/SLAM-Hive/slam_hive_results/mapping_results/3196/2401_vins-fusion-stereo-imu+MH_04_difficult+Image_comb_test-1.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720558394.063553207]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720558394.066225341]: init begins[0m
[31m[ERROR] [1720558394.067328182]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/42779b28-3e35-11ef-882d-0242ac110005/roslaunch-f86ad141a4c9-118.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://f86ad141a4c9:38145/[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] [1720558395.169839965]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720558395.172733104]: 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] [1720558395.178831998]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720558395.179039497]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720558395.179067218]: 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] [1720558395.179292755]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720558395.179536306]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720558395.179718996]: 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://f86ad141a4c9:11311/[0m
]2;roscore http://f86ad141a4c9:11311/
[1msetting /run_id to 42779b28-3e35-11ef-882d-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_04_difficult.bag  --clock 
[0m[ INFO] [1720558404.221035020]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316920277.11 
throw img0
init first imu pose
averge acc 8.949590 -0.194601 -3.927257
init R0 
  0.402246  0.0453102    0.91441
         0  -0.998775  0.0494906
  0.915532 -0.0199074  -0.401753
[33m[ WARN] [1720558405.642951727]: gyroscope bias initial calibration -0.00197342   0.0204855   0.0774991[0m
[0m[ INFO] [1720558405.707044951]: Initialization finish![0m
time: 1403638128.345097, t: 0.000054 0.000062 -0.000042 q: -0.009382 0.837726 0.005988 0.545978 
time: 1403638128.445097, t: 0.000145 0.000229 -0.000129 q: -0.009373 0.837770 0.005743 0.545913 
time: 1403638128.545097, t: 0.000155 0.000267 -0.000154 q: -0.009300 0.837845 0.005522 0.545801 
time: 1403638128.645097, t: 0.000173 0.000232 -0.000135 q: -0.009220 0.837865 0.005504 0.545772 
time: 1403638128.745097, t: 0.000484 0.000448 -0.000155 q: -0.009437 0.838404 0.004565 0.544948 
time: 1403638128.845097, t: 0.000466 0.000264 -0.000143 q: -0.008886 0.838712 0.004213 0.544486 
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time: 1403638129.045097, t: 0.000532 0.000017 0.000095 q: -0.008661 0.838782 0.005925 0.544366 
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time: 1403638129.445097, t: 0.001105 -0.005751 0.030225 q: -0.054710 0.816737 -0.037346 0.573195 
time: 1403638129.545097, t: 0.002233 -0.003968 0.036463 q: -0.037839 0.833875 -0.025935 0.550044 
time: 1403638129.645097, t: 0.005298 -0.000903 0.045110 q: -0.013989 0.849516 -0.008186 0.527315 
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time: 1403638130.645097, t: 0.047629 0.016137 0.389843 q: -0.055989 0.842225 0.013228 0.536048 
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time: 1403638137.445097, t: 0.037990 0.013599 0.137309 q: -0.008907 0.830774 -0.060336 0.553259 
time: 1403638137.545097, t: 0.037458 0.026226 0.103818 q: 0.003751 0.839752 -0.049664 0.540681 
