/SLAM-Hive/slam_hive_results/mapping_results/3166/2371_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-1.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720553256.430161433]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720553256.431967596]: init begins[0m
[31m[ERROR] [1720553256.433072365]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/4c32e3ae-3e29-11ef-82d5-0242ac110005/roslaunch-7b93f2bb1f38-118.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://7b93f2bb1f38:39153/[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] [1720553257.536397922]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720553257.538289544]: 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] [1720553257.544098173]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720553257.544319858]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720553257.544345721]: 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] [1720553257.544609086]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720553257.544809281]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720553257.544981536]: 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://7b93f2bb1f38:11311/[0m
]2;roscore http://7b93f2bb1f38:11311/
[1msetting /run_id to 4c32e3ae-3e29-11ef-82d5-0242ac110005[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 [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720553266.589343701]: 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: 316916136.27 
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] [1720553268.060654043]: gyroscope bias initial calibration -0.00216704   0.0203564   0.0776887[0m
[0m[ INFO] [1720553268.134540970]: Initialization finish![0m
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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: 1403637204.088319, t: 2.107787 -3.248535 0.089709 q: 0.187348 0.777844 -0.247533 0.546431 
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optimize pose graph 
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time: 1403637206.188319, t: 1.762938 -3.092854 0.069387 q: 0.163456 0.781392 -0.237079 0.553627 
time: 1403637206.288319, t: 1.761584 -3.070739 0.076575 q: 0.159612 0.780290 -0.239446 0.555282 
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time: 1403637206.788319, t: 1.741193 -2.969683 0.146126 q: 0.165112 0.778461 -0.239083 0.556395 
time: 1403637206.888319, t: 1.732609 -2.948922 0.150376 q: 0.166596 0.777647 -0.239081 0.557092 
time: 1403637206.988319, t: 1.721982 -2.927317 0.159119 q: 0.167097 0.776296 -0.239389 0.558691 
time: 1403637207.088319, t: 1.711887 -2.907564 0.176466 q: 0.167315 0.776222 -0.240614 0.558203 
time: 1403637207.288319, t: 1.686284 -2.859474 0.189279 q: 0.168723 0.773762 -0.243288 0.560032 
time: 1403637207.388319, t: 1.669767 -2.834175 0.184330 q: 0.169329 0.773787 -0.244066 0.559475 
time: 1403637207.488319, t: 1.650867 -2.807661 0.173870 q: 0.169715 0.773602 -0.245213 0.559113 
time: 1403637207.588319, t: 1.630048 -2.780057 0.158151 q: 0.165325 0.775909 -0.249586 0.555283 
optimize pose graph 
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time: 1403637208.288319, t: 1.481104 -2.655144 0.257686 q: 0.169884 0.779461 -0.251634 0.547959 
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optimize pose graph 
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time: 1403637210.188319, t: 1.460596 -2.357701 0.295244 q: 0.122607 0.846577 -0.210934 0.473056 
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time: 1403637210.388319, t: 1.635126 -2.381544 0.241219 q: 0.119350 0.853389 -0.213325 0.460407 
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time: 1403637211.688319, t: 3.765254 -3.124482 -0.266862 q: 0.128462 0.794315 -0.218274 0.552193 
