/SLAM-Hive/slam_hive_results/mapping_results/3173/2378_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-8.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720554467.578622667]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720554467.580007684]: init begins[0m
[31m[ERROR] [1720554467.581057389]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1e19ff72-3e2c-11ef-83fc-0242ac110005/roslaunch-e4dbe939e525-117.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://e4dbe939e525:32861/[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 [154][0m
[1mROS_MASTER_URI=http://e4dbe939e525:11311/[0m
]2;roscore http://e4dbe939e525:11311/
[1msetting /run_id to 1e19ff72-3e2c-11ef-83fc-0242ac110005[0m
[0m[ INFO] [1720554468.734527012]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720554468.736053642]: 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] [1720554468.742714771]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720554468.742928718]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720554468.742953641]: ROW: 288 COL: 451 [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] [1720554468.743196330]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720554468.743417510]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720554468.743594819]: 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 [201][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720554477.736715097]: 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: 316917347.40 
init first imu pose
averge acc 9.440873 -0.712109 -2.412774
init R0 
  0.257481   0.273526   0.926762
         0  -0.959099    0.28307
  0.966283 -0.0728851   -0.24695
[33m[ WARN] [1720554480.222011646]: gyroscope bias initial calibration -0.00184504   0.0203449   0.0780139[0m
[0m[ INFO] [1720554480.280582698]: Initialization finish![0m
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time: 1403637132.838319, t: 0.000188 -0.000339 0.000375 q: -0.101127 0.786968 0.077911 0.603643 
time: 1403637133.038319, t: 0.000660 0.000151 0.000835 q: -0.101663 0.787319 0.076096 0.603326 
time: 1403637133.238319, t: -0.002169 -0.001750 0.003980 q: -0.100079 0.785653 0.078635 0.605434 
time: 1403637133.438319, t: -0.005102 -0.005069 0.018657 q: -0.089902 0.790033 0.075403 0.601731 
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time: 1403637135.038319, t: 0.000306 -0.038945 0.101332 q: -0.079165 0.831745 0.063070 0.545853 
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time: 1403637195.638319, t: -5.596397 -4.580620 0.217160 q: 0.524850 0.358962 -0.730089 0.250296 
time: 1403637195.838319, t: -5.607514 -4.796208 0.252791 q: 0.527040 0.370727 -0.722256 0.251270 
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time: 1403637197.438319, t: -3.902694 -6.303260 0.093703 q: 0.510692 0.426515 -0.680456 0.307016 
time: 1403637197.638319, t: -3.486835 -6.422970 0.112148 q: -0.477750 -0.494598 0.643676 -0.335871 
time: 1403637197.838319, t: -3.066247 -6.533565 0.154830 q: -0.454862 -0.555362 0.589305 -0.370666 
time: 1403637198.038319, t: -2.631664 -6.620046 0.222146 q: 0.433861 0.601829 -0.538907 0.398930 