time: 1403638137.645097, t: 0.037271 0.033726 0.075722 q: 0.016991 0.844522 -0.042868 0.533531 
time: 1403638137.745097, t: 0.036509 0.037631 0.054892 q: 0.023213 0.842713 -0.047038 0.535802 
time: 1403638137.845097, t: 0.033088 0.040203 0.037427 q: 0.026554 0.845025 -0.049349 0.531782 
time: 1403638137.945097, t: 0.031369 0.041576 0.026729 q: 0.034531 0.853354 -0.041973 0.518492 
time: 1403638138.045097, t: 0.031030 0.043617 0.019247 q: 0.037938 0.858225 -0.035303 0.510651 
time: 1403638138.145097, t: 0.030387 0.043908 0.015675 q: 0.036505 0.852586 -0.039361 0.519822 
optimize pose graph 
time: 1403638138.245097, t: 0.030247 0.042975 0.013249 q: 0.033406 0.847727 -0.045300 0.527438 
time: 1403638138.345097, t: 0.029625 0.043085 0.012893 q: 0.033746 0.843905 -0.046529 0.533404 
time: 1403638138.445097, t: 0.028704 0.043222 0.012747 q: 0.033890 0.841110 -0.046550 0.537790 
time: 1403638138.545097, t: 0.029250 0.043390 0.011677 q: 0.033835 0.840874 -0.046790 0.538142 
time: 1403638138.645097, t: 0.029558 0.043676 0.011655 q: 0.033622 0.840847 -0.047124 0.538168 
time: 1403638138.745097, t: 0.029800 0.043804 0.011209 q: 0.033577 0.840877 -0.047255 0.538114 
time: 1403638138.845097, t: 0.029730 0.043814 0.011257 q: 0.033708 0.840900 -0.046694 0.538117 
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time: 1403638139.045097, t: 0.029850 0.043972 0.011114 q: 0.033133 0.840785 -0.047415 0.538270 
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optimize pose graph 
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time: 1403638152.145097, t: 1.140389 1.124832 0.540035 q: -0.105224 0.807610 0.177354 0.552485 
optimize pose graph 
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time: 1403638207.345097, t: 6.480780 10.486133 2.931985 q: -0.284035 0.698379 0.371100 0.542103 
time: 1403638207.445097, t: 6.352913 10.555569 2.908636 q: -0.293733 0.689906 0.381800 0.540352 
time: 1403638207.545097, t: 6.220403 10.615815 2.890155 q: -0.305033 0.682457 0.396097 0.533211 
time: 1403638207.645097, t: 6.085415 10.664688 2.875993 q: -0.312133 0.680894 0.410516 0.520032 
time: 1403638207.745097, t: 5.948839 10.701734 2.869066 q: -0.317251 0.682665 0.421172 0.505899 
time: 1403638207.845097, t: 5.814574 10.733490 2.869372 q: -0.320068 0.684935 0.428567 0.494723 
time: 1403638207.945097, t: 5.684559 10.759098 2.876994 q: -0.319870 0.688511 0.434058 0.485004 
time: 1403638208.045097, t: 5.556934 10.780810 2.887615 q: -0.319274 0.689254 0.436537 0.482109 
time: 1403638208.145097, t: 5.432659 10.798671 2.896044 q: -0.322996 0.686920 0.433739 0.485475 
optimize pose graph 
time: 1403638208.245097, t: 5.312204 10.814695 2.897818 q: -0.324749 0.683700 0.431053 0.491208 
time: 1403638208.345097, t: 5.193503 10.825079 2.889710 q: -0.322325 0.685182 0.430995 0.490791 
time: 1403638208.445097, t: 5.076859 10.831326 2.877569 q: -0.318892 0.687848 0.432718 0.487779 
time: 1403638208.545097, t: 4.962712 10.834049 2.866676 q: -0.320697 0.687663 0.437174 0.482858 
time: 1403638208.645097, t: 4.850139 10.833030 2.863282 q: -0.325379 0.682493 0.446554 0.478458 
time: 1403638208.745097, t: 4.739899 10.830759 2.865187 q: -0.332887 0.678079 0.452960 0.473522 
time: 1403638208.845097, t: 4.632649 10.823809 2.871623 q: -0.338860 0.672878 0.458521 0.471347 