optimize pose graph 
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time: 1403637212.388319, t: 4.851023 -3.756194 -0.358123 q: 0.141344 0.781384 -0.214252 0.568821 
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time: 1403637213.088319, t: 5.796307 -4.382205 -0.200218 q: 0.146674 0.799493 -0.213279 0.542042 
time: 1403637213.188319, t: 5.933886 -4.470179 -0.178316 q: 0.141919 0.800040 -0.214126 0.542167 
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time: 1403637213.488319, t: 6.346178 -4.735437 -0.158868 q: 0.141586 0.796030 -0.211911 0.548983 
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time: 1403637213.888319, t: 6.882663 -5.052084 -0.201062 q: 0.166983 0.800272 -0.192209 0.542897 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403637237.888319, t: 1.431063 -5.705441 -0.006105 q: 0.300385 0.650073 -0.388445 0.579900 
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optimize pose graph 
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time: 1403637239.988319, t: -0.558758 -3.669138 0.578788 q: -0.473277 -0.416193 0.707435 -0.319887 
time: 1403637240.088319, t: -0.811902 -3.690398 0.523283 q: -0.493404 -0.392211 0.713911 -0.305047 
time: 1403637240.188319, t: -1.062444 -3.707449 0.464059 q: 0.505785 0.368215 -0.724981 0.288100 
time: 1403637240.288319, t: -1.307280 -3.719830 0.400581 q: 0.508788 0.348524 -0.740017 0.268403 
time: 1403637240.388319, t: -1.546297 -3.734813 0.335246 q: 0.503666 0.338966 -0.755474 0.246335 
time: 1403637240.488319, t: -1.783592 -3.748025 0.277647 q: -0.497621 -0.336785 0.767336 -0.223929 
time: 1403637240.588319, t: -2.021448 -3.767354 0.230155 q: -0.495547 -0.334421 0.773029 -0.212182 
time: 1403637240.688319, t: -2.256194 -3.797314 0.191311 q: -0.498172 -0.334246 0.773143 -0.205802 
time: 1403637240.788319, t: -2.493996 -3.837980 0.160081 q: 0.503658 0.333577 -0.770024 0.205225 
time: 1403637240.888319, t: -2.729692 -3.883838 0.138537 q: 0.521915 0.334155 -0.756816 0.207787 
time: 1403637240.988319, t: -2.961060 -3.936437 0.119694 q: 0.534572 0.335136 -0.746589 0.211002 
time: 1403637241.088319, t: -3.182882 -3.991891 0.093581 q: 0.532635 0.335777 -0.746618 0.214746 
time: 1403637241.188319, t: -3.394997 -4.047720 0.058072 q: 0.529223 0.338872 -0.747258 0.216089 
time: 1403637241.288319, t: -3.599271 -4.104719 0.020630 q: 0.531031 0.345642 -0.744051 0.211957 
time: 1403637241.388319, t: -3.797264 -4.165616 -0.021329 q: 0.535046 0.352265 -0.739171 0.207994 
time: 1403637241.488319, t: -3.984764 -4.229567 -0.062539 q: 0.539600 0.359165 -0.733972 0.202774 
time: 1403637241.588319, t: -4.160857 -4.299105 -0.098981 q: 0.547547 0.365164 -0.726145 0.198898 
time: 1403637241.688319, t: -4.321264 -4.375036 -0.127852 q: 0.555512 0.366228 -0.718754 0.201685 
time: 1403637241.788319, t: -4.465180 -4.454077 -0.151835 q: 0.564692 0.365422 -0.710705 0.206124 
time: 1403637241.888319, t: -4.589945 -4.535151 -0.168405 q: 0.569887 0.359005 -0.706329 0.217814 
time: 1403637241.988319, t: -4.697418 -4.615402 -0.178346 q: 0.572304 0.347006 -0.703975 0.237642 
time: 1403637242.088319, t: -4.788883 -4.690918 -0.181664 q: 0.575061 0.342766 -0.702215 0.242304 
time: 1403637242.188319, t: -4.864517 -4.759587 -0.180160 q: 0.574681 0.347085 -0.703424 0.233385 
time: 1403637242.288319, t: -4.924712 -4.825805 -0.172061 q: 0.575606 0.351696 -0.703406 0.224071 
optimize pose graph 
time: 1403637242.388319, t: -4.967896 -4.889751 -0.164881 q: 0.581647 0.356938 -0.699252 0.212905 
time: 1403637242.488319, t: -4.994056 -4.953710 -0.165511 q: 0.589358 0.360422 -0.693462 0.204605 
