/SLAM-Hive/slam_hive_results/mapping_results/3177/2382_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-12.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720555156.922900262]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720555156.924672242]: init begins[0m
[31m[ERROR] [1720555156.925783693]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b8fb56de-3e2d-11ef-9d4c-0242ac110005/roslaunch-9d87261cca8c-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://9d87261cca8c:45247/[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://9d87261cca8c:11311/[0m
]2;roscore http://9d87261cca8c:11311/
[1msetting /run_id to b8fb56de-3e2d-11ef-9d4c-0242ac110005[0m
[0m[ INFO] [1720555158.078455681]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720555158.081767756]: 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] [1720555158.088116660]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720555158.088353201]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720555158.088379446]: 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] [1720555158.088661817]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720555158.088865714]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720555158.089030916]: 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 [236][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720555167.075057439]: 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: 316918036.74 
init first imu pose
averge acc 9.438567 -0.684964 -2.448160
init R0 
  0.260071   0.260169   0.929879
         0  -0.963017    0.26944
  0.965589 -0.0700736  -0.250453
[33m[ WARN] [1720555171.671735808]: gyroscope bias initial calibration -0.00883643   0.0088153   0.0613744[0m
[0m[ INFO] [1720555171.793290438]: Initialization finish![0m
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time: 1403637135.538319, t: -0.038972 -0.074944 0.157134 q: -0.067620 0.824112 0.070325 0.557962 
time: 1403637136.338319, t: 0.004723 -0.057003 0.131946 q: -0.075828 0.828945 0.071139 0.549582 
time: 1403637136.738319, t: 0.016529 -0.045817 0.052493 q: -0.088817 0.857079 0.074818 0.501926 
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time: 1403637193.938319, t: -5.011912 -2.684025 0.099296 q: 0.509999 0.371615 -0.740862 0.230058 
time: 1403637194.338319, t: -5.161599 -3.052277 0.122090 q: 0.515297 0.366586 -0.737691 0.236423 
time: 1403637194.738319, t: -5.267084 -3.456277 0.181215 q: 0.505926 0.367699 -0.745169 0.231428 
time: 1403637195.138319, t: -5.354760 -3.917911 0.236819 q: 0.518571 0.358854 -0.738304 0.239195 
time: 1403637195.538319, t: -5.416546 -4.383770 0.224376 q: 0.525025 0.361227 -0.728491 0.251326 
time: 1403637195.938319, t: -5.421808 -4.810897 0.287871 q: 0.529089 0.387163 -0.712949 0.248744 
time: 1403637196.338319, t: -5.305896 -5.232605 0.320546 q: 0.576807 0.403076 -0.673058 0.227634 
time: 1403637196.738319, t: -4.923459 -5.630985 0.267038 q: 0.575964 0.391391 -0.677187 0.237689 
time: 1403637197.138319, t: -4.283641 -5.961906 0.145161 q: 0.557079 0.382536 -0.687124 0.266813 
time: 1403637197.538319, t: -3.481570 -6.201922 0.100163 q: -0.491803 -0.466547 0.658725 -0.326414 
