/SLAM-Hive/slam_hive_results/mapping_results/3165/2370_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720553076.765468833]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720553076.767125258]: init begins[0m
[31m[ERROR] [1720553076.768171610]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e11b5a56-3e28-11ef-b28b-0242ac110005/roslaunch-16a84ce1495e-119.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://16a84ce1495e:44999/[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 [156][0m
[0m[ INFO] [1720553077.874627021]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720553077.875596237]: 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] [1720553077.882027197]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720553077.882237720]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720553077.882267329]: ROW: 480 COL: 752 [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] [1720553077.882498625]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720553077.882694748]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720553077.882864885]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://16a84ce1495e:11311/[0m
]2;roscore http://16a84ce1495e:11311/
[1msetting /run_id to e11b5a56-3e28-11ef-b28b-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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [249][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720553086.919710007]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316915956.61 
init first imu pose
averge acc 9.410943 -0.689906 -2.446931
init R0 
 0.260797  0.261977  0.929168
        0 -0.962476  0.271368
 0.965394 -0.070772 -0.251011
[33m[ WARN] [1720553088.356597969]: gyroscope bias initial calibration -0.00214086   0.0203059   0.0776988[0m
[0m[ INFO] [1720553088.399017988]: Initialization finish![0m
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time: 1403637131.788319, t: -0.000052 0.000014 -0.000071 q: -0.102269 0.787027 0.078414 0.603308 
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time: 1403637141.388319, t: 0.030703 -0.047964 -0.002487 q: -0.064216 0.794552 0.024392 0.603298 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403637207.188319, t: 1.592578 -2.765209 0.153935 q: 0.156702 0.779475 -0.226509 0.562634 
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time: 1403637207.588319, t: 1.518441 -2.666082 0.126127 q: 0.153805 0.780664 -0.233929 0.558735 
optimize pose graph 
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time: 1403637207.988319, t: 1.427577 -2.584667 0.132048 q: 0.155413 0.785044 -0.235759 0.551335 
time: 1403637208.088319, t: 1.405547 -2.571086 0.157573 q: 0.159358 0.784866 -0.233616 0.551375 
time: 1403637208.188319, t: 1.384915 -2.557633 0.188772 q: 0.162490 0.784421 -0.232124 0.551723 
time: 1403637208.288319, t: 1.365414 -2.546136 0.222436 q: 0.158738 0.784143 -0.235947 0.551590 
time: 1403637208.388319, t: 1.346527 -2.534139 0.245638 q: 0.152785 0.781558 -0.241363 0.554588 
time: 1403637208.488319, t: 1.327220 -2.523525 0.261895 q: 0.153664 0.780477 -0.242164 0.555517 
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time: 1403637208.788319, t: 1.265248 -2.498049 0.277760 q: 0.164168 0.779010 -0.236591 0.556971 
time: 1403637208.888319, t: 1.243011 -2.488728 0.271837 q: 0.166787 0.779577 -0.235095 0.556033 
time: 1403637208.988319, t: 1.220295 -2.477631 0.260175 q: 0.176575 0.781642 -0.228639 0.552794 
time: 1403637209.088319, t: 1.200655 -2.465382 0.243279 q: 0.186319 0.784021 -0.221090 0.549286 
time: 1403637209.188319, t: 1.182184 -2.444708 0.226388 q: 0.182154 0.786303 -0.214800 0.549917 
time: 1403637209.288319, t: 1.169701 -2.419251 0.215167 q: 0.163446 0.791026 -0.210763 0.550584 
time: 1403637209.388319, t: 1.155538 -2.389647 0.211126 q: 0.149059 0.797422 -0.204269 0.547881 
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time: 1403637209.588319, t: 1.142314 -2.333136 0.222248 q: 0.132545 0.817441 -0.193074 0.526255 
optimize pose graph 
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time: 1403637209.888319, t: 1.190420 -2.273757 0.282054 q: 0.119456 0.833897 -0.189478 0.504425 
time: 1403637209.988319, t: 1.227563 -2.262384 0.291571 q: 0.117371 0.838548 -0.190467 0.496773 