time: 1403637242.688319, t: -4.984832 -5.083190 -0.171251 q: 0.588207 0.368848 -0.686185 0.217057 
time: 1403637242.788319, t: -4.947382 -5.147808 -0.165909 q: 0.579081 0.375211 -0.683989 0.236727 
time: 1403637242.988319, t: -4.823335 -5.261185 -0.134408 q: 0.573418 0.384302 -0.672501 0.266921 
time: 1403637243.088319, t: -4.741748 -5.309847 -0.115968 q: 0.571374 0.393293 -0.669398 0.266006 
time: 1403637243.188319, t: -4.645553 -5.349720 -0.106033 q: 0.565221 0.400777 -0.671442 0.262808 
time: 1403637243.288319, t: -4.536699 -5.385571 -0.103224 q: 0.554325 0.403171 -0.678499 0.264227 
time: 1403637243.388319, t: -4.418275 -5.418888 -0.107099 q: 0.546597 0.403119 -0.683870 0.266551 
time: 1403637243.488319, t: -4.290874 -5.449155 -0.114362 q: 0.543298 0.401509 -0.686573 0.268767 
time: 1403637243.588319, t: -4.153703 -5.474705 -0.116886 q: 0.535747 0.399375 -0.692728 0.271298 
time: 1403637243.688319, t: -4.010294 -5.499353 -0.112278 q: 0.524362 0.397485 -0.701864 0.272831 
time: 1403637243.788319, t: -3.864333 -5.523092 -0.097665 q: 0.512838 0.392251 -0.711318 0.277783 
time: 1403637243.888319, t: -3.719032 -5.544023 -0.075932 q: -0.499029 -0.385281 0.722144 -0.284669 
time: 1403637243.988319, t: -3.577393 -5.561557 -0.044271 q: -0.492291 -0.380512 0.727794 -0.288401 
time: 1403637244.088319, t: -3.443103 -5.577390 -0.002784 q: -0.492072 -0.378285 0.729278 -0.287958 
time: 1403637244.188319, t: -3.315855 -5.593169 0.045838 q: -0.494815 -0.377266 0.728864 -0.285632 
time: 1403637244.288319, t: -3.195066 -5.606195 0.101058 q: -0.495184 -0.375669 0.729701 -0.284959 
time: 1403637244.388319, t: -3.078697 -5.617435 0.159573 q: -0.491212 -0.375839 0.732766 -0.283744 
time: 1403637244.488319, t: -2.968201 -5.629199 0.222877 q: -0.487400 -0.382890 0.732395 -0.281841 
optimize pose graph 
time: 1403637244.588319, t: -2.863893 -5.644242 0.287976 q: -0.487520 -0.398499 0.725919 -0.276703 
time: 1403637244.688319, t: -2.762942 -5.664832 0.347398 q: -0.485665 -0.416306 0.718365 -0.273444 
time: 1403637244.788319, t: -2.663428 -5.688931 0.400377 q: -0.482117 -0.430415 0.711873 -0.274851 
time: 1403637244.888319, t: -2.565843 -5.720808 0.447820 q: -0.478640 -0.440108 0.707133 -0.277799 
time: 1403637244.988319, t: -2.469310 -5.756709 0.488512 q: -0.471863 -0.445612 0.706391 -0.282467 
time: 1403637245.088319, t: -2.374800 -5.796878 0.523273 q: -0.456538 -0.443901 0.714104 -0.290828 
time: 1403637245.188319, t: -2.286073 -5.840915 0.551713 q: -0.440988 -0.442183 0.722919 -0.295620 
time: 1403637245.288319, t: -2.207008 -5.891782 0.579099 q: -0.446320 -0.445855 0.718665 -0.292458 
time: 1403637245.388319, t: -2.134953 -5.950065 0.602547 q: -0.456776 -0.450121 0.711416 -0.287461 
time: 1403637245.488319, t: -2.065521 -6.013995 0.620430 q: -0.461975 -0.455644 0.705102 -0.286005 
time: 1403637245.588319, t: -1.996877 -6.083916 0.633381 q: -0.461387 -0.463741 0.699121 -0.288611 
time: 1403637245.688319, t: -1.930007 -6.158861 0.642262 q: -0.456079 -0.474462 0.692976 -0.294383 
time: 1403637245.788319, t: -1.863817 -6.239607 0.646297 q: -0.454276 -0.485088 0.680302 -0.309050 
time: 1403637245.888319, t: -1.796749 -6.326412 0.646646 q: -0.456490 -0.498150 0.659333 -0.329763 
time: 1403637245.988319, t: -1.727896 -6.412408 0.641230 q: -0.451968 -0.516229 0.637198 -0.351015 
time: 1403637246.088319, t: -1.656852 -6.499508 0.629935 q: -0.441924 -0.538909 0.612924 -0.372297 
time: 1403637246.188319, t: -1.584011 -6.583907 0.613501 q: -0.427562 -0.564770 0.585722 -0.393898 
time: 1403637246.288319, t: -1.507576 -6.665733 0.592298 q: 0.409337 0.591776 -0.556609 0.415249 
time: 1403637246.388319, t: -1.429189 -6.743586 0.567852 q: 0.392435 0.619932 -0.522300 0.434606 