time: 1403637197.938319, t: -2.626236 -6.364190 0.154353 q: 0.441207 0.587873 -0.554646 0.390012 
time: 1403637198.338319, t: -1.695560 -6.434475 0.318774 q: 0.394639 0.656645 -0.468863 0.439596 
time: 1403637198.738319, t: -0.685873 -6.367824 0.401824 q: 0.395649 0.678783 -0.415624 0.458228 
time: 1403637199.138319, t: 0.370057 -6.262105 0.388469 q: 0.369634 0.657881 -0.421288 0.503071 
time: 1403637199.538319, t: 1.459864 -5.859053 0.423676 q: 0.319682 0.695216 -0.362555 0.532007 
time: 1403637199.938319, t: 2.434629 -5.202331 0.287123 q: 0.214878 0.710729 -0.288976 0.604305 
time: 1403637200.338319, t: 3.131397 -4.404197 -0.070255 q: 0.132251 0.742854 -0.165695 0.634998 
time: 1403637200.738319, t: 3.519761 -3.674741 -0.357743 q: 0.092869 0.788823 -0.146637 0.589603 
time: 1403637201.138319, t: 3.833255 -3.050587 -0.405949 q: 0.105149 0.780765 -0.181219 0.588650 
time: 1403637201.538319, t: 3.850599 -2.359415 -0.415124 q: 0.079240 0.772998 -0.257421 0.574395 
time: 1403637201.938319, t: 3.434342 -2.223265 -0.313448 q: 0.097644 0.760447 -0.277664 0.578868 
time: 1403637202.338319, t: 3.162879 -2.205233 -0.274178 q: 0.107509 0.794187 -0.262516 0.537395 
time: 1403637202.738319, t: 2.888597 -2.331398 -0.232450 q: 0.134937 0.787904 -0.238882 0.551302 
time: 1403637203.138319, t: 2.658058 -2.508263 -0.175709 q: 0.158829 0.788085 -0.223412 0.551164 
optimize pose graph 
time: 1403637203.538319, t: 2.471770 -2.665237 -0.188163 q: 0.164523 0.787159 -0.222812 0.551061 
time: 1403637203.938319, t: 2.327929 -2.774048 -0.264893 q: 0.169202 0.784813 -0.223357 0.552767 
time: 1403637204.338319, t: 2.216133 -2.828827 -0.333244 q: 0.168815 0.784980 -0.226236 0.551476 
time: 1403637204.738319, t: 2.116500 -2.835174 -0.287036 q: 0.169029 0.779139 -0.235275 0.555893 
time: 1403637205.138319, t: 2.019718 -2.816800 -0.268400 q: 0.168529 0.787143 -0.239880 0.542643 
optimize pose graph 
time: 1403637205.538319, t: 1.964564 -2.781936 -0.282507 q: 0.160782 0.789528 -0.218394 0.550544 
time: 1403637205.938319, t: 1.944967 -2.727522 -0.308180 q: 0.155397 0.789890 -0.208813 0.555269 
time: 1403637206.338319, t: 1.935306 -2.645710 -0.312022 q: 0.140566 0.786431 -0.216513 0.561150 
time: 1403637206.738319, t: 1.917649 -2.568049 -0.254313 q: 0.146202 0.785889 -0.215433 0.560885 
time: 1403637207.138319, t: 1.875340 -2.484862 -0.218880 q: 0.150356 0.781958 -0.217331 0.564537 
time: 1403637207.538319, t: 1.804003 -2.387369 -0.234218 q: 0.151218 0.781503 -0.222576 0.562891 
time: 1403637207.938319, t: 1.710362 -2.303918 -0.244154 q: 0.147026 0.788084 -0.228484 0.552360 
time: 1403637208.338319, t: 1.627113 -2.253716 -0.136759 q: 0.149268 0.785146 -0.230396 0.555142 
time: 1403637208.738319, t: 1.542035 -2.212755 -0.093348 q: 0.157444 0.781878 -0.228822 0.558139 
time: 1403637209.138319, t: 1.454182 -2.169821 -0.136244 q: 0.181573 0.786639 -0.208581 0.552019 
optimize pose graph 
time: 1403637209.538319, t: 1.402352 -2.063291 -0.152786 q: 0.129969 0.813436 -0.186253 0.535481 
time: 1403637209.938319, t: 1.460563 -1.980827 -0.081393 q: 0.112513 0.837807 -0.180437 0.502855 
time: 1403637210.338319, t: 1.714591 -1.968330 -0.151234 q: 0.105298 0.858243 -0.186321 0.466493 
