063878 0.566955 
time: 1403636735.563555, t: 1.753643 -2.612858 -0.356958 q: -0.049628 0.820104 0.054054 0.567489 
time: 1403636735.963556, t: 1.654718 -2.531419 -0.266621 q: -0.043482 0.819297 0.048858 0.569627 
time: 1403636736.363555, t: 1.573028 -2.453975 -0.175094 q: -0.064354 0.811040 0.082286 0.575588 
time: 1403636736.763556, t: 1.492304 -2.376863 -0.130243 q: -0.059747 0.806223 0.109127 0.578383 
time: 1403636737.163555, t: 1.386011 -2.256442 -0.151678 q: -0.077715 0.805964 0.108057 0.576807 
time: 1403636737.563555, t: 1.272553 -2.127969 -0.180063 q: -0.086260 0.812616 0.113129 0.565169 
time: 1403636737.963556, t: 1.190703 -2.023732 -0.108021 q: -0.099756 0.816721 0.103613 0.558819 
time: 1403636738.363555, t: 1.163091 -1.968764 0.023177 q: -0.089175 0.814970 0.102754 0.563306 
time: 1403636738.763556, t: 1.168816 -1.949386 0.052806 q: -0.066359 0.820711 0.062508 0.564024 
time: 1403636739.163555, t: 1.188230 -1.985793 -0.014931 q: -0.015593 0.817397 -0.033395 0.574895 
time: 1403636739.563555, t: 1.204153 -2.072285 -0.113690 q: 0.070599 0.809811 -0.110788 0.571793 
time: 1403636739.963556, t: 1.228645 -2.155021 -0.149926 q: 0.085584 0.805117 -0.145098 0.568691 
optimize pose graph 
time: 1403636740.363555, t: 1.247520 -2.238686 -0.243949 q: 0.093783 0.805631 -0.130483 0.570209 
time: 1403636740.763556, t: 1.249025 -2.303472 -0.359781 q: 0.079179 0.807616 -0.130281 0.569661 
time: 1403636741.163555, t: 1.231428 -2.364794 -0.479868 q: 0.101576 0.802703 -0.119165 0.575456 
time: 1403636741.563555, t: 1.192889 -2.390551 -0.663978 q: 0.088789 0.811133 -0.156412 0.556520 
time: 1403636741.963556, t: 1.170840 -2.435216 -0.768914 q: 0.103746 0.809694 -0.142323 0.559800 
optimize pose graph 
time: 1403636742.363555, t: 1.187902 -2.468072 -0.874875 q: 0.088404 0.815276 -0.138556 0.555259 
time: 1403636742.763556, t: 1.241295 -2.498762 -0.909798 q: 0.085152 0.804689 -0.131909 0.572560 
time: 1403636743.163555, t: 1.279435 -2.531484 -1.032504 q: 0.084255 0.816736 -0.146353 0.551747 
time: 1403636743.563555, t: 1.361385 -2.597733 -1.118448 q: 0.088451 0.820256 -0.158285 0.542496 
time: 1403636743.963556, t: 1.517279 -2.693247 -1.237896 q: 0.107914 0.800788 -0.162090 0.566410 
time: 1403636744.363555, t: 1.674193 -2.780278 -1.451204 q: 0.117997 0.790555 -0.186583 0.571214 
time: 1403636744.763556, t: 1.791384 -2.865996 -1.745005 q: 0.110552 0.783982 -0.192499 0.579737 
time: 1403636745.163555, t: 1.844328 -2.964020 -1.990199 q: 0.111853 0.800511 -0.182546 0.559775 
time: 1403636745.563555, t: 1.907799 -3.057901 -2.111760 q: 0.112773 0.793424 -0.167277 0.574263 
time: 1403636745.963556, t: 1.950507 -3.121736 -2.108141 q: 0.136785 0.790294 -0.178898 0.569843 
time: 1403636746.363555, t: 1.987571 -3.117083 -2.011398 q: 0.156032 0.777069 -0.184480 0.581193 
time: 1403636746.763556, t: 1.999993 -3.021651 -1.986661 q: 0.117436 0.806740 -0.201851 0.542803 
time: 1403636747.163555, t: 2.055301 -2.962127 -1.975305 q: 0.118521 0.800057 -0.191442 0.556068 
time: 1403636747.563555, t: 2.147146 -2.930280 -1.876841 q: 0.134844 0.796170 -0.187626 0.559220 
time: 1403636747.963556, t: 2.245251 -2.866283 -1.756818 q: 0.125102 0.790949 -0.207149 0.561995 
time: 1403636748.363555, t: 2.342002 -2.828483 -1.645316 q: 0.131699 0.791961 -0.209506 0.558176 
time: 1403636748.763556, t: 2.430771 -2.816712 -1.544183 q: 0.128705 0.788002 -0.212191 0.563439 
time: 1403636749.163555, t: 2.502530 -2.823553 -1.465616 q: 0.119002 0.780666 -0.231414 0.568196 
time: 1403636749.563555, t: 2.528966 -2.879062 -1.362816 q: 0.153313 0.785263 -0.212780 0.560876 
time: 1403636749.963556, t: 2.544544 -2.910035 -1.278826 q: 0.151311 0.775376 -0.204990 0.577821 