time: 1403637246.488319, t: -1.348281 -6.817500 0.539913 q: 0.379162 0.647250 -0.483900 0.450716 
time: 1403637246.588319, t: -1.264104 -6.883636 0.508101 q: 0.366550 0.667639 -0.446333 0.469772 
optimize pose graph 
time: 1403637246.688319, t: -1.178046 -6.939588 0.471471 q: 0.352223 0.682443 -0.411174 0.491066 
time: 1403637246.788319, t: -1.086629 -6.986606 0.436657 q: 0.336163 0.696934 -0.378789 0.507736 
time: 1403637246.888319, t: -0.994463 -7.017612 0.409370 q: 0.317320 0.711985 -0.349756 0.519669 
time: 1403637246.988319, t: -0.900038 -7.044185 0.386996 q: 0.294312 0.729990 -0.330264 0.520980 
time: 1403637247.088319, t: -0.804302 -7.057907 0.370728 q: 0.273822 0.744416 -0.320366 0.517912 
time: 1403637247.188319, t: -0.707866 -7.062174 0.350226 q: 0.257302 0.754123 -0.317245 0.514246 
time: 1403637247.288319, t: -0.607876 -7.060266 0.324014 q: 0.247296 0.757149 -0.316925 0.514906 
time: 1403637247.388319, t: -0.505558 -7.055321 0.299101 q: 0.250575 0.747383 -0.311723 0.530528 
time: 1403637247.488319, t: -0.402075 -7.048677 0.271664 q: 0.256526 0.734726 -0.307223 0.547710 
time: 1403637247.688319, t: -0.204131 -7.003865 0.198978 q: 0.259384 0.737552 -0.293907 0.549869 
time: 1403637247.788319, t: -0.109860 -6.965497 0.162128 q: 0.262379 0.743296 -0.277994 0.548988 
time: 1403637247.888319, t: -0.016256 -6.912549 0.132683 q: 0.258291 0.747305 -0.263659 0.552544 
time: 1403637247.988319, t: 0.075901 -6.845806 0.112692 q: 0.242775 0.747347 -0.254123 0.563875 
time: 1403637248.188319, t: 0.252575 -6.679257 0.086484 q: 0.206806 0.767966 -0.238735 0.557194 
time: 1403637248.288319, t: 0.336870 -6.585936 0.071526 q: 0.193738 0.776514 -0.233242 0.552350 
time: 1403637248.388319, t: 0.420736 -6.488914 0.050320 q: 0.187008 0.780113 -0.228258 0.551679 
time: 1403637248.488319, t: 0.502277 -6.388125 0.025175 q: 0.183472 0.778903 -0.225535 0.555682 
time: 1403637248.588319, t: 0.582047 -6.284555 0.002354 q: 0.184856 0.773632 -0.222354 0.563808 
time: 1403637248.788319, t: 0.733284 -6.063031 -0.025891 q: 0.187153 0.780129 -0.225690 0.552663 
optimize pose graph 
time: 1403637248.888319, t: 0.806622 -5.945958 -0.027238 q: 0.187034 0.782567 -0.230603 0.547201 
time: 1403637248.988319, t: 0.880388 -5.826665 -0.020982 q: 0.186092 0.782734 -0.235939 0.545005 
time: 1403637249.088319, t: 0.955504 -5.706525 -0.008136 q: 0.188505 0.782059 -0.238376 0.544083 
time: 1403637249.188319, t: 1.032088 -5.586610 0.012988 q: 0.189975 0.781419 -0.240222 0.543680 
time: 1403637249.288319, t: 1.109025 -5.465776 0.039778 q: 0.190248 0.779802 -0.242205 0.545025 
time: 1403637249.388319, t: 1.185779 -5.341098 0.065910 q: 0.192051 0.778358 -0.243043 0.546082 
time: 1403637249.588319, t: 1.341173 -5.084413 0.072509 q: 0.191039 0.777209 -0.245086 0.547159 
time: 1403637249.688319, t: 1.417426 -4.951187 0.052435 q: 0.191808 0.775589 -0.244320 0.549526 
time: 1403637249.788319, t: 1.494233 -4.816713 0.032562 q: 0.192997 0.770541 -0.241118 0.557568 
time: 1403637249.888319, t: 1.570904 -4.679709 0.018262 q: 0.190413 0.768396 -0.235262 0.563881 
time: 1403637249.988319, t: 1.643729 -4.537097 0.009401 q: 0.180559 0.772209 -0.228010 0.564891 
time: 1403637250.088319, t: 1.710525 -4.391195 0.006935 q: 0.163965 0.777079 -0.225425 0.564311 
time: 1403637250.188319, t: 1.773658 -4.244935 0.009438 q: 0.150998 0.782324 -0.219376 0.563066 
time: 1403637250.288319, t: 1.833653 -4.098604 0.009278 q: 0.137116 0.784911 -0.213651 0.565215 
time: 1403637250.388319, t: 1.890722 -3.956481 0.003270 q: 0.125472 0.786144 -0.210236 0.567481 
time: 1403637250.488319, t: 1.943307 -3.818343 -0.008370 q: 0.114234 0.787676 -0.210290 0.567711 