time: 1403637210.738319, t: 2.259835 -2.062646 -0.257290 q: 0.108335 0.839138 -0.182058 0.500965 
time: 1403637211.138319, t: 2.965501 -2.240198 -0.406856 q: 0.088648 0.810710 -0.197574 0.543926 
time: 1403637211.538319, t: 3.688558 -2.498418 -0.599760 q: 0.114585 0.796562 -0.190405 0.562232 
time: 1403637211.938319, t: 4.366922 -2.787450 -0.746144 q: 0.094592 0.810384 -0.205090 0.540619 
time: 1403637212.338319, t: 5.021038 -3.133075 -0.755275 q: 0.121746 0.788766 -0.190656 0.571557 
time: 1403637212.738319, t: 5.603229 -3.463849 -0.687050 q: 0.124955 0.800901 -0.195734 0.551935 
time: 1403637213.138319, t: 6.176695 -3.792329 -0.585101 q: 0.126930 0.806064 -0.190118 0.545898 
optimize pose graph 
time: 1403637213.538319, t: 6.746377 -4.109990 -0.537073 q: 0.125475 0.801413 -0.187455 0.553943 
time: 1403637213.938319, t: 7.307664 -4.406561 -0.571319 q: 0.149226 0.807619 -0.167900 0.545245 
time: 1403637214.338319, t: 7.905710 -4.590126 -0.583924 q: 0.115831 0.796957 -0.139515 0.576176 
time: 1403637214.738319, t: 8.430381 -4.650605 -0.505019 q: 0.105878 0.795117 -0.032203 0.596273 
time: 1403637215.138319, t: 8.823293 -4.471402 -0.394365 q: 0.095575 0.788302 -0.011580 0.607709 
time: 1403637215.538319, t: 9.074695 -4.074937 -0.356897 q: 0.045504 0.771351 -0.004231 0.634767 
time: 1403637215.938319, t: 9.105848 -3.545107 -0.276977 q: -0.028476 0.791806 0.071668 0.605885 
time: 1403637216.338319, t: 8.971987 -3.012236 -0.147160 q: -0.088617 0.792085 0.110988 0.593658 
time: 1403637216.738319, t: 8.749059 -2.551717 -0.096312 q: -0.104090 0.772829 0.104696 0.617203 
time: 1403637217.138319, t: 8.388703 -2.202298 -0.056808 q: -0.104266 0.776134 0.089215 0.615456 
time: 1403637217.538319, t: 7.874887 -2.016542 -0.061216 q: -0.122830 0.783918 0.065257 0.605084 
time: 1403637217.938319, t: 7.277373 -1.991573 -0.098621 q: -0.115383 0.762730 0.158512 0.616282 
time: 1403637218.338319, t: 6.561940 -2.028976 -0.095724 q: -0.141477 0.764918 0.201740 0.595135 
time: 1403637218.738319, t: 5.735847 -2.105880 -0.132844 q: -0.140672 0.770092 0.202913 0.588214 
time: 1403637219.138319, t: 4.838607 -2.180196 -0.240604 q: -0.115987 0.772593 0.212164 0.587055 
time: 1403637219.538319, t: 3.886562 -2.195906 -0.351192 q: -0.119235 0.788201 0.205456 0.567724 
time: 1403637219.938319, t: 2.957035 -2.117355 -0.341257 q: -0.117951 0.807672 0.201094 0.541586 
time: 1403637220.338319, t: 2.191363 -1.978251 -0.218178 q: -0.128448 0.808273 0.192541 0.541410 
time: 1403637220.738319, t: 1.544715 -1.818693 -0.034979 q: -0.143715 0.804827 0.177283 0.547877 
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time: 1403637221.938319, t: 0.090031 -1.508159 -0.048768 q: -0.087886 0.831209 0.099589 0.539861 
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time: 1403637222.738319, t: -0.361885 -1.428706 -0.306526 q: -0.018111 0.819047 0.003748 0.573428 
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time: 1403637223.938319, t: -0.499889 -1.426480 -0.050870 q: -0.017603 0.817093 0.024267 0.575726 
time: 1403637224.338319, t: -0.467642 -1.418363 -0.049085 q: -0.015507 0.814975 0.024547 0.578769 
time: 1403637224.738319, t: -0.456907 -1.396227 -0.115063 q: -0.023297 0.814649 0.018451 0.579192 