time: 1403637198.238319, t: -2.185652 -6.679021 0.335542 q: 0.407767 0.635714 -0.499710 0.424129 
time: 1403637198.438319, t: -1.713369 -6.699087 0.456442 q: 0.396909 0.661655 -0.455121 0.444455 
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time: 1403637199.438319, t: 0.915154 -6.258158 0.519663 q: 0.338853 0.679028 -0.392084 0.519972 
time: 1403637199.638319, t: 1.419779 -6.011230 0.535742 q: 0.308464 0.697846 -0.352448 0.541886 
time: 1403637199.838319, t: 1.915162 -5.730648 0.509729 q: 0.256193 0.706501 -0.318069 0.577974 
time: 1403637200.038319, t: 2.355478 -5.423090 0.414992 q: 0.189050 0.703095 -0.273527 0.628570 
time: 1403637200.238319, t: 2.670127 -5.099954 0.303580 q: 0.142632 0.716745 -0.208035 0.650118 
time: 1403637200.438319, t: 2.885560 -4.782827 0.178709 q: 0.129973 0.763601 -0.157107 0.612648 
time: 1403637200.638319, t: 3.061537 -4.438844 0.092292 q: 0.104981 0.784175 -0.152508 0.592275 
time: 1403637200.838319, t: 3.184041 -4.104328 0.039721 q: 0.092473 0.782268 -0.166965 0.592983 
time: 1403637201.038319, t: 3.278629 -3.788531 0.015253 q: 0.102213 0.777664 -0.183976 0.592405 
time: 1403637201.238319, t: 3.344951 -3.494352 0.020000 q: 0.111226 0.776796 -0.199663 0.586814 
time: 1403637201.438319, t: 3.368700 -3.209539 0.034760 q: 0.091974 0.771149 -0.243064 0.581197 
time: 1403637201.638319, t: 3.358313 -2.983592 0.027068 q: 0.079553 0.765380 -0.284883 0.571582 
time: 1403637201.838319, t: 3.308957 -2.824916 0.007119 q: 0.098621 0.757577 -0.290109 0.576358 
time: 1403637202.038319, t: 3.220324 -2.732110 0.000012 q: 0.100197 0.759230 -0.292671 0.572603 
time: 1403637202.238319, t: 3.098825 -2.710455 0.015656 q: 0.098531 0.778236 -0.289270 0.548602 
time: 1403637202.438319, t: 2.956552 -2.734706 0.033371 q: 0.128294 0.796062 -0.264974 0.528785 
time: 1403637202.638319, t: 2.832358 -2.795752 0.045067 q: 0.138361 0.788300 -0.256665 0.541814 
time: 1403637202.838319, t: 2.716385 -2.880004 0.082268 q: 0.153874 0.783667 -0.245248 0.549584 
time: 1403637203.038319, t: 2.603995 -2.960234 0.107575 q: 0.168783 0.785080 -0.236122 0.547182 
time: 1403637203.238319, t: 2.499234 -3.037748 0.114343 q: 0.170811 0.784023 -0.236487 0.547910 
optimize pose graph 
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time: 1403637203.838319, t: 2.253490 -3.229479 0.045820 q: 0.177200 0.781694 -0.236889 0.549034 
time: 1403637204.038319, t: 2.192923 -3.273895 -0.004647 q: 0.179188 0.781467 -0.236334 0.548951 
time: 1403637204.238319, t: 2.135455 -3.295894 -0.041878 q: 0.179781 0.781167 -0.237473 0.548693 
time: 1403637204.438319, t: 2.083846 -3.311596 -0.047783 q: 0.176569 0.778290 -0.241520 0.552047 
time: 1403637204.638319, t: 2.037568 -3.314719 -0.021280 q: 0.175523 0.774468 -0.247000 0.555322 
time: 1403637204.838319, t: 1.987848 -3.307960 0.009443 q: 0.177918 0.776711 -0.250313 0.549917 
time: 1403637205.038319, t: 1.938743 -3.295325 0.017398 q: 0.177696 0.781680 -0.252647 0.541822 
time: 1403637205.238319, t: 1.894803 -3.279750 0.003094 q: 0.176527 0.784002 -0.251214 0.539509 
time: 1403637205.438319, t: 1.866628 -3.261729 -0.011263 q: 0.171408 0.786955 -0.238193 0.542757 