time: 1403637250.588319, t: 1.993846 -3.686243 -0.020950 q: 0.107365 0.790666 -0.210612 0.564767 
time: 1403637250.688319, t: 2.040010 -3.561032 -0.027030 q: 0.104439 0.794085 -0.205604 0.562359 
time: 1403637250.788319, t: 2.084850 -3.444150 -0.024033 q: 0.104023 0.796582 -0.200625 0.560701 
time: 1403637250.888319, t: 2.127961 -3.335607 -0.012001 q: 0.102697 0.795571 -0.198589 0.563101 
optimize pose graph 
time: 1403637250.988319, t: 2.170379 -3.234739 0.004684 q: 0.099317 0.795320 -0.199552 0.563721 
time: 1403637251.088319, t: 2.210610 -3.141160 0.029955 q: 0.093383 0.796516 -0.198458 0.563432 
time: 1403637251.188319, t: 2.249061 -3.055708 0.061665 q: 0.083511 0.799224 -0.196975 0.561666 
time: 1403637251.288319, t: 2.285027 -2.981403 0.100719 q: 0.076602 0.801025 -0.193470 0.561303 
time: 1403637251.388319, t: 2.315998 -2.915402 0.150027 q: 0.080464 0.801132 -0.179732 0.565164 
time: 1403637251.488319, t: 2.349138 -2.859276 0.202416 q: 0.080684 0.801441 -0.164739 0.569248 
time: 1403637251.588319, t: 2.379978 -2.809487 0.245719 q: 0.076251 0.802553 -0.149484 0.572494 
time: 1403637251.688319, t: 2.407590 -2.762363 0.280035 q: 0.069609 0.803618 -0.137819 0.574769 
time: 1403637251.788319, t: 2.432230 -2.720529 0.306444 q: 0.063138 0.804262 -0.129575 0.576529 
time: 1403637251.888319, t: 2.452916 -2.682946 0.330245 q: 0.062532 0.803289 -0.121827 0.579633 
time: 1403637251.988319, t: 2.471931 -2.647793 0.350918 q: 0.069808 0.800005 -0.111190 0.585453 
time: 1403637252.088319, t: 2.485437 -2.614011 0.368278 q: 0.074020 0.796369 -0.104718 0.591059 
time: 1403637252.188319, t: 2.493622 -2.578926 0.381613 q: 0.072061 0.792502 -0.103800 0.596634 
time: 1403637252.288319, t: 2.496100 -2.543167 0.387485 q: 0.067561 0.792252 -0.105774 0.597146 
time: 1403637252.388319, t: 2.492398 -2.507914 0.386084 q: 0.063520 0.795298 -0.108251 0.593083 
time: 1403637252.488319, t: 2.481893 -2.473980 0.376941 q: 0.060433 0.800297 -0.110833 0.586164 
time: 1403637252.588319, t: 2.470793 -2.440433 0.362555 q: 0.059024 0.803413 -0.112640 0.581684 
time: 1403637252.688319, t: 2.454956 -2.409312 0.343584 q: 0.054851 0.807761 -0.116048 0.575367 
time: 1403637252.788319, t: 2.438945 -2.381609 0.323862 q: 0.047338 0.813567 -0.121936 0.566568 
time: 1403637252.888319, t: 2.421481 -2.359123 0.311495 q: 0.050242 0.814951 -0.120686 0.564594 
time: 1403637252.988319, t: 2.407075 -2.343142 0.309589 q: 0.058694 0.810567 -0.115905 0.571054 
time: 1403637253.088319, t: 2.391550 -2.329195 0.314799 q: 0.063934 0.807391 -0.113273 0.575501 
optimize pose graph 
time: 1403637253.188319, t: 2.375689 -2.317309 0.323450 q: 0.066649 0.805706 -0.112395 0.577723 
time: 1403637253.288319, t: 2.359617 -2.306018 0.327961 q: 0.067971 0.804872 -0.112700 0.578671 
time: 1403637253.388319, t: 2.340799 -2.296387 0.325954 q: 0.068258 0.804767 -0.113248 0.578676 
time: 1403637253.488319, t: 2.320477 -2.287963 0.317807 q: 0.067453 0.803931 -0.114451 0.579695 
time: 1403637253.588319, t: 2.297942 -2.280207 0.305074 q: 0.068640 0.804924 -0.114203 0.578225 
time: 1403637253.688319, t: 2.273996 -2.273282 0.297190 q: 0.072558 0.804713 -0.111522 0.578564 
time: 1403637253.788319, t: 2.248381 -2.266582 0.296949 q: 0.077223 0.803565 -0.108311 0.580163 
time: 1403637253.888319, t: 2.221666 -2.258200 0.302368 q: 0.079015 0.803176 -0.107311 0.580646 
time: 1403637253.988319, t: 2.193094 -2.249159 0.314129 q: 0.079648 0.803061 -0.107360 0.580708 
time: 1403637254.088319, t: 2.161286 -2.236584 0.330994 q: 0.080893 0.802222 -0.105896 0.581963 
time: 1403637254.188319, t: 2.127468 -2.221205 0.353163 q: 0.077799 0.802491 -0.101182 0.582853 