time: 1403638208.945097, t: 4.530369 10.816462 2.875254 q: -0.341398 0.667757 0.464233 0.471207 
time: 1403638209.045097, t: 4.429682 10.805950 2.873306 q: -0.343646 0.665098 0.467335 0.470266 
time: 1403638209.145097, t: 4.330765 10.791933 2.864630 q: -0.345349 0.663889 0.469279 0.468789 
time: 1403638209.245097, t: 4.237225 10.773862 2.848833 q: -0.346504 0.663444 0.470126 0.467717 
time: 1403638209.345097, t: 4.145677 10.756630 2.827092 q: -0.347694 0.664407 0.469946 0.465642 
time: 1403638209.445097, t: 4.056648 10.735971 2.799193 q: -0.349095 0.664659 0.469533 0.464650 
time: 1403638209.545097, t: 3.970685 10.714778 2.763896 q: -0.351436 0.662723 0.467553 0.467639 
time: 1403638209.645097, t: 3.886758 10.690339 2.712474 q: -0.352583 0.663125 0.465777 0.467977 
time: 1403638209.745097, t: 3.804233 10.662971 2.640921 q: -0.350839 0.664337 0.465758 0.467587 
time: 1403638209.845097, t: 3.724922 10.633598 2.552638 q: -0.347583 0.662385 0.467440 0.471096 
time: 1403638209.945097, t: 3.648987 10.600390 2.453678 q: -0.347712 0.659113 0.466676 0.476320 
time: 1403638210.045097, t: 3.573795 10.565889 2.352761 q: -0.349980 0.654820 0.464648 0.482522 
time: 1403638210.145097, t: 3.497794 10.522356 2.256263 q: -0.354255 0.651615 0.461270 0.486962 
time: 1403638210.245097, t: 3.422451 10.474148 2.165071 q: -0.356981 0.649828 0.459252 0.489260 
optimize pose graph 
time: 1403638210.345097, t: 3.346440 10.412051 2.081792 q: -0.355660 0.649433 0.460012 0.490033 
time: 1403638210.445097, t: 3.272076 10.345944 1.995362 q: -0.355438 0.650502 0.460146 0.488648 
time: 1403638210.545097, t: 3.195129 10.269011 1.905718 q: -0.356877 0.650467 0.458714 0.488993 
time: 1403638210.645097, t: 3.118058 10.186529 1.811653 q: -0.358031 0.649906 0.457253 0.490262 
time: 1403638210.745097, t: 3.041984 10.098733 1.716113 q: -0.359315 0.650477 0.455817 0.489902 
time: 1403638210.845097, t: 2.964110 10.000273 1.627267 q: -0.358936 0.651882 0.455803 0.488323 
time: 1403638210.945097, t: 2.887423 9.898388 1.547004 q: -0.356612 0.655834 0.457523 0.483098 
time: 1403638211.045097, t: 2.813050 9.791544 1.473609 q: -0.355712 0.659259 0.458546 0.478103 
time: 1403638211.145097, t: 2.743323 9.683216 1.410363 q: -0.354076 0.662149 0.460341 0.473577 
time: 1403638211.245097, t: 2.672675 9.570882 1.352044 q: -0.353501 0.664290 0.460934 0.470421 
time: 1403638211.345097, t: 2.607943 9.457855 1.302585 q: -0.351278 0.666452 0.459625 0.470309 
time: 1403638211.445097, t: 2.543494 9.343212 1.252289 q: -0.346271 0.671726 0.453072 0.472870 
time: 1403638211.545097, t: 2.481448 9.222983 1.196879 q: -0.339499 0.679108 0.442583 0.477151 
time: 1403638211.645097, t: 2.423980 9.098781 1.136228 q: -0.333475 0.688712 0.426412 0.482330 
time: 1403638211.745097, t: 2.370267 8.970624 1.067516 q: -0.323885 0.700720 0.406973 0.488328 
time: 1403638211.845097, t: 2.322452 8.838696 1.001587 q: -0.313995 0.715085 0.383822 0.492688 
time: 1403638211.945097, t: 2.280115 8.703361 0.938957 q: -0.301444 0.727244 0.361436 0.499611 
time: 1403638212.045097, t: 2.241816 8.564892 0.884277 q: -0.287713 0.738194 0.340305 0.506441 
time: 1403638212.145097, t: 2.210297 8.424021 0.838651 q: -0.270933 0.746815 0.321988 0.514962 
time: 1403638212.245097, t: 2.182359 8.277514 0.803231 q: -0.253820 0.754250 0.303436 0.524032 