optimize pose graph 
time: 1403637205.638319, t: 1.851674 -3.240150 -0.003017 q: 0.167991 0.785078 -0.226347 0.551542 
time: 1403637205.838319, t: 1.840628 -3.209609 -0.019645 q: 0.165706 0.786215 -0.222060 0.552356 
time: 1403637206.038319, t: 1.835063 -3.172920 -0.045427 q: 0.163563 0.785881 -0.221085 0.553859 
time: 1403637206.238319, t: 1.830086 -3.129114 -0.049155 q: 0.152704 0.784217 -0.227079 0.556884 
time: 1403637206.438319, t: 1.829110 -3.085654 -0.020374 q: 0.149592 0.782700 -0.229551 0.558847 
time: 1403637206.638319, t: 1.822140 -3.046822 0.017102 q: 0.152393 0.782493 -0.229010 0.558601 
time: 1403637206.838319, t: 1.806924 -3.008105 0.029357 q: 0.156801 0.781711 -0.227863 0.558945 
time: 1403637207.038319, t: 1.785544 -2.965475 0.047936 q: 0.158539 0.779216 -0.228609 0.561628 
time: 1403637207.238319, t: 1.759197 -2.919686 0.068701 q: 0.159639 0.777073 -0.231164 0.563237 
time: 1403637207.438319, t: 1.725285 -2.875784 0.065424 q: 0.160393 0.777115 -0.233045 0.562190 
optimize pose graph 
time: 1403637207.638319, t: 1.684915 -2.823503 0.034137 q: 0.150436 0.782354 -0.242369 0.553668 
time: 1403637207.838319, t: 1.640752 -2.781057 0.025689 q: 0.149046 0.785646 -0.244666 0.548347 
time: 1403637208.038319, t: 1.592968 -2.754253 0.061224 q: 0.159478 0.783807 -0.238571 0.550724 
time: 1403637208.238319, t: 1.551559 -2.726153 0.121537 q: 0.164358 0.784004 -0.236790 0.549777 
time: 1403637208.438319, t: 1.514398 -2.701483 0.168914 q: 0.154944 0.779429 -0.246185 0.554866 
time: 1403637208.638319, t: 1.472522 -2.684653 0.193841 q: 0.161520 0.779047 -0.243319 0.554790 
time: 1403637208.838319, t: 1.427280 -2.664540 0.193450 q: 0.166964 0.777912 -0.240179 0.556139 
time: 1403637209.038319, t: 1.380825 -2.644131 0.171343 q: 0.183798 0.781867 -0.228889 0.550011 
time: 1403637209.238319, t: 1.342506 -2.601610 0.138128 q: 0.174668 0.786846 -0.217180 0.550634 
time: 1403637209.438319, t: 1.317916 -2.545011 0.132538 q: 0.145836 0.800087 -0.205121 0.544535 
optimize pose graph 
time: 1403637209.638319, t: 1.305709 -2.492084 0.152246 q: 0.130325 0.821920 -0.195328 0.518951 
time: 1403637209.838319, t: 1.334988 -2.453400 0.196131 q: 0.122828 0.831735 -0.192384 0.506081 
time: 1403637210.038319, t: 1.408440 -2.429144 0.213959 q: 0.117739 0.840868 -0.195055 0.490950 
time: 1403637210.238319, t: 1.529694 -2.421601 0.175016 q: 0.112931 0.852119 -0.199506 0.470464 
time: 1403637210.438319, t: 1.726523 -2.446714 0.122089 q: 0.111375 0.855696 -0.200440 0.463901 
time: 1403637210.638319, t: 2.003395 -2.505000 0.073690 q: 0.115505 0.841579 -0.196940 0.489508 
time: 1403637210.838319, t: 2.330552 -2.581796 0.015154 q: 0.107743 0.831607 -0.200594 0.506540 
time: 1403637211.238319, t: 3.051531 -2.808772 -0.142697 q: 0.106684 0.804289 -0.207314 0.546588 
time: 1403637211.438319, t: 3.411016 -2.952644 -0.238356 q: 0.122927 0.793914 -0.202886 0.559845 
time: 1403637211.638319, t: 3.754793 -3.096032 -0.339909 q: 0.120680 0.796810 -0.206612 0.554835 
optimize pose graph 
time: 1403637211.838319, t: 4.082579 -3.247951 -0.412618 q: 0.103701 0.804874 -0.217981 0.542133 