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time: 1403637227.938319, t: -0.643557 -0.781657 -0.119869 q: -0.024457 0.819628 0.011217 0.572264 
time: 1403637228.338319, t: -0.600936 -0.763723 -0.171496 q: -0.018546 0.806888 0.021119 0.590036 
time: 1403637228.738319, t: -0.612875 -0.731788 -0.140147 q: -0.011753 0.809695 0.028428 0.586045 
time: 1403637229.138319, t: -0.669257 -0.682471 -0.120191 q: -0.010899 0.812236 0.026889 0.582608 
time: 1403637229.538319, t: -0.749017 -0.617711 -0.170158 q: -0.008178 0.824898 -0.016648 0.564977 
time: 1403637229.938319, t: -0.806597 -0.610554 -0.256208 q: 0.069169 0.816934 -0.114245 0.561054 
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time: 1403637230.738319, t: -0.776296 -0.645211 -0.283007 q: 0.161852 0.774867 -0.228760 0.566617 
time: 1403637231.138319, t: -0.789299 -0.662596 -0.225004 q: 0.201308 0.760735 -0.341459 0.513968 
time: 1403637231.538319, t: -0.824196 -0.759737 -0.359432 q: 0.280896 0.679147 -0.481263 0.477748 
time: 1403637231.938319, t: -0.911243 -0.936934 -0.611112 q: -0.355574 -0.589404 0.593905 -0.416470 
time: 1403637232.338319, t: -1.097082 -1.178212 -0.718764 q: -0.425212 -0.494963 0.647438 -0.393739 
time: 1403637232.738319, t: -1.376627 -1.389062 -0.720870 q: -0.440610 -0.414088 0.718644 -0.343430 
time: 1403637233.138319, t: -1.811794 -1.569854 -0.643741 q: -0.436031 -0.393180 0.759951 -0.278858 
time: 1403637233.538319, t: -2.415050 -1.857788 -0.586844 q: -0.432513 -0.423632 0.757379 -0.244632 
time: 1403637233.938319, t: -3.037076 -2.330136 -0.680455 q: 0.533450 0.469156 -0.673903 0.202924 
time: 1403637234.338319, t: -3.354029 -3.000251 -0.858023 q: 0.563923 0.471803 -0.649145 0.194945 
time: 1403637234.738319, t: -3.248567 -3.771826 -1.093402 q: 0.537303 0.457027 -0.648970 0.285079 
time: 1403637235.138319, t: -2.908357 -4.470327 -1.333892 q: -0.488555 -0.494368 0.621501 -0.361456 
time: 1403637235.538319, t: -2.478080 -5.010934 -1.469677 q: -0.435865 -0.552386 0.608144 -0.367494 
time: 1403637235.938319, t: -1.985770 -5.445707 -1.471267 q: 0.448872 0.598117 -0.539091 0.387493 
time: 1403637236.338319, t: -1.330927 -5.791019 -1.363386 q: 0.427811 0.652488 -0.471762 0.410704 
time: 1403637236.738319, t: -0.475686 -6.003813 -1.189302 q: 0.393368 0.665137 -0.437346 0.459981 
time: 1403637237.138319, t: 0.449897 -5.991755 -0.997617 q: 0.377586 0.641745 -0.383444 0.546409 
time: 1403637237.538319, t: 1.272010 -5.681124 -0.704294 q: 0.325811 0.657091 -0.357595 0.578103 
time: 1403637237.938319, t: 1.878129 -5.046778 -0.351356 q: 0.284140 0.658771 -0.381623 0.582795 
time: 1403637238.338319, t: 2.199184 -4.328598 -0.088011 q: 0.259455 0.623461 -0.500536 0.541704 
time: 1403637238.738319, t: 2.160747 -3.617024 0.086282 q: -0.268629 -0.551202 0.624709 -0.483481 
time: 1403637239.138319, t: 1.704718 -3.136527 0.226055 q: -0.252230 -0.570517 0.677084 -0.390446 
time: 1403637239.538319, t: 0.854244 -3.077997 0.360077 q: -0.345565 -0.531595 0.677263 -0.373238 
time: 1403637239.938319, t: -0.105879 -3.189399 0.277414 q: -0.454096 -0.443067 0.695950 -0.336365 
time: 1403637240.338319, t: -1.092913 -3.280594 0.054099 q: 0.502765 0.358417 -0.739606 0.267856 