time: 1403636750.363555, t: 2.518366 -2.886885 -1.233349 q: 0.139984 0.784982 -0.198259 0.570001 
time: 1403636750.763556, t: 2.462894 -2.833838 -1.066088 q: 0.132540 0.791408 -0.187830 0.566415 
time: 1403636751.163555, t: 2.397005 -2.756568 -0.830925 q: 0.134291 0.797297 -0.185087 0.558593 
time: 1403636751.563555, t: 2.358806 -2.670304 -0.646768 q: 0.115456 0.794033 -0.200589 0.562090 
time: 1403636751.963556, t: 2.332701 -2.631839 -0.495676 q: 0.104965 0.809606 -0.185741 0.546828 
time: 1403636752.363555, t: 2.345343 -2.649023 -0.358083 q: 0.103273 0.799623 -0.157656 0.570159 
time: 1403636752.763556, t: 2.366500 -2.663169 -0.202682 q: 0.056813 0.812069 -0.088742 0.573969 
time: 1403636753.163555, t: 2.377522 -2.657332 -0.145746 q: 0.013997 0.818926 0.004383 0.573712 
time: 1403636753.563555, t: 2.385941 -2.603396 -0.166441 q: -0.037537 0.814069 0.069689 0.575349 
time: 1403636753.963556, t: 2.356012 -2.511768 -0.153483 q: -0.045746 0.811057 0.071144 0.578819 
optimize pose graph 
time: 1403636754.363555, t: 2.296158 -2.405448 -0.125685 q: -0.034924 0.803372 0.065590 0.590824 
time: 1403636754.763556, t: 2.189689 -2.270150 -0.075885 q: -0.056497 0.803955 0.098237 0.583793 
time: 1403636755.163555, t: 2.036235 -2.112375 -0.089571 q: -0.082897 0.800297 0.131813 0.579032 
time: 1403636755.563555, t: 1.844576 -1.940058 -0.048469 q: -0.081982 0.813459 0.137149 0.559244 
time: 1403636755.963556, t: 1.674351 -1.738538 -0.034443 q: -0.086189 0.806439 0.129409 0.570509 
optimize pose graph 
time: 1403636756.363555, t: 1.500654 -1.525227 0.005376 q: -0.088195 0.802380 0.130037 0.575759 
time: 1403636756.763556, t: 1.306494 -1.311984 0.009465 q: -0.091898 0.799371 0.132474 0.578802 
time: 1403636757.163555, t: 1.075071 -1.109914 0.051784 q: -0.096377 0.799683 0.133085 0.577501 
time: 1403636757.563555, t: 0.813672 -0.913828 0.047607 q: -0.091148 0.805077 0.144086 0.568139 
time: 1403636757.963556, t: 0.574643 -0.689293 0.115246 q: -0.108091 0.816722 0.164210 0.542509 
optimize pose graph 
time: 1403636758.363555, t: 0.394576 -0.447614 0.200535 q: -0.124218 0.796718 0.162335 0.568733 
time: 1403636758.763556, t: 0.238471 -0.234033 0.185142 q: -0.136837 0.816983 0.151152 0.539414 
time: 1403636759.163555, t: 0.175348 -0.067451 0.143482 q: -0.145399 0.798628 0.144783 0.565766 
time: 1403636759.563555, t: 0.135837 0.006701 0.041788 q: -0.134031 0.795409 0.154920 0.570403 
time: 1403636759.963556, t: 0.084827 0.008158 -0.006829 q: -0.122904 0.800156 0.165199 0.563342 
optimize pose graph 
time: 1403636760.363555, t: 0.034740 0.006878 -0.049660 q: -0.125434 0.797363 0.161456 0.567812 
time: 1403636760.763556, t: -0.011133 -0.004808 -0.113309 q: -0.113357 0.804061 0.171695 0.557815 
time: 1403636761.163555, t: -0.065151 0.012294 -0.168181 q: -0.115798 0.811586 0.172247 0.546122 
time: 1403636761.563555, t: -0.080075 0.073015 -0.195045 q: -0.119154 0.801105 0.169780 0.561434 
time: 1403636761.963556, t: -0.077608 0.130610 -0.179245 q: -0.136184 0.799184 0.154390 0.564733 
time: 1403636762.363555, t: -0.083306 0.165992 -0.152453 q: -0.100434 0.811591 0.175426 0.548142 
optimize pose graph 
time: 1403636762.763556, t: -0.062262 0.241387 -0.227475 q: -0.146406 0.801999 0.142827 0.561215 
time: 1403636763.163555, t: -0.083469 0.199118 -0.260574 q: -0.122382 0.790274 0.105725 0.591026 
time: 1403636763.563555, t: -0.093881 0.190437 -0.275563 q: -0.123918 0.799681 0.101156 0.578725 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720543695.380166691]: Shutdown request received.[0m
[33m[ WARN] [1720543695.380207326]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720543695.381089062]: Shutdown request received.[0m
[33m[ WARN] [1720543695.381115071]: Reason given for shutdown: [user request][0m
killed
