/SLAM-Hive/slam_hive_results/mapping_results/3197/2402_vins-fusion-stereo-imu+MH_04_difficult+Image_comb_test-2.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720558534.047501404]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720558534.049411179]: init begins[0m
[31m[ERROR] [1720558534.050531890]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/95e7b6bc-3e35-11ef-985f-0242ac110005/roslaunch-8ea94bc47487-118.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://8ea94bc47487:40949/[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] [1720558535.156599201]: 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] [1720558535.161607194]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720558535.161901296]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720558535.161923842]: 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] [1720558535.162151404]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720558535.162368101]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720558535.162537251]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://8ea94bc47487:11311/[0m
]2;roscore http://8ea94bc47487:11311/
[1msetting /run_id to 95e7b6bc-3e35-11ef-985f-0242ac110005[0m
[0m[ INFO] [1720558535.202853265]: Connected to master at [localhost:11311][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 [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720558544.190835035]: 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: 316920417.08 
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] [1720558545.586277505]: gyroscope bias initial calibration -0.00262419   0.0205921   0.0770735[0m
[0m[ INFO] [1720558545.608809791]: Initialization finish![0m
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optimize pose graph 
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time: 1403638152.245097, t: 1.170749 1.200717 0.573383 q: -0.102128 0.808088 0.175438 0.552979 
optimize pose graph 
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time: 1403638206.645097, t: 7.249061 9.826941 3.036150 q: -0.247725 0.721337 0.344011 0.547687 
time: 1403638206.745097, t: 7.150713 9.946721 3.051775 q: -0.253716 0.718583 0.349808 0.544886 
time: 1403638206.845097, t: 7.048028 10.061978 3.061650 q: -0.258932 0.716001 0.355954 0.541843 
time: 1403638206.945097, t: 6.939920 10.164464 3.066987 q: -0.265020 0.712192 0.358842 0.542015 
time: 1403638207.045097, t: 6.831436 10.260184 3.065558 q: -0.270367 0.708895 0.359837 0.543036 
time: 1403638207.145097, t: 6.719948 10.353601 3.057738 q: -0.272490 0.706644 0.360697 0.544335 
time: 1403638207.245097, t: 6.601672 10.435932 3.043306 q: -0.276470 0.704167 0.363013 0.543999 
time: 1403638207.345097, t: 6.479570 10.510081 3.021190 q: -0.284006 0.698626 0.369239 0.543070 
time: 1403638207.445097, t: 6.354867 10.576680 2.995801 q: -0.293924 0.689963 0.380200 0.541302 
time: 1403638207.545097, t: 6.223673 10.638129 2.975318 q: -0.305303 0.682304 0.394661 0.534316 
time: 1403638207.645097, t: 6.087315 10.686993 2.961554 q: -0.312404 0.680676 0.409087 0.521278 
time: 1403638207.745097, t: 5.950647 10.725745 2.953954 q: -0.317554 0.682392 0.419730 0.507274 
time: 1403638207.845097, t: 5.816595 10.756660 2.952937 q: -0.320620 0.684584 0.426932 0.496262 
time: 1403638207.945097, t: 5.684210 10.781607 2.961196 q: -0.320429 0.688232 0.432269 0.486626 
time: 1403638208.045097, t: 5.556463 10.805595 2.970865 q: -0.319708 0.689082 0.434453 0.483946 
time: 1403638208.145097, t: 5.432232 10.825622 2.977684 q: -0.323372 0.686754 0.431599 0.487362 