time: 1403637240.738319, t: -2.043394 -3.391665 -0.124176 q: -0.496509 -0.349521 0.764568 -0.216214 
time: 1403637241.138319, t: -2.877253 -3.647056 -0.245349 q: 0.527735 0.353591 -0.738098 0.227334 
time: 1403637241.538319, t: -3.568877 -4.046834 -0.426210 q: 0.541072 0.379361 -0.720019 0.211893 
time: 1403637241.938319, t: -4.156567 -4.395646 -0.530522 q: 0.565901 0.368846 -0.696755 0.241334 
time: 1403637242.338319, t: -4.453223 -4.696984 -0.527550 q: 0.572919 0.371030 -0.693469 0.230653 
time: 1403637242.738319, t: -4.459983 -4.947648 -0.532380 q: 0.578411 0.389285 -0.675696 0.239442 
time: 1403637243.138319, t: -4.174138 -5.151392 -0.469951 q: 0.563247 0.414198 -0.659021 0.277281 
time: 1403637243.538319, t: -3.697805 -5.261394 -0.476304 q: 0.534168 0.417494 -0.678449 0.282966 
optimize pose graph 
time: 1403637243.938319, t: -3.124504 -5.333296 -0.427410 q: -0.486920 -0.399948 0.716425 -0.299476 
time: 1403637244.338319, t: -2.617119 -5.382463 -0.238508 q: -0.487444 -0.393495 0.721609 -0.294690 
time: 1403637244.738319, t: -2.197184 -5.421166 0.005479 q: -0.476999 -0.441686 0.704340 -0.285116 
time: 1403637245.138319, t: -1.821767 -5.532619 0.167679 q: -0.439767 -0.460519 0.707891 -0.305645 
time: 1403637245.538319, t: -1.518781 -5.736711 0.256952 q: -0.453941 -0.476544 0.690700 -0.299629 
time: 1403637245.938319, t: -1.234000 -6.044702 0.264143 q: -0.445692 -0.522542 0.635688 -0.352434 
time: 1403637246.338319, t: -0.921374 -6.370933 0.201177 q: 0.389082 0.619431 -0.524552 0.435621 
time: 1403637246.738319, t: -0.573325 -6.626915 0.081909 q: 0.330848 0.700527 -0.376644 0.507878 
time: 1403637247.138319, t: -0.202118 -6.694300 -0.011501 q: 0.249708 0.757881 -0.298385 0.523668 
time: 1403637247.538319, t: 0.168845 -6.641796 -0.108636 q: 0.242016 0.740982 -0.285424 0.557591 
time: 1403637247.938319, t: 0.536130 -6.483929 -0.244143 q: 0.235531 0.753083 -0.238248 0.566242 
time: 1403637248.338319, t: 0.884512 -6.149155 -0.301284 q: 0.175047 0.784657 -0.209258 0.556671 
time: 1403637248.738319, t: 1.211852 -5.732108 -0.390833 q: 0.171037 0.783442 -0.203671 0.561678 
time: 1403637249.138319, t: 1.467233 -5.249793 -0.357736 q: 0.174015 0.787646 -0.218658 0.549109 
time: 1403637249.538319, t: 1.703710 -4.751299 -0.266847 q: 0.176513 0.783919 -0.224347 0.551346 
time: 1403637249.938319, t: 1.964678 -4.210041 -0.333609 q: 0.171248 0.776032 -0.209946 0.569535 
time: 1403637250.338319, t: 2.190636 -3.647031 -0.336826 q: 0.113637 0.791002 -0.190673 0.570129 
time: 1403637250.738319, t: 2.363602 -3.143078 -0.375670 q: 0.086569 0.800790 -0.181395 0.564213 
time: 1403637251.138319, t: 2.491761 -2.762809 -0.318126 q: 0.071118 0.803025 -0.174453 0.565384 
time: 1403637251.538319, t: 2.625683 -2.457676 -0.153937 q: 0.062428 0.805086 -0.133284 0.574609 
time: 1403637251.938319, t: 2.740346 -2.246203 -0.034423 q: 0.049769 0.804328 -0.093752 0.584628 
time: 1403637252.338319, t: 2.775964 -2.096112 0.013210 q: 0.049605 0.795214 -0.085113 0.598273 
time: 1403637252.738319, t: 2.733697 -1.967263 -0.040899 q: 0.036452 0.813011 -0.097122 0.572933 
time: 1403637253.138319, t: 2.670811 -1.891371 -0.048046 q: 0.050759 0.808401 -0.090812 0.579365 