time: 1403637210.088319, t: 1.275554 -2.253025 0.284766 q: 0.116119 0.844698 -0.191946 0.485962 
time: 1403637210.188319, t: 1.335663 -2.249442 0.262795 q: 0.113061 0.850437 -0.194417 0.475580 
time: 1403637210.288319, t: 1.415039 -2.251384 0.235376 q: 0.111701 0.855093 -0.195867 0.466877 
time: 1403637210.388319, t: 1.514026 -2.262916 0.207148 q: 0.110380 0.857188 -0.196991 0.462861 
time: 1403637210.488319, t: 1.633516 -2.283156 0.181117 q: 0.112428 0.853676 -0.195238 0.469552 
time: 1403637210.588319, t: 1.770299 -2.312091 0.155852 q: 0.114518 0.846051 -0.193154 0.483503 
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time: 1403637210.888319, t: 2.252033 -2.424560 0.065107 q: 0.102356 0.829360 -0.199061 0.511917 
time: 1403637210.988319, t: 2.429658 -2.471903 0.028385 q: 0.096539 0.820157 -0.203519 0.525930 
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time: 1403637211.188319, t: 2.792376 -2.585750 -0.056286 q: 0.100274 0.807190 -0.204514 0.544576 
time: 1403637211.288319, t: 2.973899 -2.650784 -0.102127 q: 0.110808 0.802006 -0.200383 0.551683 
time: 1403637211.388319, t: 3.152978 -2.719084 -0.149722 q: 0.119109 0.795943 -0.198270 0.559443 
time: 1403637211.488319, t: 3.329095 -2.788488 -0.201483 q: 0.122447 0.793464 -0.198341 0.562212 
time: 1403637211.588319, t: 3.501185 -2.858910 -0.253146 q: 0.120615 0.796084 -0.200745 0.558036 
time: 1403637211.688319, t: 3.668807 -2.929203 -0.298280 q: 0.117134 0.798224 -0.203151 0.554841 
optimize pose graph 
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time: 1403637212.188319, t: 4.478576 -3.342354 -0.398316 q: 0.122757 0.793182 -0.201973 0.561249 
time: 1403637212.288319, t: 4.635325 -3.432490 -0.396157 q: 0.127237 0.788335 -0.199890 0.567788 
time: 1403637212.388319, t: 4.786400 -3.521416 -0.387336 q: 0.129678 0.785489 -0.199908 0.571164 
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time: 1403637212.988319, t: 5.622831 -4.021257 -0.261083 q: 0.138762 0.803121 -0.198734 0.544286 
time: 1403637213.088319, t: 5.762379 -4.103932 -0.236518 q: 0.136265 0.803303 -0.198510 0.544729 
time: 1403637213.188319, t: 5.902900 -4.186040 -0.217222 q: 0.131507 0.803834 -0.199349 0.544809 
time: 1403637213.288319, t: 6.044095 -4.269285 -0.204729 q: 0.128978 0.803646 -0.199501 0.545635 
time: 1403637213.388319, t: 6.182957 -4.352295 -0.195445 q: 0.129518 0.802201 -0.198463 0.548006 
time: 1403637213.488319, t: 6.321991 -4.433539 -0.190257 q: 0.131054 0.799893 -0.197307 0.551422 
time: 1403637213.588319, t: 6.459932 -4.512921 -0.189692 q: 0.138837 0.798710 -0.191603 0.553240 
time: 1403637213.688319, t: 6.597649 -4.589370 -0.196251 q: 0.148772 0.800452 -0.184483 0.550554 
time: 1403637213.788319, t: 6.734195 -4.661379 -0.209354 q: 0.154473 0.802723 -0.180283 0.547057 
optimize pose graph 
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time: 1403637214.588319, t: 7.864457 -5.014649 -0.208556 q: 0.112646 0.796129 -0.078100 0.589397 
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time: 1403637215.188319, t: 8.501916 -4.823223 -0.045084 q: 0.102946 0.786314 -0.021777 0.608801 
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optimize pose graph 
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time: 1403637235.988319, t: -2.424153 -5.634364 -1.110407 q: 0.451306 0.601282 -0.534665 0.385896 
optimize pose graph 
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time: 1403637236.688319, t: -1.094006 -6.185150 -0.854664 q: 0.396591 0.662606 -0.448269 0.450249 
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time: 1403637237.688319, t: 1.093509 -5.773477 -0.202813 q: 0.313871 0.655084 -0.362904 0.583653 
time: 1403637237.788319, t: 1.248776 -5.618647 -0.112196 q: 0.302273 0.654630 -0.367786 0.587217 
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time: 1403637238.088319, t: 1.613571 -5.086495 0.110289 q: 0.276630 0.652236 -0.423766 0.564346 
optimize pose graph 
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time: 1403637238.788319, t: 1.735851 -3.837628 0.437936 q: -0.265250 -0.544688 0.643082 -0.468405 
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time: 1403637239.588319, t: 0.326366 -3.350306 0.682675 q: -0.355580 -0.515844 0.687452 -0.367257 