time: 1403637254.288319, t: 2.091692 -2.203193 0.380924 q: 0.073428 0.806315 -0.092600 0.579559 
time: 1403637254.388319, t: 2.054051 -2.184443 0.410053 q: 0.067914 0.811098 -0.084534 0.574771 
time: 1403637254.488319, t: 2.017085 -2.164083 0.435422 q: 0.063468 0.814489 -0.078393 0.571344 
time: 1403637254.588319, t: 1.982309 -2.141650 0.456517 q: 0.059515 0.815756 -0.073509 0.570611 
time: 1403637254.688319, t: 1.949080 -2.118396 0.471826 q: 0.057366 0.814744 -0.070020 0.572711 
time: 1403637254.788319, t: 1.914927 -2.093257 0.481819 q: 0.055595 0.811898 -0.068102 0.577143 
time: 1403637254.988319, t: 1.847764 -2.038933 0.483865 q: 0.051599 0.807024 -0.068001 0.584317 
time: 1403637255.088319, t: 1.813179 -2.010192 0.478491 q: 0.049726 0.806582 -0.065571 0.585366 
time: 1403637255.188319, t: 1.774672 -1.979061 0.474937 q: 0.044078 0.807374 -0.059197 0.585405 
optimize pose graph 
time: 1403637255.288319, t: 1.734414 -1.946316 0.478347 q: 0.037069 0.807364 -0.052071 0.586582 
time: 1403637255.388319, t: 1.693332 -1.912929 0.485933 q: 0.029249 0.807904 -0.045667 0.586814 
time: 1403637255.488319, t: 1.647871 -1.878020 0.490489 q: 0.022449 0.809305 -0.035504 0.585885 
time: 1403637255.588319, t: 1.603533 -1.843362 0.490911 q: 0.016346 0.810413 -0.021288 0.585244 
time: 1403637255.688319, t: 1.557404 -1.807341 0.486086 q: 0.008616 0.811514 -0.005049 0.584248 
time: 1403637255.788319, t: 1.509548 -1.770080 0.481935 q: -0.000538 0.813955 0.013536 0.580769 
time: 1403637255.888319, t: 1.460504 -1.731250 0.484240 q: -0.012194 0.816539 0.032117 0.576267 
time: 1403637255.988319, t: 1.411884 -1.691667 0.496616 q: -0.023888 0.817027 0.048336 0.574073 
time: 1403637256.088319, t: 1.361820 -1.650516 0.518080 q: -0.030513 0.817026 0.061287 0.572522 
time: 1403637256.188319, t: 1.310722 -1.608641 0.541457 q: -0.034813 0.814639 0.069132 0.574781 
time: 1403637256.288319, t: 1.260045 -1.566146 0.559520 q: -0.038244 0.810790 0.073021 0.579504 
time: 1403637256.388319, t: 1.209276 -1.521381 0.570066 q: -0.038732 0.808669 0.075264 0.582142 
time: 1403637256.488319, t: 1.155446 -1.476089 0.574346 q: -0.036799 0.807611 0.076279 0.583603 
time: 1403637256.588319, t: 1.101439 -1.429201 0.572419 q: -0.037062 0.807127 0.074496 0.584485 
time: 1403637256.688319, t: 1.044617 -1.381576 0.564232 q: -0.040859 0.812206 0.068946 0.577840 
time: 1403637256.788319, t: 0.987840 -1.331270 0.549884 q: -0.049882 0.819253 0.059299 0.568172 
time: 1403637256.888319, t: 0.934176 -1.283741 0.536261 q: -0.055644 0.820819 0.053585 0.565940 
time: 1403637256.988319, t: 0.883990 -1.236763 0.524892 q: -0.055249 0.817430 0.058968 0.570333 
time: 1403637257.088319, t: 0.833624 -1.190636 0.519272 q: -0.055242 0.813704 0.069806 0.574423 
time: 1403637257.188319, t: 0.783435 -1.144625 0.521134 q: -0.056242 0.811813 0.078809 0.575834 
time: 1403637257.288319, t: 0.735779 -1.100316 0.529267 q: -0.058221 0.812254 0.086051 0.573976 
optimize pose graph 
time: 1403637257.388319, t: 0.687885 -1.055116 0.544252 q: -0.058712 0.813042 0.093167 0.571695 
time: 1403637257.488319, t: 0.641762 -1.008597 0.558516 q: -0.059556 0.813289 0.097571 0.570520 
time: 1403637257.588319, t: 0.595825 -0.962699 0.566760 q: -0.059139 0.814497 0.101389 0.568171 
time: 1403637257.688319, t: 0.551443 -0.914028 0.567670 q: -0.061889 0.818490 0.101355 0.562113 
time: 1403637257.788319, t: 0.509153 -0.862264 0.562837 q: -0.065792 0.821624 0.103579 0.556666 
time: 1403637257.888319, t: 0.469055 -0.810994 0.553371 q: -0.071344 0.824019 0.109066 0.551369 
time: 1403637257.988319, t: 0.431702 -0.759586 0.539976 q: -0.079918 0.824196 0.117213 0.548247 
time: 1403637258.088319, t: 0.400180 -0.706249 0.526185 q: -0.091723 0.822630 0.128726 0.546165 