time: 1403637212.038319, t: 4.406191 -3.419750 -0.447828 q: 0.111203 0.805082 -0.214450 0.541746 
time: 1403637212.238319, t: 4.728734 -3.606090 -0.453653 q: 0.126859 0.789693 -0.205878 0.563832 
time: 1403637212.438319, t: 5.032137 -3.796787 -0.433158 q: 0.132889 0.784687 -0.204828 0.569782 
time: 1403637212.638319, t: 5.322125 -3.980548 -0.405123 q: 0.132427 0.793684 -0.209240 0.555650 
time: 1403637212.838319, t: 5.598535 -4.156971 -0.353144 q: 0.134812 0.801187 -0.208662 0.544412 
time: 1403637213.038319, t: 5.880576 -4.338278 -0.300805 q: 0.138976 0.803197 -0.203764 0.542255 
time: 1403637213.238319, t: 6.166261 -4.509633 -0.272573 q: 0.131091 0.803045 -0.205227 0.543890 
time: 1403637213.438319, t: 6.448465 -4.678352 -0.258547 q: 0.130955 0.800183 -0.204140 0.548530 
time: 1403637213.638319, t: 6.725809 -4.846653 -0.255663 q: 0.144907 0.798515 -0.194508 0.550947 
time: 1403637213.838319, t: 6.995744 -5.005258 -0.277779 q: 0.156080 0.803389 -0.184693 0.544145 
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time: 1403637214.638319, t: 8.087676 -5.343122 -0.259216 q: 0.113671 0.795332 -0.071881 0.591066 
time: 1403637214.838319, t: 8.309633 -5.325374 -0.196942 q: 0.113268 0.792704 -0.035507 0.597938 
time: 1403637215.038319, t: 8.500008 -5.243287 -0.141229 q: 0.106118 0.790694 -0.028466 0.602272 
time: 1403637215.238319, t: 8.670105 -5.104243 -0.108287 q: 0.101578 0.784856 -0.031696 0.610474 
time: 1403637215.438319, t: 8.809113 -4.916948 -0.093513 q: 0.074792 0.777073 -0.030718 0.624196 
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time: 1403637219.638319, t: 3.396669 -2.630784 -0.119635 q: -0.104784 0.802421 0.179624 0.559353 
time: 1403637219.838319, t: 2.915115 -2.551876 -0.117478 q: -0.102434 0.810830 0.177035 0.548379 
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time: 1403637233.638319, t: -2.684840 -2.070665 -0.408670 q: -0.471298 -0.421586 0.743900 -0.216231 
optimize pose graph 
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time: 1403637250.238319, t: 2.121960 -4.111092 -0.163847 q: 0.140313 0.784411 -0.215073 0.564585 
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time: 1403637250.638319, t: 2.336510 -3.581194 -0.198598 q: 0.102678 0.793458 -0.206491 0.563244 
time: 1403637250.838319, t: 2.421846 -3.342473 -0.192238 q: 0.099800 0.796761 -0.198277 0.562048 
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optimize pose graph 
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time: 1403637252.038319, t: 2.787259 -2.539027 0.193051 q: 0.071308 0.798019 -0.108015 0.588569 
time: 1403637252.238319, t: 2.810584 -2.465497 0.221295 q: 0.069052 0.791695 -0.105719 0.597725 
time: 1403637252.438319, t: 2.804194 -2.398165 0.221436 q: 0.061125 0.797841 -0.111111 0.589379 
time: 1403637252.638319, t: 2.777792 -2.334273 0.191776 q: 0.056838 0.804502 -0.115545 0.579823 
time: 1403637252.838319, t: 2.739778 -2.281374 0.151540 q: 0.046485 0.815070 -0.123428 0.564151 
time: 1403637253.038319, t: 2.711853 -2.245652 0.146180 q: 0.061896 0.808340 -0.115069 0.574033 