time: 1403637253.538319, t: 2.595450 -1.853578 -0.055134 q: 0.052703 0.807074 -0.092610 0.580756 
optimize pose graph 
time: 1403637253.938319, t: 2.493327 -1.827687 -0.056246 q: 0.063439 0.805300 -0.085586 0.583217 
time: 1403637254.338319, t: 2.361665 -1.774460 0.032106 q: 0.055207 0.810493 -0.066533 0.579333 
time: 1403637254.738319, t: 2.217629 -1.686937 0.114738 q: 0.041326 0.814706 -0.046550 0.576523 
time: 1403637255.138319, t: 2.075978 -1.584804 0.110713 q: 0.030682 0.808044 -0.041396 0.586865 
time: 1403637255.538319, t: 1.906622 -1.460025 0.122586 q: 0.003311 0.810035 -0.007342 0.586326 
optimize pose graph 
time: 1403637256.338319, t: 1.503338 -1.174512 0.183006 q: -0.054533 0.806832 0.096396 0.580308 
time: 1403637256.738319, t: 1.279519 -0.993131 0.177199 q: -0.060865 0.813782 0.086173 0.571514 
time: 1403637257.138319, t: 1.055341 -0.817995 0.142000 q: -0.071158 0.809785 0.097027 0.574256 
time: 1403637257.538319, t: 0.844708 -0.650583 0.182073 q: -0.073916 0.809591 0.123543 0.569066 
optimize pose graph 
time: 1403637257.938319, t: 0.655567 -0.463735 0.165961 q: -0.091573 0.820288 0.135885 0.547975 
time: 1403637258.338319, t: 0.532201 -0.251660 0.141553 q: -0.129588 0.797718 0.192030 0.556757 
time: 1403637258.738319, t: 0.450601 -0.031272 0.082937 q: -0.158630 0.791589 0.202799 0.554162 
time: 1403637259.138319, t: 0.407420 0.147426 0.036600 q: -0.161103 0.789340 0.197585 0.558523 
time: 1403637259.538319, t: 0.349316 0.261611 0.080089 q: -0.172797 0.789961 0.183640 0.558909 
optimize pose graph 
time: 1403637259.938319, t: 0.310620 0.293786 0.081084 q: -0.165711 0.791808 0.186753 0.557407 
time: 1403637260.338319, t: 0.280403 0.269584 0.030401 q: -0.145413 0.788550 0.203297 0.561885 
time: 1403637260.738319, t: 0.244203 0.264042 -0.055380 q: -0.138266 0.797914 0.209764 0.547918 
time: 1403637261.138319, t: 0.208815 0.298160 -0.144907 q: -0.145076 0.791729 0.207418 0.555964 
time: 1403637261.538319, t: 0.174645 0.350291 -0.196052 q: -0.150393 0.794916 0.203121 0.551573 
optimize pose graph 
time: 1403637261.938319, t: 0.184701 0.421632 -0.186549 q: -0.146416 0.792098 0.203736 0.556448 
time: 1403637262.338319, t: 0.199325 0.475714 -0.237507 q: -0.187946 0.776127 0.169599 0.577529 
time: 1403637262.738319, t: 0.191651 0.458897 -0.244192 q: -0.151487 0.787752 0.150889 0.577694 
time: 1403637263.138319, t: 0.193564 0.459321 -0.242558 q: -0.155012 0.784142 0.149512 0.582013 
time: 1403637263.538319, t: 0.193014 0.459470 -0.241844 q: -0.155221 0.784292 0.149193 0.581837 
time: 1403637263.938319, t: 0.193157 0.460421 -0.242105 q: -0.154769 0.784285 0.149231 0.581956 
time: 1403637264.338319, t: 0.192974 0.460274 -0.242147 q: -0.154834 0.784322 0.149193 0.581900 
time: 1403637264.738319, t: 0.193011 0.460349 -0.242205 q: -0.154788 0.784341 0.149223 0.581879 
time: 1403637265.138319, t: 0.192927 0.460250 -0.242068 q: -0.154731 0.784415 0.149279 0.581780 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720555303.909792821]: Shutdown request received.[0m
[33m[ WARN] [1720555303.909843614]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720555303.910813929]: Shutdown request received.[0m
[33m[ WARN] [1720555303.910836687]: Reason given for shutdown: [user request][0m
killed