time: 1403637258.188319, t: 0.375178 -0.649427 0.521035 q: -0.102705 0.815927 0.145793 0.549963 
time: 1403637258.288319, t: 0.352319 -0.594682 0.521941 q: -0.110092 0.807189 0.162455 0.556717 
time: 1403637258.388319, t: 0.332979 -0.538176 0.518581 q: -0.117840 0.801061 0.173746 0.560560 
time: 1403637258.488319, t: 0.313713 -0.480851 0.506754 q: -0.129299 0.800308 0.177475 0.557935 
time: 1403637258.588319, t: 0.295857 -0.424552 0.489399 q: -0.138691 0.801879 0.178112 0.553201 
time: 1403637258.688319, t: 0.278707 -0.370381 0.470355 q: -0.141344 0.798798 0.179558 0.556510 
time: 1403637258.788319, t: 0.265448 -0.320763 0.449690 q: -0.142472 0.796304 0.180312 0.559544 
time: 1403637258.888319, t: 0.250452 -0.272562 0.429558 q: -0.143992 0.794423 0.179311 0.562144 
time: 1403637258.988319, t: 0.236826 -0.227613 0.415629 q: -0.145577 0.794778 0.177207 0.561901 
time: 1403637259.088319, t: 0.224802 -0.186541 0.411350 q: -0.145423 0.795377 0.175541 0.561616 
time: 1403637259.188319, t: 0.212903 -0.148751 0.419884 q: -0.146109 0.795078 0.174307 0.562246 
time: 1403637259.288319, t: 0.200136 -0.115375 0.435972 q: -0.146643 0.794497 0.172584 0.563458 
time: 1403637259.388319, t: 0.187389 -0.085813 0.451144 q: -0.147385 0.795163 0.170513 0.562956 
time: 1403637259.488319, t: 0.175806 -0.060241 0.461923 q: -0.154786 0.795039 0.164190 0.563024 
optimize pose graph 
time: 1403637259.588319, t: 0.164967 -0.039689 0.470013 q: -0.158625 0.795206 0.160758 0.562710 
time: 1403637259.688319, t: 0.156334 -0.024862 0.474896 q: -0.155095 0.795155 0.162312 0.563320 
time: 1403637259.788319, t: 0.147410 -0.015230 0.475889 q: -0.148194 0.798117 0.166822 0.559660 
time: 1403637259.888319, t: 0.139764 -0.008714 0.472805 q: -0.146796 0.798343 0.167398 0.559534 
time: 1403637259.988319, t: 0.133158 -0.005437 0.466467 q: -0.150577 0.796389 0.164662 0.562119 
time: 1403637260.088319, t: 0.126837 -0.006517 0.456203 q: -0.146934 0.794271 0.167578 0.565209 
time: 1403637260.188319, t: 0.121226 -0.010779 0.440575 q: -0.140915 0.794585 0.172189 0.564914 
time: 1403637260.288319, t: 0.115005 -0.016908 0.422317 q: -0.133438 0.794774 0.178160 0.564613 
time: 1403637260.388319, t: 0.107454 -0.023621 0.403296 q: -0.124381 0.793053 0.185141 0.566850 
time: 1403637260.488319, t: 0.099348 -0.028185 0.381927 q: -0.119264 0.793260 0.189483 0.566225 
time: 1403637260.588319, t: 0.089506 -0.029871 0.358983 q: -0.118545 0.799863 0.190244 0.556752 
time: 1403637260.688319, t: 0.080046 -0.027209 0.335992 q: -0.119926 0.804383 0.188956 0.550347 
time: 1403637260.788319, t: 0.071363 -0.022026 0.314320 q: -0.123270 0.801919 0.187195 0.553795 
time: 1403637260.888319, t: 0.063956 -0.013781 0.292191 q: -0.127096 0.797136 0.185630 0.560324 
time: 1403637260.988319, t: 0.056648 -0.004697 0.269809 q: -0.128939 0.792599 0.185039 0.566500 
time: 1403637261.088319, t: 0.047938 0.005475 0.246561 q: -0.129740 0.794372 0.184649 0.563956 
time: 1403637261.188319, t: 0.038024 0.016332 0.223915 q: -0.127494 0.801283 0.185916 0.554189 
time: 1403637261.288319, t: 0.028722 0.028915 0.204566 q: -0.125255 0.806755 0.187239 0.546260 
time: 1403637261.388319, t: 0.022357 0.043370 0.193085 q: -0.127063 0.803228 0.185775 0.551514 
time: 1403637261.588319, t: 0.014334 0.074582 0.179541 q: -0.133084 0.804188 0.181112 0.550245 
optimize pose graph 
time: 1403637261.688319, t: 0.013552 0.090152 0.177326 q: -0.129015 0.809951 0.183447 0.541924 
time: 1403637261.788319, t: 0.017333 0.107062 0.182420 q: -0.127747 0.807653 0.184001 0.545454 
time: 1403637261.888319, t: 0.024254 0.125409 0.190359 q: -0.129532 0.800523 0.182260 0.556027 