time: 1403637239.688319, t: 0.087143 -3.367924 0.669415 q: -0.374933 -0.494702 0.697707 -0.357633 
time: 1403637239.788319, t: -0.160171 -3.393485 0.643035 q: -0.405470 -0.471705 0.700542 -0.349756 
time: 1403637239.888319, t: -0.412417 -3.425097 0.601986 q: -0.441000 -0.449072 0.699248 -0.338977 
time: 1403637239.988319, t: -0.666390 -3.453799 0.552722 q: -0.468941 -0.425171 0.701874 -0.326645 
time: 1403637240.088319, t: -0.919871 -3.481393 0.497817 q: -0.489291 -0.401186 0.708682 -0.312112 
time: 1403637240.188319, t: -1.169822 -3.504886 0.438424 q: 0.501903 0.377395 -0.720055 0.295275 
time: 1403637240.288319, t: -1.414980 -3.524309 0.374346 q: 0.505073 0.358031 -0.735365 0.275597 
time: 1403637240.388319, t: -1.655718 -3.545360 0.308907 q: 0.500194 0.348590 -0.751040 0.253438 
time: 1403637240.488319, t: -1.893768 -3.565906 0.250636 q: -0.494483 -0.346804 0.762786 -0.231023 
time: 1403637240.588319, t: -2.130043 -3.595822 0.200500 q: -0.492648 -0.344621 0.768437 -0.219176 
time: 1403637240.688319, t: -2.364766 -3.631986 0.159938 q: -0.495377 -0.344486 0.768488 -0.212974 
time: 1403637240.788319, t: -2.599400 -3.680101 0.126292 q: 0.501048 0.343692 -0.765307 0.212441 
time: 1403637240.888319, t: -2.831330 -3.732523 0.103681 q: 0.519476 0.343994 -0.752016 0.215139 
time: 1403637240.988319, t: -3.058206 -3.791767 0.084273 q: 0.532236 0.344821 -0.741709 0.218384 
time: 1403637241.088319, t: -3.277927 -3.852327 0.057366 q: 0.530329 0.345370 -0.741690 0.222186 
time: 1403637241.188319, t: -3.489164 -3.914824 0.021584 q: 0.526867 0.348523 -0.742305 0.223441 
time: 1403637241.288319, t: -3.692956 -3.979722 -0.017195 q: 0.528760 0.355319 -0.738930 0.219417 
time: 1403637241.388319, t: -3.888191 -4.047046 -0.059904 q: 0.532934 0.361779 -0.733990 0.215306 
time: 1403637241.488319, t: -4.072829 -4.117151 -0.102105 q: 0.537703 0.368490 -0.728704 0.209953 
time: 1403637241.588319, t: -4.245511 -4.192145 -0.138571 q: 0.545778 0.374167 -0.720903 0.205969 
time: 1403637241.688319, t: -4.402856 -4.272354 -0.167744 q: 0.553745 0.375026 -0.713564 0.208680 
time: 1403637241.788319, t: -4.543213 -4.355795 -0.190521 q: 0.562900 0.374099 -0.705560 0.213024 
time: 1403637241.888319, t: -4.664670 -4.441157 -0.205480 q: 0.567968 0.367541 -0.701323 0.224661 
time: 1403637241.988319, t: -4.769729 -4.525114 -0.214695 q: 0.570122 0.355462 -0.699161 0.244502 
time: 1403637242.088319, t: -4.860584 -4.603387 -0.218345 q: 0.572795 0.351154 -0.697466 0.249276 
time: 1403637242.188319, t: -4.934862 -4.674941 -0.215935 q: 0.572491 0.355492 -0.698655 0.240333 
optimize pose graph 
time: 1403637242.288319, t: -4.992854 -4.742985 -0.207525 q: 0.573514 0.360117 -0.698601 0.230986 
time: 1403637242.388319, t: -5.034884 -4.808329 -0.200774 q: 0.579566 0.365441 -0.694403 0.219911 
time: 1403637242.488319, t: -5.061914 -4.873957 -0.201307 q: 0.587278 0.368870 -0.688572 0.211913 
time: 1403637242.588319, t: -5.066408 -4.937584 -0.204717 q: 0.590618 0.371127 -0.683947 0.213661 
time: 1403637242.688319, t: -5.050575 -5.003193 -0.206591 q: 0.585829 0.377206 -0.681260 0.224509 
time: 1403637242.788319, t: -5.013042 -5.067768 -0.200998 q: 0.576366 0.383648 -0.678991 0.244106 
time: 1403637242.888319, t: -4.958143 -5.128109 -0.187921 q: 0.570410 0.387492 -0.674539 0.263590 
time: 1403637242.988319, t: -4.888825 -5.180660 -0.170162 q: 0.570085 0.392926 -0.667341 0.274351 
time: 1403637243.088319, t: -4.807055 -5.227730 -0.152495 q: 0.568041 0.401907 -0.664083 0.273484 
time: 1403637243.188319, t: -4.711709 -5.266490 -0.142553 q: 0.561876 0.409509 -0.665984 0.270301 
time: 1403637243.288319, t: -4.603769 -5.299396 -0.139913 q: 0.550825 0.412200 -0.672924 0.271765 
time: 1403637243.388319, t: -4.484805 -5.327114 -0.144477 q: 0.543099 0.412328 -0.678141 0.274141 
time: 1403637243.488319, t: -4.356578 -5.352680 -0.152061 q: 0.539781 0.410788 -0.680831 0.276331 
time: 1403637243.588319, t: -4.218347 -5.376107 -0.155921 q: 0.532264 0.408802 -0.686970 0.278656 
time: 1403637243.688319, t: -4.074672 -5.399818 -0.152725 q: 0.520911 0.406993 -0.696090 0.280122 
time: 1403637243.788319, t: -3.928559 -5.422139 -0.140378 q: 0.509333 0.401923 -0.705606 0.284883 