time: 1403638212.345097, t: 2.156144 8.125851 0.774504 q: -0.238043 0.762085 0.284665 0.530593 
optimize pose graph 
time: 1403638212.445097, t: 2.133910 7.974234 0.754300 q: -0.221068 0.768694 0.266236 0.537918 
time: 1403638212.545097, t: 2.109564 7.819514 0.738614 q: -0.208590 0.775144 0.244314 0.544015 
time: 1403638212.645097, t: 2.084352 7.660153 0.729274 q: -0.194302 0.782363 0.222950 0.548132 
time: 1403638212.745097, t: 2.058845 7.497040 0.726509 q: -0.176342 0.789408 0.203244 0.551753 
time: 1403638212.845097, t: 2.032928 7.333411 0.730451 q: -0.160850 0.794632 0.179940 0.557054 
time: 1403638212.945097, t: 2.009048 7.165659 0.736560 q: -0.144911 0.800448 0.155144 0.560548 
time: 1403638213.045097, t: 1.988394 6.998737 0.750453 q: -0.126969 0.806054 0.129748 0.563313 
time: 1403638213.145097, t: 1.971053 6.830267 0.765434 q: -0.111531 0.811823 0.102020 0.564000 
time: 1403638213.245097, t: 1.953288 6.660158 0.775783 q: -0.097997 0.820566 0.072673 0.558378 
time: 1403638213.345097, t: 1.940237 6.488408 0.778559 q: -0.087222 0.829576 0.041152 0.550003 
time: 1403638213.445097, t: 1.934314 6.312443 0.775146 q: -0.078175 0.835779 0.009014 0.543397 
time: 1403638213.545097, t: 1.937329 6.128883 0.768814 q: -0.066354 0.837037 -0.019009 0.542775 
time: 1403638213.645097, t: 1.949143 5.939068 0.765059 q: -0.043394 0.830238 -0.030909 0.554858 
time: 1403638213.745097, t: 1.964396 5.744371 0.763917 q: -0.021700 0.821718 -0.033832 0.568476 
time: 1403638213.845097, t: 1.980570 5.548857 0.768659 q: -0.005658 0.816956 -0.033881 0.575676 
time: 1403638213.945097, t: 1.994437 5.353794 0.779753 q: 0.002829 0.816168 -0.033487 0.576837 
time: 1403638214.045097, t: 2.008509 5.158378 0.797107 q: 0.004291 0.819035 -0.033227 0.572764 
time: 1403638214.145097, t: 2.023260 4.962644 0.816279 q: 0.004545 0.825620 -0.031153 0.563348 
time: 1403638214.245097, t: 2.039081 4.767052 0.837646 q: 0.003059 0.832166 -0.027629 0.553830 
time: 1403638214.345097, t: 2.059591 4.573297 0.856113 q: 0.000452 0.836896 -0.024476 0.546815 
time: 1403638214.445097, t: 2.086238 4.380793 0.866421 q: -0.000954 0.838423 -0.019826 0.544658 
time: 1403638214.545097, t: 2.117079 4.192502 0.870545 q: -0.002315 0.833168 -0.015685 0.552793 
time: 1403638214.645097, t: 2.150798 4.006605 0.867043 q: -0.003709 0.826610 -0.012042 0.562633 
time: 1403638214.745097, t: 2.184556 3.823348 0.859292 q: -0.005024 0.820157 -0.008610 0.572051 
time: 1403638214.845097, t: 2.218150 3.642948 0.846476 q: -0.006716 0.816041 -0.005751 0.577927 
time: 1403638214.945097, t: 2.248868 3.463094 0.827524 q: -0.007856 0.813477 -0.003202 0.581535 
time: 1403638215.045097, t: 2.279197 3.283759 0.803518 q: -0.009389 0.812589 -0.001749 0.582759 
time: 1403638215.145097, t: 2.306704 3.108209 0.776538 q: -0.009083 0.812787 0.000238 0.582490 
time: 1403638215.245097, t: 2.332600 2.934496 0.746718 q: -0.007653 0.814782 0.001814 0.579713 
time: 1403638215.345097, t: 2.356424 2.766833 0.716359 q: -0.003616 0.816428 0.004325 0.577420 
time: 1403638215.445097, t: 2.379993 2.604067 0.688705 q: 0.001666 0.815927 0.008022 0.578096 
time: 1403638215.545097, t: 2.402829 2.446062 0.669091 q: 0.002622 0.816198 0.008635 0.577702 