time: 1403637253.238319, t: 2.678003 -2.221074 0.160315 q: 0.066944 0.804280 -0.113607 0.579435 
time: 1403637253.438319, t: 2.643450 -2.199913 0.157205 q: 0.066264 0.803775 -0.115850 0.579771 
time: 1403637253.638319, t: 2.598117 -2.184616 0.135788 q: 0.070263 0.804692 -0.114091 0.578375 
time: 1403637253.838319, t: 2.546910 -2.170335 0.135657 q: 0.078013 0.802945 -0.109219 0.580744 
time: 1403637254.038319, t: 2.489772 -2.150337 0.158456 q: 0.080965 0.802183 -0.107399 0.581732 
time: 1403637254.238319, t: 2.427935 -2.119567 0.202506 q: 0.075484 0.803823 -0.098448 0.581790 
time: 1403637254.438319, t: 2.353933 -2.077409 0.259729 q: 0.064862 0.812341 -0.082859 0.573611 
time: 1403637254.638319, t: 2.284120 -2.031766 0.300164 q: 0.058145 0.814927 -0.073865 0.571889 
time: 1403637254.838319, t: 2.217555 -1.982700 0.318529 q: 0.053870 0.810036 -0.070627 0.579613 
time: 1403637255.038319, t: 2.150279 -1.929169 0.314962 q: 0.051884 0.806528 -0.069912 0.584750 
time: 1403637255.238319, t: 2.076220 -1.867243 0.309652 q: 0.041488 0.807081 -0.058077 0.586112 
time: 1403637255.438319, t: 1.991144 -1.802025 0.325091 q: 0.026747 0.808153 -0.043662 0.586743 
time: 1403637255.638319, t: 1.904910 -1.732990 0.325549 q: 0.013215 0.810165 -0.016661 0.585816 
time: 1403637255.838319, t: 1.811365 -1.662281 0.319571 q: -0.005926 0.815175 0.019729 0.578849 
optimize pose graph 
time: 1403637256.038319, t: 1.714437 -1.584941 0.342516 q: -0.027351 0.816860 0.052144 0.573823 
time: 1403637256.238319, t: 1.609597 -1.505143 0.385408 q: -0.036241 0.812130 0.068576 0.578298 
time: 1403637256.438319, t: 1.506412 -1.412138 0.407672 q: -0.036759 0.808252 0.073323 0.583096 
time: 1403637256.638319, t: 1.397187 -1.311666 0.403795 q: -0.035921 0.809190 0.069572 0.582306 
time: 1403637256.838319, t: 1.285418 -1.208417 0.379243 q: -0.052242 0.821007 0.051732 0.566165 
time: 1403637257.038319, t: 1.178610 -1.111156 0.357206 q: -0.053247 0.815509 0.061540 0.572994 
time: 1403637257.238319, t: 1.073871 -1.022734 0.360203 q: -0.055643 0.812074 0.079871 0.575378 
time: 1403637257.438319, t: 0.976813 -0.921372 0.390218 q: -0.057217 0.813597 0.092975 0.571088 
time: 1403637257.638319, t: 0.881020 -0.831086 0.401000 q: -0.059159 0.816150 0.098834 0.566244 
time: 1403637257.838319, t: 0.800402 -0.724051 0.393097 q: -0.066585 0.823126 0.103514 0.554361 
time: 1403637258.038319, t: 0.724620 -0.618274 0.365357 q: -0.084059 0.823992 0.119942 0.547344 
optimize pose graph 
time: 1403637258.238319, t: 0.671186 -0.500860 0.356096 q: -0.104534 0.812098 0.152748 0.553387 
time: 1403637258.638319, t: 0.600027 -0.268135 0.317254 q: -0.139089 0.801348 0.176566 0.554365 
time: 1403637258.838319, t: 0.570359 -0.160924 0.276334 q: -0.141478 0.795974 0.177610 0.561128 
time: 1403637259.038319, t: 0.548000 -0.080277 0.245378 q: -0.146135 0.795688 0.172734 0.561861 
time: 1403637259.238319, t: 0.525406 -0.002894 0.261242 q: -0.144689 0.795282 0.170138 0.563599 
time: 1403637259.438319, t: 0.497477 0.052174 0.294802 q: -0.149065 0.795695 0.163864 0.563736 
time: 1403637259.638319, t: 0.474709 0.091536 0.314144 q: -0.156507 0.795499 0.156651 0.564046 