time: 1403637243.888319, t: -3.782857 -5.440994 -0.119711 q: -0.495512 -0.395209 0.716440 -0.291534 
time: 1403637243.988319, t: -3.640648 -5.454419 -0.088850 q: -0.488807 -0.390613 0.722075 -0.295123 
time: 1403637244.088319, t: -3.505009 -5.467049 -0.047279 q: -0.488694 -0.388459 0.723548 -0.294545 
time: 1403637244.188319, t: -3.375866 -5.477982 0.001289 q: -0.491495 -0.387572 0.723065 -0.292228 
time: 1403637244.288319, t: -3.252859 -5.489161 0.056089 q: -0.491890 -0.385912 0.724000 -0.291446 
optimize pose graph 
time: 1403637244.388319, t: -3.135101 -5.497310 0.114872 q: -0.487946 -0.386098 0.727062 -0.290204 
time: 1403637244.488319, t: -3.023622 -5.505085 0.178524 q: -0.484173 -0.393035 0.726606 -0.288346 
time: 1403637244.588319, t: -2.918368 -5.516763 0.244523 q: -0.484347 -0.408278 0.720067 -0.283232 
time: 1403637244.688319, t: -2.816478 -5.532032 0.304547 q: -0.482473 -0.425763 0.712398 -0.280062 
time: 1403637244.788319, t: -2.716904 -5.552875 0.358684 q: -0.478853 -0.439806 0.705713 -0.281496 
time: 1403637244.888319, t: -2.618686 -5.579502 0.407185 q: -0.475240 -0.449555 0.700790 -0.284499 
time: 1403637244.988319, t: -2.521301 -5.612327 0.449577 q: -0.468352 -0.454915 0.700117 -0.289025 
time: 1403637245.088319, t: -2.426673 -5.650102 0.484409 q: -0.452830 -0.453436 0.707863 -0.297103 
time: 1403637245.188319, t: -2.337549 -5.692838 0.512685 q: -0.437119 -0.451907 0.716734 -0.301660 
time: 1403637245.288319, t: -2.257699 -5.742409 0.539674 q: -0.442381 -0.455642 0.712420 -0.298577 
time: 1403637245.388319, t: -2.184742 -5.798565 0.563049 q: -0.452846 -0.459796 0.705093 -0.293874 
time: 1403637245.488319, t: -2.114179 -5.859350 0.580902 q: -0.458062 -0.465192 0.698688 -0.292592 
time: 1403637245.588319, t: -2.044570 -5.927444 0.592610 q: -0.457476 -0.473236 0.692541 -0.295211 
time: 1403637245.688319, t: -1.975601 -6.001582 0.600320 q: -0.452197 -0.483956 0.686160 -0.300814 
time: 1403637245.788319, t: -1.906255 -6.082944 0.604251 q: -0.450178 -0.494577 0.673334 -0.315207 
time: 1403637245.888319, t: -1.835831 -6.169704 0.603620 q: -0.452131 -0.507489 0.652147 -0.335763 
time: 1403637245.988319, t: -1.763838 -6.257082 0.596589 q: -0.447298 -0.525312 0.629866 -0.356709 
time: 1403637246.088319, t: -1.688946 -6.344804 0.584887 q: -0.437026 -0.547718 0.605353 -0.377572 
time: 1403637246.188319, t: -1.612494 -6.427760 0.568051 q: -0.422263 -0.573284 0.577790 -0.398996 
time: 1403637246.288319, t: -1.533911 -6.509596 0.545155 q: 0.403554 0.599939 -0.548388 0.420104 
time: 1403637246.388319, t: -1.453370 -6.586838 0.519211 q: 0.386162 0.627673 -0.513674 0.439367 
time: 1403637246.488319, t: -1.369764 -6.659581 0.490237 q: 0.372515 0.654419 -0.474942 0.455410 
time: 1403637246.588319, t: -1.282057 -6.724826 0.458046 q: 0.359553 0.674194 -0.437220 0.474366 
time: 1403637246.688319, t: -1.191871 -6.780197 0.423347 q: 0.344855 0.688467 -0.402035 0.495435 
time: 1403637246.788319, t: -1.098961 -6.822984 0.388513 q: 0.328416 0.702473 -0.369391 0.512078 
time: 1403637246.888319, t: -1.004996 -6.853446 0.359901 q: 0.309416 0.716983 -0.340292 0.523830 
time: 1403637246.988319, t: -0.909579 -6.875473 0.336605 q: 0.286546 0.734607 -0.320399 0.524964 
time: 1403637247.088319, t: -0.813314 -6.883003 0.318669 q: 0.266222 0.748928 -0.309904 0.521720 
time: 1403637247.188319, t: -0.715532 -6.886066 0.299417 q: 0.249681 0.758605 -0.306731 0.517778 
time: 1403637247.288319, t: -0.613647 -6.883284 0.275433 q: 0.239599 0.761739 -0.306438 0.518114 
time: 1403637247.388319, t: -0.509324 -6.876765 0.251886 q: 0.242631 0.751967 -0.301485 0.533651 
time: 1403637247.488319, t: -0.404759 -6.864837 0.225075 q: 0.248576 0.739252 -0.297193 0.550810 
time: 1403637247.588319, t: -0.303122 -6.844617 0.190428 q: 0.249554 0.738761 -0.294032 0.552720 
time: 1403637247.688319, t: -0.205344 -6.813911 0.153381 q: 0.251396 0.741972 -0.283908 0.552877 
time: 1403637247.788319, t: -0.112742 -6.771462 0.117843 q: 0.254452 0.747462 -0.267992 0.552028 
time: 1403637247.888319, t: -0.021694 -6.715778 0.089321 q: 0.250216 0.751285 -0.253580 0.555571 
time: 1403637247.988319, t: 0.068332 -6.647087 0.070498 q: 0.234527 0.751235 -0.244019 0.566656 
time: 1403637248.088319, t: 0.154109 -6.565436 0.056044 q: 0.215895 0.760060 -0.236105 0.565643 