time: 1403638215.645097, t: 2.424064 2.294723 0.658209 q: 0.002146 0.814220 0.008639 0.580489 
time: 1403638215.745097, t: 2.442341 2.150342 0.652441 q: -0.002029 0.813801 0.005596 0.581113 
time: 1403638215.845097, t: 2.458151 2.008684 0.644005 q: -0.002867 0.813886 -0.000118 0.581018 
time: 1403638215.945097, t: 2.471112 1.871992 0.628766 q: -0.000425 0.813755 -0.004786 0.581189 
time: 1403638216.045097, t: 2.479538 1.737188 0.609106 q: 0.000992 0.813700 -0.008783 0.581218 
time: 1403638216.145097, t: 2.486879 1.604161 0.589058 q: 0.004097 0.813745 -0.010408 0.581114 
time: 1403638216.245097, t: 2.492381 1.474415 0.574503 q: 0.006813 0.812543 -0.011205 0.582754 
time: 1403638216.345097, t: 2.496179 1.349775 0.567152 q: 0.008870 0.811617 -0.011772 0.584004 
time: 1403638216.445097, t: 2.497115 1.231164 0.565800 q: 0.010335 0.810431 -0.012422 0.585611 
time: 1403638216.545097, t: 2.495269 1.117521 0.565158 q: 0.011177 0.810766 -0.012761 0.585124 
time: 1403638216.645097, t: 2.491908 1.008683 0.558443 q: 0.014584 0.812178 -0.011339 0.583117 
time: 1403638216.745097, t: 2.485000 0.903528 0.544766 q: 0.017088 0.813457 -0.009514 0.581296 
time: 1403638216.845097, t: 2.478932 0.804503 0.525993 q: 0.020826 0.809909 -0.011119 0.586080 
time: 1403638216.945097, t: 2.467860 0.708803 0.503960 q: 0.025285 0.807584 -0.018370 0.588924 
time: 1403638217.045097, t: 2.455844 0.618296 0.478105 q: 0.028098 0.808035 -0.031884 0.587600 
time: 1403638217.145097, t: 2.440635 0.529946 0.450800 q: 0.033637 0.810310 -0.047205 0.583128 
time: 1403638217.245097, t: 2.422316 0.446261 0.422369 q: 0.040900 0.811978 -0.058807 0.579276 
time: 1403638217.345097, t: 2.403092 0.365384 0.399551 q: 0.046877 0.812877 -0.066583 0.576714 
time: 1403638217.445097, t: 2.381992 0.289534 0.386320 q: 0.050992 0.813808 -0.072159 0.574377 
time: 1403638217.545097, t: 2.360022 0.215401 0.382748 q: 0.057859 0.814760 -0.072898 0.572280 
time: 1403638217.645097, t: 2.337825 0.145129 0.386102 q: 0.065045 0.815620 -0.070395 0.570594 
time: 1403638217.745097, t: 2.314431 0.079797 0.396870 q: 0.072463 0.816463 -0.066077 0.569008 
time: 1403638217.845097, t: 2.290260 0.019762 0.412401 q: 0.077378 0.817950 -0.061976 0.566683 
time: 1403638217.945097, t: 2.270080 -0.029161 0.431182 q: 0.079605 0.816578 -0.059006 0.568667 
time: 1403638218.045097, t: 2.251748 -0.075079 0.441121 q: 0.078446 0.814748 -0.057104 0.571639 
time: 1403638218.145097, t: 2.234396 -0.109089 0.447577 q: 0.076523 0.813359 -0.056687 0.573914 
time: 1403638218.245097, t: 2.217950 -0.135702 0.447651 q: 0.075082 0.810661 -0.055262 0.578046 
time: 1403638218.345097, t: 2.203542 -0.156168 0.441060 q: 0.070301 0.806923 -0.055758 0.583801 
time: 1403638218.445097, t: 2.183199 -0.166332 0.443204 q: 0.064173 0.806586 -0.057557 0.584797 
optimize pose graph 
time: 1403638218.545097, t: 2.166174 -0.168770 0.447057 q: 0.061465 0.807446 -0.058229 0.583835 
time: 1403638218.645097, t: 2.139524 -0.168145 0.463394 q: 0.058551 0.809479 -0.059190 0.581215 
time: 1403638218.745097, t: 2.112166 -0.163598 0.476882 q: 0.058872 0.814212 -0.062722 0.574160 
time: 1403638218.845097, t: 2.084624 -0.156305 0.486163 q: 0.062999 0.817565 -0.069796 0.568108 
time: 1403638218.945097, t: 2.063142 -0.144487 0.483719 q: 0.059722 0.817927 -0.081663 0.566357 