time: 1403637259.838319, t: 0.458161 0.110234 0.316208 q: -0.143631 0.799596 0.164335 0.559473 
time: 1403637260.038319, t: 0.445663 0.115004 0.304072 q: -0.147277 0.795897 0.161604 0.564573 
time: 1403637260.238319, t: 0.433536 0.105312 0.274735 q: -0.135124 0.795827 0.171301 0.564852 
time: 1403637260.438319, t: 0.418754 0.092326 0.236592 q: -0.118476 0.792692 0.184191 0.568925 
time: 1403637260.638319, t: 0.398412 0.089940 0.189860 q: -0.117767 0.803688 0.185510 0.552995 
time: 1403637260.838319, t: 0.382877 0.099346 0.146880 q: -0.123543 0.799696 0.182332 0.558550 
time: 1403637261.038319, t: 0.366265 0.115972 0.103165 q: -0.127683 0.792775 0.180863 0.567885 
time: 1403637261.238319, t: 0.344383 0.136163 0.058703 q: -0.124859 0.805113 0.182839 0.550249 
time: 1403637261.438319, t: 0.332596 0.166987 0.034285 q: -0.128779 0.801247 0.179478 0.556064 
time: 1403637261.638319, t: 0.325865 0.198415 0.023357 q: -0.128742 0.808185 0.178904 0.546128 
time: 1403637261.838319, t: 0.333070 0.231800 0.032900 q: -0.125913 0.804358 0.179955 0.552061 
time: 1403637262.038319, t: 0.348759 0.269546 0.034252 q: -0.130235 0.795217 0.174777 0.565793 
time: 1403637262.238319, t: 0.360874 0.301703 -0.001162 q: -0.136492 0.793838 0.167686 0.568395 
time: 1403637262.438319, t: 0.356068 0.296079 -0.016048 q: -0.129347 0.790671 0.151549 0.578914 
time: 1403637262.638319, t: 0.346680 0.283158 -0.017995 q: -0.137937 0.779264 0.121546 0.599122 
time: 1403637262.838319, t: 0.350509 0.286002 -0.020319 q: -0.135456 0.788056 0.123662 0.587645 
time: 1403637263.038319, t: 0.351715 0.286835 -0.018127 q: -0.135528 0.788760 0.124018 0.586609 
time: 1403637263.238319, t: 0.351695 0.288131 -0.018429 q: -0.136239 0.788963 0.123437 0.586293 
time: 1403637263.438319, t: 0.351899 0.287995 -0.018469 q: -0.136021 0.788988 0.123512 0.586294 
time: 1403637263.638319, t: 0.351901 0.287954 -0.018472 q: -0.135976 0.789019 0.123482 0.586269 
time: 1403637263.838319, t: 0.352005 0.287832 -0.018469 q: -0.135457 0.788984 0.123753 0.586380 
time: 1403637264.038319, t: 0.351920 0.287934 -0.018437 q: -0.135939 0.789061 0.123457 0.586227 
time: 1403637264.238319, t: 0.351957 0.287942 -0.018451 q: -0.136006 0.789135 0.123418 0.586119 
time: 1403637264.438319, t: 0.351999 0.287945 -0.018484 q: -0.135859 0.789082 0.123520 0.586204 
time: 1403637264.638319, t: 0.352027 0.287914 -0.018514 q: -0.135782 0.789074 0.123504 0.586236 
time: 1403637264.838319, t: 0.351926 0.287921 -0.018411 q: -0.135637 0.789120 0.123552 0.586197 
time: 1403637265.038319, t: 0.351822 0.287948 -0.018355 q: -0.135730 0.789161 0.123529 0.586126 
time: 1403637265.238319, t: 0.351929 0.288003 -0.018367 q: -0.135663 0.789216 0.123561 0.586060 
time: 1403637265.438319, t: 0.351834 0.288072 -0.018375 q: -0.135719 0.789218 0.123562 0.586044 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720554614.509978472]: Shutdown request received.[0m
[33m[ WARN] [1720554614.510034294]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720554614.510927998]: Shutdown request received.[0m
[33m[ WARN] [1720554614.510968215]: Reason given for shutdown: [user request][0m
killed