time: 1403637248.188319, t: 0.234393 -6.475196 0.045014 q: 0.198366 0.771500 -0.227991 0.559874 
time: 1403637248.288319, t: 0.315029 -6.379978 0.030661 q: 0.185285 0.779950 -0.222417 0.554868 
time: 1403637248.388319, t: 0.394619 -6.280586 0.010097 q: 0.178572 0.783429 -0.217511 0.554112 
optimize pose graph 
time: 1403637248.588319, t: 0.550652 -6.072413 -0.037072 q: 0.176409 0.776874 -0.211988 0.566046 
time: 1403637248.688319, t: 0.624629 -5.961910 -0.055067 q: 0.177905 0.778345 -0.212301 0.563434 
time: 1403637248.788319, t: 0.695951 -5.846230 -0.064644 q: 0.178947 0.783339 -0.215383 0.554948 
time: 1403637248.888319, t: 0.765234 -5.726014 -0.065679 q: 0.178975 0.785780 -0.220331 0.549519 
time: 1403637248.988319, t: 0.835151 -5.603640 -0.059078 q: 0.178162 0.785990 -0.225668 0.547314 
time: 1403637249.088319, t: 0.906442 -5.482215 -0.045516 q: 0.180483 0.785437 -0.227955 0.546399 
time: 1403637249.188319, t: 0.980050 -5.359454 -0.023604 q: 0.182090 0.784770 -0.230002 0.545965 
time: 1403637249.288319, t: 1.054086 -5.235077 0.004041 q: 0.182561 0.783121 -0.232264 0.547217 
time: 1403637249.388319, t: 1.129015 -5.107952 0.031365 q: 0.184510 0.781716 -0.233322 0.548122 
time: 1403637249.488319, t: 1.204253 -4.977670 0.044898 q: 0.184426 0.780958 -0.234671 0.548654 
time: 1403637249.588319, t: 1.280146 -4.846388 0.040667 q: 0.183568 0.780792 -0.235433 0.548852 
time: 1403637249.688319, t: 1.354528 -4.712628 0.022232 q: 0.184123 0.779304 -0.234643 0.551114 
time: 1403637249.788319, t: 1.428671 -4.576549 0.004731 q: 0.185076 0.774427 -0.231412 0.558979 
time: 1403637249.988319, t: 1.569864 -4.294065 -0.015400 q: 0.172229 0.775922 -0.218305 0.566237 
time: 1403637250.088319, t: 1.633851 -4.147722 -0.016342 q: 0.155550 0.780841 -0.215643 0.565322 
time: 1403637250.188319, t: 1.693975 -4.001276 -0.012001 q: 0.142480 0.786119 -0.209498 0.563761 
time: 1403637250.288319, t: 1.749259 -3.855653 -0.011564 q: 0.128368 0.788650 -0.203587 0.565778 
time: 1403637250.388319, t: 1.802978 -3.712968 -0.017283 q: 0.116700 0.789789 -0.200164 0.567933 
time: 1403637250.588319, t: 1.896183 -3.443294 -0.042101 q: 0.098343 0.794261 -0.200208 0.565151 
optimize pose graph 
time: 1403637250.688319, t: 1.937200 -3.318856 -0.048676 q: 0.095311 0.797627 -0.194972 0.562755 
time: 1403637250.788319, t: 1.976719 -3.202005 -0.046385 q: 0.094863 0.800001 -0.189795 0.561228 
time: 1403637250.888319, t: 2.016764 -3.093092 -0.035491 q: 0.093558 0.798873 -0.187725 0.563744 
time: 1403637250.988319, t: 2.056708 -2.992727 -0.019266 q: 0.090165 0.798592 -0.188610 0.564400 
time: 1403637251.088319, t: 2.095212 -2.899390 0.004711 q: 0.084272 0.799738 -0.187284 0.564129 
time: 1403637251.188319, t: 2.131912 -2.813824 0.033818 q: 0.074493 0.802364 -0.185580 0.562336 
time: 1403637251.288319, t: 2.163564 -2.738823 0.070894 q: 0.067670 0.804003 -0.181836 0.562081 
time: 1403637251.388319, t: 2.193950 -2.672883 0.117556 q: 0.071651 0.803785 -0.168178 0.566137 
time: 1403637251.588319, t: 2.253798 -2.562848 0.208970 q: 0.067602 0.804614 -0.137734 0.573633 
time: 1403637251.688319, t: 2.280297 -2.515190 0.243863 q: 0.060936 0.805502 -0.126075 0.575812 
time: 1403637251.788319, t: 2.303648 -2.471623 0.271897 q: 0.054459 0.806058 -0.117891 0.577414 
time: 1403637251.888319, t: 2.324414 -2.433116 0.296581 q: 0.053833 0.805000 -0.110256 0.580449 
time: 1403637251.988319, t: 2.342305 -2.398590 0.318532 q: 0.060770 0.801609 -0.099656 0.586344 
time: 1403637252.088319, t: 2.355721 -2.364448 0.336128 q: 0.064887 0.797903 -0.093314 0.591974 
time: 1403637252.188319, t: 2.363074 -2.329337 0.349294 q: 0.062773 0.794053 -0.092407 0.597495 
time: 1403637252.288319, t: 2.364084 -2.293453 0.355796 q: 0.058185 0.793813 -0.094367 0.597972 
time: 1403637252.388319, t: 2.360957 -2.258626 0.354194 q: 0.054236 0.796910 -0.096843 0.593813 
time: 1403637252.488319, t: 2.348928 -2.223212 0.345934 q: 0.051355 0.801921 -0.099367 0.586865 
time: 1403637252.588319, t: 2.335300 -2.189871 0.332241 q: 0.049984 0.805029 -0.101115 0.582414 
time: 1403637252.688319, t: 2.317414 -2.158135 0.313564 q: 0.046001 0.809376 -0.104448 0.576095 
optimize pose graph 
time: 1403637252.788319, t: 2.300808 -2.131113 0.294091 q: 0.038629 0.815248 -0.110273 0.567203 