time: 1403638219.045097, t: 2.040802 -0.131345 0.478665 q: 0.050348 0.816097 -0.095951 0.567666 
time: 1403638219.145097, t: 2.017042 -0.120120 0.474752 q: 0.047864 0.813691 -0.103682 0.569970 
time: 1403638219.245097, t: 1.994808 -0.112764 0.467194 q: 0.056110 0.809543 -0.101581 0.575477 
time: 1403638219.345097, t: 1.968794 -0.105081 0.459186 q: 0.064629 0.803343 -0.098118 0.583811 
time: 1403638219.445097, t: 1.942981 -0.097939 0.453752 q: 0.069015 0.795815 -0.096079 0.593873 
time: 1403638219.545097, t: 1.913333 -0.087518 0.452845 q: 0.070023 0.793813 -0.095677 0.596493 
time: 1403638219.645097, t: 1.878522 -0.073976 0.455882 q: 0.066209 0.796211 -0.098099 0.593330 
time: 1403638219.745097, t: 1.835829 -0.059104 0.458282 q: 0.059616 0.798903 -0.102337 0.589683 
time: 1403638219.845097, t: 1.789367 -0.044553 0.456203 q: 0.050853 0.802134 -0.108197 0.585054 
time: 1403638219.945097, t: 1.738928 -0.032782 0.449494 q: 0.042921 0.804371 -0.114003 0.581505 
time: 1403638220.045097, t: 1.686838 -0.025659 0.435346 q: 0.037818 0.806763 -0.117491 0.577840 
time: 1403638220.145097, t: 1.629442 -0.023671 0.422712 q: 0.040201 0.808952 -0.116013 0.574911 
time: 1403638220.245097, t: 1.575570 -0.027954 0.414917 q: 0.054114 0.810917 -0.106758 0.572790 
time: 1403638220.345097, t: 1.516303 -0.033539 0.418118 q: 0.066150 0.812792 -0.098662 0.570315 
time: 1403638220.445097, t: 1.455193 -0.037473 0.428197 q: 0.071308 0.813354 -0.095587 0.569415 
time: 1403638220.545097, t: 1.395193 -0.038633 0.442703 q: 0.073085 0.812819 -0.095139 0.570029 
optimize pose graph 
time: 1403638220.645097, t: 1.339445 -0.039884 0.455153 q: 0.074693 0.812556 -0.095581 0.570121 
time: 1403638220.745097, t: 1.283641 -0.038707 0.460500 q: 0.074948 0.812397 -0.097089 0.570059 
time: 1403638220.845097, t: 1.228116 -0.036056 0.459574 q: 0.074191 0.811891 -0.098898 0.570569 
time: 1403638220.945097, t: 1.170887 -0.030672 0.451591 q: 0.073896 0.812545 -0.100799 0.569342 
time: 1403638221.045097, t: 1.118068 -0.025370 0.437844 q: 0.074140 0.813155 -0.101337 0.568342 
time: 1403638221.145097, t: 1.065074 -0.018296 0.422294 q: 0.074737 0.813916 -0.102185 0.567021 
time: 1403638221.245097, t: 1.013574 -0.010162 0.412192 q: 0.074084 0.815307 -0.103256 0.564911 
time: 1403638221.345097, t: 0.960190 -0.000155 0.409341 q: 0.072136 0.816733 -0.105327 0.562717 
time: 1403638221.445097, t: 0.911969 0.009352 0.410870 q: 0.069567 0.817311 -0.107886 0.561715 
time: 1403638221.545097, t: 0.866921 0.017609 0.408486 q: 0.067360 0.817210 -0.109892 0.561742 
time: 1403638221.645097, t: 0.822993 0.026284 0.399542 q: 0.067209 0.816089 -0.110804 0.563208 
time: 1403638221.745097, t: 0.781580 0.033806 0.390120 q: 0.065342 0.813461 -0.112493 0.566884 
time: 1403638221.845097, t: 0.741725 0.039687 0.384183 q: 0.064610 0.812413 -0.112313 0.568503 
time: 1403638221.945097, t: 0.702950 0.045388 0.385693 q: 0.068669 0.811111 -0.108911 0.570545 
time: 1403638222.045097, t: 0.663266 0.050274 0.395389 q: 0.072058 0.811420 -0.106426 0.570156 
time: 1403638222.145097, t: 0.623099 0.055347 0.406830 q: 0.073593 0.814629 -0.105340 0.565568 
time: 1403638222.245097, t: 0.587549 0.063365 0.409822 q: 0.073619 0.818255 -0.106044 0.560172 
time: 1403638222.345097, t: 0.548845 0.067996 0.411685 q: 0.072659 0.821671 -0.106819 0.555129 