time: 1403637261.988319, t: 0.031181 0.143244 0.191384 q: -0.130521 0.795882 0.180447 0.563006 
time: 1403637262.188319, t: 0.043873 0.176981 0.164331 q: -0.137667 0.793308 0.173011 0.567254 
time: 1403637262.288319, t: 0.048926 0.190729 0.139176 q: -0.140401 0.793697 0.169473 0.567108 
time: 1403637262.388319, t: 0.044780 0.184468 0.137280 q: -0.142503 0.780279 0.168060 0.585332 
time: 1403637262.488319, t: 0.042148 0.175249 0.129192 q: -0.131474 0.796418 0.137505 0.574043 
time: 1403637262.588319, t: 0.036790 0.169804 0.134059 q: -0.141932 0.779261 0.127464 0.596959 
time: 1403637262.688319, t: 0.039217 0.169831 0.132622 q: -0.137760 0.789527 0.129060 0.583963 
time: 1403637262.788319, t: 0.037123 0.169610 0.133975 q: -0.138655 0.787581 0.126348 0.586965 
time: 1403637262.888319, t: 0.037827 0.171374 0.133900 q: -0.139332 0.788604 0.127056 0.585275 
time: 1403637262.988319, t: 0.037531 0.170830 0.133996 q: -0.139065 0.788225 0.126893 0.585885 
time: 1403637263.088319, t: 0.037538 0.170649 0.133968 q: -0.138500 0.788218 0.127126 0.585978 
time: 1403637263.188319, t: 0.037442 0.170414 0.134031 q: -0.138070 0.788107 0.127226 0.586206 
time: 1403637263.288319, t: 0.037420 0.170500 0.134001 q: -0.138304 0.788300 0.127082 0.585923 
time: 1403637263.388319, t: 0.037450 0.170565 0.133993 q: -0.138568 0.788297 0.126997 0.585883 
time: 1403637263.488319, t: 0.037425 0.170463 0.133974 q: -0.138202 0.788314 0.127111 0.585922 
time: 1403637263.588319, t: 0.037433 0.170489 0.133996 q: -0.138380 0.788346 0.126999 0.585861 
time: 1403637263.688319, t: 0.037398 0.170503 0.133993 q: -0.138401 0.788398 0.126994 0.585787 
time: 1403637263.788319, t: 0.037396 0.170608 0.133966 q: -0.138722 0.788396 0.126730 0.585771 
time: 1403637263.888319, t: 0.037395 0.170584 0.133957 q: -0.138720 0.788414 0.126753 0.585742 
time: 1403637263.988319, t: 0.037405 0.170477 0.133971 q: -0.138379 0.788440 0.126914 0.585752 
time: 1403637264.088319, t: 0.037438 0.170492 0.133959 q: -0.138325 0.788478 0.126984 0.585699 
time: 1403637264.188319, t: 0.037423 0.170447 0.133947 q: -0.138243 0.788433 0.126981 0.585780 
time: 1403637264.288319, t: 0.037413 0.170506 0.133960 q: -0.138412 0.788457 0.126896 0.585726 
time: 1403637264.388319, t: 0.037419 0.170498 0.133936 q: -0.138369 0.788496 0.126950 0.585672 
time: 1403637264.488319, t: 0.037449 0.170494 0.133919 q: -0.138245 0.788452 0.126947 0.585761 
time: 1403637264.588319, t: 0.037461 0.170532 0.133925 q: -0.138287 0.788484 0.126918 0.585715 
time: 1403637264.688319, t: 0.037446 0.170510 0.133917 q: -0.138302 0.788498 0.126892 0.585698 
time: 1403637264.788319, t: 0.037486 0.170541 0.133932 q: -0.138364 0.788526 0.126855 0.585653 
time: 1403637264.888319, t: 0.037574 0.170543 0.133932 q: -0.138321 0.788531 0.126860 0.585656 
time: 1403637264.988319, t: 0.037587 0.170539 0.133947 q: -0.138156 0.788549 0.126939 0.585653 
time: 1403637265.088319, t: 0.037586 0.170568 0.133979 q: -0.138171 0.788595 0.126973 0.585580 
time: 1403637265.188319, t: 0.037570 0.170561 0.133987 q: -0.138123 0.788564 0.126941 0.585640 
time: 1403637265.288319, t: 0.037577 0.170548 0.133980 q: -0.138144 0.788599 0.126958 0.585585 
time: 1403637265.388319, t: 0.037456 0.170566 0.134087 q: -0.138092 0.788604 0.127006 0.585580 
time: 1403637265.488319, t: 0.037443 0.170575 0.134095 q: -0.138089 0.788601 0.126992 0.585588 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720553403.362717342]: Shutdown request received.[0m
[33m[ WARN] [1720553403.362765281]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720553403.363652122]: Shutdown request received.[0m
[33m[ WARN] [1720553403.363674223]: Reason given for shutdown: [user request][0m
killed