time: 1403637252.888319, t: 2.283415 -2.107865 0.281446 q: 0.041693 0.816604 -0.109113 0.565256 
time: 1403637252.988319, t: 2.268261 -2.091274 0.279094 q: 0.050126 0.812134 -0.104390 0.571864 
time: 1403637253.088319, t: 2.251761 -2.078582 0.284363 q: 0.055197 0.808922 -0.101729 0.576412 
time: 1403637253.188319, t: 2.235066 -2.067643 0.293134 q: 0.057800 0.807218 -0.100837 0.578696 
time: 1403637253.288319, t: 2.218352 -2.056834 0.297667 q: 0.059063 0.806400 -0.101143 0.579655 
time: 1403637253.388319, t: 2.199149 -2.048028 0.295970 q: 0.059327 0.806303 -0.101677 0.579670 
time: 1403637253.488319, t: 2.178422 -2.040425 0.287824 q: 0.058499 0.805472 -0.102870 0.580698 
time: 1403637253.588319, t: 2.155894 -2.033670 0.275055 q: 0.059694 0.806463 -0.102600 0.579246 
time: 1403637253.688319, t: 2.131899 -2.027341 0.266687 q: 0.063622 0.806208 -0.099914 0.579654 
time: 1403637253.788319, t: 2.105948 -2.021447 0.265743 q: 0.068271 0.805006 -0.096685 0.581340 
time: 1403637253.888319, t: 2.078928 -2.014111 0.271045 q: 0.070039 0.804611 -0.095649 0.581848 
time: 1403637253.988319, t: 2.050646 -2.006324 0.282215 q: 0.070625 0.804508 -0.095663 0.581917 
time: 1403637254.088319, t: 2.018305 -1.994303 0.299550 q: 0.071877 0.803655 -0.094185 0.583183 
time: 1403637254.188319, t: 1.984209 -1.979851 0.321611 q: 0.068775 0.803850 -0.089465 0.584030 
time: 1403637254.288319, t: 1.948528 -1.962389 0.348965 q: 0.064480 0.807543 -0.080858 0.580671 
time: 1403637254.388319, t: 1.911353 -1.942290 0.379113 q: 0.059157 0.812211 -0.072831 0.575769 
time: 1403637254.488319, t: 1.875319 -1.921138 0.404582 q: 0.054861 0.815562 -0.066699 0.572189 
time: 1403637254.588319, t: 1.840443 -1.898938 0.425590 q: 0.051004 0.816748 -0.061936 0.571389 
time: 1403637254.688319, t: 1.806768 -1.875452 0.440471 q: 0.048970 0.815663 -0.058610 0.573464 
time: 1403637254.888319, t: 1.738337 -1.825754 0.454105 q: 0.044105 0.810156 -0.056709 0.581795 
optimize pose graph 
time: 1403637254.988319, t: 1.702630 -1.798946 0.451822 q: 0.043039 0.807925 -0.056597 0.584979 
time: 1403637255.088319, t: 1.668584 -1.770685 0.445596 q: 0.041274 0.807439 -0.054232 0.586002 
time: 1403637255.188319, t: 1.629302 -1.740016 0.441511 q: 0.035655 0.808122 -0.047853 0.585985 
time: 1403637255.288319, t: 1.588387 -1.708156 0.444480 q: 0.028636 0.807994 -0.040770 0.587080 
time: 1403637255.388319, t: 1.546387 -1.675619 0.453608 q: 0.020833 0.808453 -0.034323 0.587190 
time: 1403637255.488319, t: 1.501613 -1.642572 0.459091 q: 0.013999 0.809743 -0.024134 0.586121 
time: 1403637255.588319, t: 1.454601 -1.607833 0.458110 q: 0.007914 0.810601 -0.009944 0.585462 
time: 1403637255.688319, t: 1.407661 -1.573196 0.453088 q: 0.000149 0.811474 0.006354 0.584353 
time: 1403637255.788319, t: 1.358562 -1.538229 0.447917 q: -0.009075 0.813628 0.024965 0.580779 
time: 1403637255.888319, t: 1.308685 -1.501895 0.449745 q: -0.020720 0.815953 0.043592 0.576100 
time: 1403637255.988319, t: 1.257382 -1.465006 0.461702 q: -0.032504 0.816162 0.059799 0.573800 
time: 1403637256.088319, t: 1.205763 -1.427843 0.482528 q: -0.039287 0.815948 0.072836 0.572171 
time: 1403637256.188319, t: 1.153612 -1.389983 0.504886 q: -0.043801 0.813431 0.080820 0.574352 
time: 1403637256.288319, t: 1.101967 -1.350794 0.522022 q: -0.047440 0.809496 0.084797 0.579030 
time: 1403637256.388319, t: 1.050326 -1.309535 0.531271 q: -0.048092 0.807281 0.087049 0.581728 
time: 1403637256.488319, t: 0.996260 -1.266618 0.534456 q: -0.046231 0.806189 0.088047 0.583241 
time: 1403637256.588319, t: 0.941752 -1.222043 0.532781 q: -0.046548 0.805728 0.086258 0.584119 
time: 1403637256.688319, t: 0.884732 -1.175741 0.523175 q: -0.050187 0.810859 0.080727 0.577470 
time: 1403637256.788319, t: 0.827473 -1.127083 0.510275 q: -0.058974 0.818074 0.071291 0.567621 
time: 1403637256.888319, t: 0.771990 -1.080926 0.496564 q: -0.064654 0.819716 0.065657 0.565309 
time: 1403637256.988319, t: 0.718439 -1.036055 0.484766 q: -0.064336 0.816210 0.071026 0.569752 
optimize pose graph 
time: 1403637257.088319, t: 0.665518 -0.991980 0.478525 q: -0.064454 0.812263 0.081879 0.573908 
time: 1403637257.188319, t: 0.613273 -0.947053 0.480987 q: -0.065415 0.810265 0.090822 0.575277 