time: 1403638222.445097, t: 0.516907 0.076787 0.405761 q: 0.072285 0.824373 -0.107680 0.550989 
time: 1403638222.545097, t: 0.487565 0.083514 0.396555 q: 0.072102 0.823996 -0.107826 0.551548 
time: 1403638222.645097, t: 0.463146 0.089144 0.385790 q: 0.071857 0.818429 -0.107897 0.559794 
optimize pose graph 
time: 1403638222.745097, t: 0.440649 0.094216 0.371634 q: 0.072483 0.814783 -0.107570 0.565069 
time: 1403638222.845097, t: 0.419590 0.100058 0.354961 q: 0.073201 0.812201 -0.107026 0.568785 
time: 1403638222.945097, t: 0.397841 0.105952 0.338460 q: 0.073405 0.804659 -0.106488 0.579480 
time: 1403638223.045097, t: 0.375679 0.113662 0.323056 q: 0.072882 0.804315 -0.106304 0.580056 
time: 1403638223.145097, t: 0.348538 0.121251 0.314593 q: 0.073475 0.810181 -0.106281 0.571762 
time: 1403638223.245097, t: 0.319408 0.130944 0.308043 q: 0.067244 0.820103 -0.111197 0.557266 
time: 1403638223.345097, t: 0.293141 0.139047 0.304524 q: 0.064274 0.822304 -0.113612 0.553874 
time: 1403638223.445097, t: 0.268160 0.146536 0.301723 q: 0.057820 0.818771 -0.118429 0.558789 
time: 1403638223.545097, t: 0.247828 0.150242 0.297885 q: 0.049357 0.814262 -0.124555 0.564825 
time: 1403638223.645097, t: 0.226088 0.146141 0.288103 q: 0.056626 0.813223 -0.119582 0.566711 
time: 1403638223.745097, t: 0.205594 0.138544 0.277716 q: 0.068177 0.813798 -0.111653 0.566232 
time: 1403638223.845097, t: 0.185469 0.132488 0.265386 q: 0.075721 0.814768 -0.106508 0.564867 
time: 1403638223.945097, t: 0.166989 0.127633 0.251504 q: 0.080917 0.814964 -0.102844 0.564544 
time: 1403638224.045097, t: 0.150031 0.123759 0.238728 q: 0.082254 0.817227 -0.101810 0.561257 
time: 1403638224.145097, t: 0.133464 0.120982 0.218581 q: 0.079733 0.822809 -0.103185 0.553155 
time: 1403638224.245097, t: 0.122942 0.125245 0.201785 q: 0.078160 0.826148 -0.104666 0.548101 
time: 1403638224.345097, t: 0.119109 0.127604 0.193778 q: 0.078294 0.822025 -0.104771 0.554228 
time: 1403638224.445097, t: 0.116604 0.130540 0.180856 q: 0.072118 0.815836 -0.109676 0.563189 
time: 1403638224.545097, t: 0.115734 0.133604 0.171123 q: 0.072194 0.808664 -0.109476 0.573469 
time: 1403638224.645097, t: 0.112202 0.137028 0.158983 q: 0.073624 0.811037 -0.108272 0.570155 
time: 1403638224.745097, t: 0.108107 0.141409 0.146913 q: 0.072739 0.821234 -0.109054 0.555329 
time: 1403638224.845097, t: 0.106134 0.147947 0.138140 q: 0.071943 0.823947 -0.109608 0.551291 
optimize pose graph 
time: 1403638224.945097, t: 0.107574 0.153508 0.137529 q: 0.064867 0.816710 -0.113943 0.561956 
time: 1403638225.045097, t: 0.112541 0.157976 0.139374 q: 0.058667 0.810263 -0.117264 0.571210 
time: 1403638225.245097, t: 0.118242 0.160327 0.146521 q: 0.067318 0.816191 -0.109408 0.563320 
time: 1403638225.345097, t: 0.120692 0.159868 0.153176 q: 0.070262 0.819932 -0.107129 0.557941 
time: 1403638225.445097, t: 0.125874 0.159283 0.156440 q: 0.072076 0.815875 -0.105651 0.563906 
time: 1403638225.545097, t: 0.131448 0.158831 0.153594 q: 0.074843 0.805550 -0.103710 0.578560 
time: 1403638225.645097, t: 0.134695 0.159756 0.143037 q: 0.077112 0.795221 -0.101964 0.592690 
time: 1403638225.745097, t: 0.132843 0.163241 0.120515 q: 0.077982 0.797438 -0.101283 0.589706 