time: 1403637257.288319, t: 0.564408 -0.902132 0.489029 q: -0.067238 0.810635 0.098000 0.573364 
time: 1403637257.388319, t: 0.513300 -0.859720 0.503198 q: -0.067791 0.811311 0.105101 0.571081 
time: 1403637257.488319, t: 0.465774 -0.814312 0.517417 q: -0.068585 0.811491 0.109622 0.569878 
time: 1403637257.588319, t: 0.418469 -0.769366 0.525323 q: -0.068088 0.812613 0.113447 0.567586 
time: 1403637257.688319, t: 0.370088 -0.724397 0.525367 q: -0.070927 0.816559 0.113702 0.561492 
time: 1403637257.788319, t: 0.325236 -0.676082 0.521352 q: -0.074853 0.819635 0.116005 0.556002 
time: 1403637257.888319, t: 0.287394 -0.624574 0.513642 q: -0.080177 0.822052 0.121326 0.550529 
time: 1403637257.988319, t: 0.252691 -0.571157 0.502280 q: -0.088471 0.822243 0.129248 0.547160 
time: 1403637258.088319, t: 0.221337 -0.516997 0.490050 q: -0.100200 0.820568 0.140773 0.544803 
time: 1403637258.188319, t: 0.195686 -0.463020 0.484979 q: -0.111475 0.813556 0.157850 0.548437 
time: 1403637258.288319, t: 0.173318 -0.408347 0.485742 q: -0.118949 0.804607 0.174376 0.555025 
time: 1403637258.388319, t: 0.151822 -0.352829 0.482931 q: -0.126928 0.798272 0.185579 0.558759 
time: 1403637258.488319, t: 0.129443 -0.297760 0.472708 q: -0.138499 0.797386 0.189485 0.555958 
time: 1403637258.588319, t: 0.110310 -0.242734 0.455727 q: -0.147802 0.798951 0.190221 0.551042 
time: 1403637258.688319, t: 0.091771 -0.190364 0.435856 q: -0.150566 0.795732 0.191735 0.554417 
time: 1403637258.788319, t: 0.076252 -0.140494 0.415628 q: -0.151647 0.793220 0.192442 0.557469 
time: 1403637258.888319, t: 0.060355 -0.093212 0.394966 q: -0.153261 0.791294 0.191454 0.560098 
time: 1403637258.988319, t: 0.045574 -0.048720 0.380680 q: -0.154873 0.791668 0.189283 0.559865 
time: 1403637259.088319, t: 0.032262 -0.007479 0.376426 q: -0.154677 0.792334 0.187549 0.559560 
optimize pose graph 
time: 1403637259.188319, t: 0.019887 0.030686 0.384336 q: -0.155265 0.792102 0.186230 0.560165 
time: 1403637259.288319, t: 0.006113 0.063889 0.400338 q: -0.155749 0.791569 0.184457 0.561370 
time: 1403637259.388319, t: -0.007936 0.093432 0.415839 q: -0.156365 0.792293 0.182414 0.560845 
time: 1403637259.488319, t: -0.019984 0.119155 0.426602 q: -0.163692 0.792276 0.176016 0.560822 
time: 1403637259.588319, t: -0.031566 0.139253 0.434615 q: -0.167521 0.792469 0.172593 0.560484 
time: 1403637259.688319, t: -0.041416 0.153708 0.439624 q: -0.164032 0.792390 0.174151 0.561145 
time: 1403637259.788319, t: -0.050406 0.163588 0.439679 q: -0.156979 0.795265 0.178607 0.557683 
time: 1403637259.888319, t: -0.058182 0.169523 0.437537 q: -0.155667 0.795504 0.179296 0.557489 
time: 1403637259.988319, t: -0.064830 0.172485 0.431028 q: -0.159495 0.793572 0.176580 0.560022 
time: 1403637260.088319, t: -0.070422 0.171205 0.420024 q: -0.155860 0.791393 0.179430 0.563213 
time: 1403637260.188319, t: -0.076076 0.166754 0.404795 q: -0.149823 0.791676 0.184016 0.562975 
time: 1403637260.288319, t: -0.082066 0.160321 0.386854 q: -0.142358 0.791818 0.189977 0.562732 
time: 1403637260.388319, t: -0.089388 0.153082 0.368160 q: -0.133332 0.790029 0.196913 0.565069 
time: 1403637260.488319, t: -0.097675 0.147956 0.347319 q: -0.128204 0.790218 0.201240 0.564466 
time: 1403637260.588319, t: -0.107312 0.146098 0.324402 q: -0.127307 0.796854 0.202079 0.554961 
time: 1403637260.688319, t: -0.117299 0.148069 0.301654 q: -0.128586 0.801389 0.200899 0.548526 
time: 1403637260.788319, t: -0.126109 0.153531 0.279644 q: -0.131896 0.798970 0.199002 0.551950 
time: 1403637260.888319, t: -0.133933 0.161402 0.257510 q: -0.135828 0.794182 0.197379 0.558450 
time: 1403637260.988319, t: -0.141556 0.170906 0.235501 q: -0.137672 0.789652 0.196723 0.564621 
time: 1403637261.088319, t: -0.150856 0.180445 0.212443 q: -0.138482 0.791411 0.196396 0.562068 
time: 1403637261.188319, t: -0.161145 0.191154 0.189663 q: -0.136039 0.798354 0.197774 0.552277 
time: 1403637261.288319, t: -0.170589 0.203365 0.170576 q: -0.133632 0.803833 0.199187 0.544352 
optimize pose graph 
time: 1403637261.388319, t: -0.177124 0.217752 0.159023 q: -0.135496 0.800343 0.197656 0.549567 
time: 1403637261.488319, t: -0.182209 0.233564 0.152001 q: -0.142400 0.796316 0.192810 0.555362 
time: 1403637261.588319, t: -0.185954 0.248680 0.145560 q: -0.141523 0.801356 0.193028 0.548215 
time: 1403637261.688319, t: -0.187236 0.263995 0.143445 q: -0.137356 0.807068 0.195528 0.539948 
time: 1403637261.788319, t: -0.183842 0.280974 0.148510 q: -0.136149 0.804780 0.196070 0.543460 
time: 1403637261.888319, t: -0.177602 0.299382 0.156412 q: -0.138137 0.797686 0.194241 0.553973 
time: 1403637261.988319, t: -0.171486 0.316860 0.157484 q: -0.139305 0.793080 0.192379 0.560900 
time: 1403637262.088319, t: -0.165160 0.334442 0.148649 q: -0.142710 0.790470 0.188594 0.564999 
time: 1403637262.188319, t: -0.160018 0.350700 0.130874 q: -0.146458 0.790640 0.184725 0.565079 
time: 1403637262.288319, t: -0.155701 0.363997 0.105972 q: -0.149245 0.791077 0.181328 0.564839 
time: 1403637262.388319, t: -0.159725 0.357620 0.104107 q: -0.151636 0.777687 0.179796 0.582994 
time: 1403637262.488319, t: -0.161475 0.348540 0.096180 q: -0.140377 0.794323 0.149561 0.571819 
time: 1403637262.588319, t: -0.166760 0.343996 0.102042 q: -0.151006 0.777337 0.139307 0.594591 
time: 1403637262.688319, t: -0.164959 0.343890 0.100918 q: -0.146635 0.787597 0.141152 0.581606 
time: 1403637262.788319, t: -0.167392 0.342847 0.101787 q: -0.147762 0.785730 0.138527 0.584470 
time: 1403637262.888319, t: -0.166892 0.344479 0.101776 q: -0.148354 0.786789 0.139295 0.582711 
time: 1403637262.988319, t: -0.167101 0.343987 0.101863 q: -0.148115 0.786410 0.139119 0.583324 
time: 1403637263.088319, t: -0.167098 0.343827 0.101842 q: -0.147534 0.786402 0.139368 0.583422 
time: 1403637263.188319, t: -0.167202 0.343573 0.101914 q: -0.147124 0.786280 0.139464 0.583668 
time: 1403637263.288319, t: -0.167247 0.343658 0.101865 q: -0.147356 0.786463 0.139332 0.583395 
time: 1403637263.388319, t: -0.167247 0.343725 0.101871 q: -0.147625 0.786453 0.139258 0.583358 
time: 1403637263.488319, t: -0.167290 0.343608 0.101851 q: -0.147282 0.786459 0.139371 0.583408 
time: 1403637263.588319, t: -0.167280 0.343633 0.101849 q: -0.147463 0.786487 0.139266 0.583351 
time: 1403637263.688319, t: -0.167301 0.343642 0.101844 q: -0.147497 0.786535 0.139263 0.583277 
time: 1403637263.788319, t: -0.167324 0.343750 0.101833 q: -0.147829 0.786529 0.138996 0.583266 
time: 1403637263.888319, t: -0.167349 0.343715 0.101850 q: -0.147841 0.786538 0.139016 0.583246 
time: 1403637263.988319, t: -0.167323 0.343600 0.101844 q: -0.147505 0.786557 0.139184 0.583266 
time: 1403637264.088319, t: -0.167318 0.343617 0.101823 q: -0.147447 0.786582 0.139261 0.583227 
time: 1403637264.188319, t: -0.167294 0.343562 0.101813 q: -0.147381 0.786535 0.139246 0.583312 
time: 1403637264.288319, t: -0.167281 0.343631 0.101805 q: -0.147553 0.786559 0.139163 0.583255 
time: 1403637264.388319, t: -0.167315 0.343618 0.101789 q: -0.147515 0.786590 0.139221 0.583209 
time: 1403637264.488319, t: -0.167230 0.343627 0.101762 q: -0.147406 0.786552 0.139216 0.583289 
time: 1403637264.588319, t: -0.167241 0.343660 0.101763 q: -0.147451 0.786576 0.139190 0.583251 
time: 1403637264.688319, t: -0.167287 0.343638 0.101793 q: -0.147467 0.786583 0.139170 0.583244 
time: 1403637264.788319, t: -0.167254 0.343648 0.101805 q: -0.147532 0.786604 0.139145 0.583204 
time: 1403637264.888319, t: -0.167243 0.343649 0.101819 q: -0.147472 0.786605 0.139163 0.583214 
time: 1403637264.988319, t: -0.167203 0.343636 0.101827 q: -0.147312 0.786620 0.139245 0.583214 
time: 1403637265.088319, t: -0.167216 0.343656 0.101841 q: -0.147327 0.786660 0.139279 0.583148 
time: 1403637265.188319, t: -0.167249 0.343638 0.101842 q: -0.147285 0.786626 0.139253 0.583211 
time: 1403637265.288319, t: -0.167255 0.343624 0.101829 q: -0.147306 0.786653 0.139273 0.583165 
time: 1403637265.388319, t: -0.167164 0.343645 0.101858 q: -0.147284 0.786658 0.139289 0.583159 
time: 1403637265.488319, t: -0.167088 0.343614 0.101876 q: -0.147311 0.786653 0.139267 0.583166 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720553223.692251472]: Shutdown request received.[0m
[33m[ WARN] [1720553223.692293502]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720553223.693250623]: Shutdown request received.[0m
[33m[ WARN] [1720553223.693276709]: Reason given for shutdown: [user request][0m
killed