time: 1403638225.845097, t: 0.126519 0.169012 0.088662 q: 0.076618 0.808753 -0.102411 0.574073 
time: 1403638225.945097, t: 0.119688 0.176402 0.051457 q: 0.075184 0.818912 -0.103511 0.559479 
time: 1403638226.045097, t: 0.117427 0.186846 0.024264 q: 0.070707 0.829072 -0.103789 0.544856 
time: 1403638226.145097, t: 0.126299 0.196091 0.035819 q: 0.047571 0.827086 -0.118067 0.547473 
time: 1403638226.245097, t: 0.136056 0.201818 0.027579 q: 0.073830 0.832008 -0.102382 0.540212 
time: 1403638226.345097, t: 0.132026 0.212040 0.020572 q: 0.071611 0.828128 -0.103365 0.546252 
time: 1403638226.445097, t: 0.135706 0.217566 0.016236 q: 0.071947 0.827925 -0.103846 0.546425 
time: 1403638226.545097, t: 0.134216 0.219979 0.013044 q: 0.071786 0.827504 -0.103306 0.547186 
time: 1403638226.645097, t: 0.136344 0.217502 0.011071 q: 0.071660 0.827489 -0.103817 0.547128 
time: 1403638226.745097, t: 0.136171 0.217232 0.011057 q: 0.071342 0.827972 -0.104237 0.546358 
time: 1403638226.845097, t: 0.136216 0.217392 0.011022 q: 0.071558 0.827744 -0.103961 0.546728 
time: 1403638226.945097, t: 0.136534 0.216780 0.011278 q: 0.072089 0.827926 -0.103742 0.546424 
time: 1403638227.045097, t: 0.136331 0.216913 0.011297 q: 0.072561 0.827925 -0.103267 0.546453 
time: 1403638227.145097, t: 0.136422 0.216469 0.011584 q: 0.072356 0.828044 -0.103485 0.546258 
time: 1403638227.245097, t: 0.136332 0.216630 0.011604 q: 0.072113 0.828081 -0.103565 0.546220 
time: 1403638227.345097, t: 0.136433 0.216551 0.011667 q: 0.071699 0.828069 -0.103923 0.546225 
time: 1403638227.445097, t: 0.136407 0.216456 0.011771 q: 0.071735 0.828092 -0.103923 0.546185 
time: 1403638227.545097, t: 0.136387 0.216204 0.011943 q: 0.071872 0.828091 -0.103740 0.546202 
time: 1403638227.645097, t: 0.136350 0.216009 0.012118 q: 0.072032 0.828098 -0.103628 0.546192 
time: 1403638227.745097, t: 0.136299 0.215991 0.012141 q: 0.071943 0.828126 -0.103689 0.546151 
time: 1403638227.845097, t: 0.136405 0.215935 0.012106 q: 0.071862 0.828146 -0.103717 0.546126 
time: 1403638227.945097, t: 0.136376 0.215926 0.012133 q: 0.071704 0.828133 -0.103802 0.546149 
time: 1403638228.045097, t: 0.136348 0.215812 0.012227 q: 0.071695 0.828136 -0.103834 0.546140 
time: 1403638228.145097, t: 0.136337 0.215673 0.012309 q: 0.071706 0.828118 -0.103801 0.546172 
time: 1403638228.245097, t: 0.136323 0.215572 0.012378 q: 0.071741 0.828124 -0.103764 0.546166 
time: 1403638228.345097, t: 0.136063 0.214964 0.012282 q: 0.071723 0.828111 -0.103762 0.546189 
time: 1403638228.445097, t: 0.136005 0.214928 0.012313 q: 0.071713 0.828152 -0.103716 0.546136 
time: 1403638228.545097, t: 0.135973 0.214870 0.012399 q: 0.071637 0.828140 -0.103720 0.546163 
time: 1403638228.645097, t: 0.135926 0.214872 0.012444 q: 0.071654 0.828169 -0.103719 0.546117 
time: 1403638228.745097, t: 0.135893 0.214821 0.012496 q: 0.071609 0.828161 -0.103738 0.546132 
time: 1403638228.845097, t: 0.135863 0.214757 0.012585 q: 0.071602 0.828161 -0.103732 0.546133 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720558507.666627752]: Shutdown request received.[0m
[33m[ WARN] [1720558507.666666600]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720558507.667520418]: Shutdown request received.[0m
[33m[ WARN] [1720558507.667541248]: Reason given for shutdown: [user request][0m
killed