time: 1403638208.245097, t: 5.312144 10.842588 2.978394 q: -0.325082 0.683485 0.429010 0.493072 
optimize pose graph 
time: 1403638208.345097, t: 5.194508 10.854982 2.970445 q: -0.322636 0.685013 0.428976 0.492587 
time: 1403638208.445097, t: 5.078406 10.864838 2.956987 q: -0.319132 0.687729 0.430752 0.489527 
time: 1403638208.545097, t: 4.964697 10.869061 2.944227 q: -0.321068 0.687517 0.435193 0.484605 
time: 1403638208.645097, t: 4.850328 10.868131 2.937675 q: -0.325806 0.682376 0.444415 0.480322 
time: 1403638208.745097, t: 4.739546 10.866077 2.939271 q: -0.333349 0.677987 0.450733 0.475450 
time: 1403638208.845097, t: 4.633677 10.860157 2.946305 q: -0.339346 0.672844 0.456261 0.473235 
time: 1403638208.945097, t: 4.531006 10.853097 2.951484 q: -0.341828 0.667833 0.461984 0.472994 
time: 1403638209.045097, t: 4.428825 10.842910 2.950531 q: -0.343976 0.665206 0.465184 0.472001 
time: 1403638209.145097, t: 4.332195 10.829129 2.943050 q: -0.345812 0.664034 0.467315 0.470201 
time: 1403638209.245097, t: 4.237318 10.811888 2.927419 q: -0.346913 0.663688 0.468162 0.469036 
time: 1403638209.345097, t: 4.146335 10.791063 2.906154 q: -0.348365 0.664557 0.468089 0.466797 
time: 1403638209.445097, t: 4.057030 10.770926 2.879710 q: -0.349713 0.664834 0.467645 0.465837 
time: 1403638209.545097, t: 3.967130 10.745843 2.845972 q: -0.352026 0.662855 0.465652 0.468903 
time: 1403638209.645097, t: 3.882607 10.720618 2.794177 q: -0.353135 0.663261 0.463924 0.469208 
time: 1403638209.745097, t: 3.799859 10.693684 2.724219 q: -0.351185 0.664551 0.463997 0.468772 
time: 1403638209.845097, t: 3.720794 10.663139 2.636891 q: -0.347838 0.662605 0.465739 0.472283 
time: 1403638209.945097, t: 3.641707 10.628497 2.541036 q: -0.347775 0.659405 0.465020 0.477487 
time: 1403638210.045097, t: 3.567194 10.593955 2.438072 q: -0.350031 0.655100 0.463006 0.483681 
time: 1403638210.145097, t: 3.489658 10.552190 2.341829 q: -0.354216 0.651874 0.459646 0.488176 
time: 1403638210.245097, t: 3.416218 10.509205 2.248874 q: -0.356801 0.650301 0.457549 0.490357 
time: 1403638210.345097, t: 3.340329 10.452267 2.162070 q: -0.355426 0.649906 0.458436 0.491051 
optimize pose graph 
time: 1403638210.445097, t: 3.261703 10.385301 2.075834 q: -0.355194 0.651004 0.458406 0.489791 
time: 1403638210.545097, t: 3.186149 10.314938 1.983769 q: -0.356471 0.650946 0.457091 0.490169 
time: 1403638210.645097, t: 3.109930 10.237882 1.886493 q: -0.357664 0.650335 0.455711 0.491394 
time: 1403638210.745097, t: 3.028022 10.154109 1.788530 q: -0.358718 0.651080 0.454155 0.491080 
time: 1403638210.845097, t: 2.947259 10.069354 1.695842 q: -0.357917 0.652939 0.453919 0.489412 
time: 1403638210.945097, t: 2.873439 9.970691 1.614171 q: -0.355947 0.656860 0.455346 0.484249 
time: 1403638211.045097, t: 2.800799 9.867938 1.540338 q: -0.355050 0.660417 0.456225 0.479215 
time: 1403638211.145097, t: 2.729346 9.763649 1.474394 q: -0.353326 0.663397 0.457771 0.474880 
time: 1403638211.245097, t: 2.656714 9.658819 1.417730 q: -0.352498 0.665797 0.458133 0.471777 
time: 1403638211.345097, t: 2.584868 9.553056 1.366516 q: -0.349900 0.668312 0.456341 0.471892 
time: 1403638211.445097, t: 2.519732 9.436625 1.318247 q: -0.344946 0.673339 0.449736 0.474725 
time: 1403638211.545097, t: 2.455638 9.316965 1.261002 q: -0.338228 0.680678 0.439061 0.479066 
time: 1403638211.645097, t: 2.400594 9.191268 1.201787 q: -0.332549 0.689989 0.422972 0.484171 
time: 1403638211.745097, t: 2.350188 9.063142 1.135939 q: -0.323209 0.701819 0.403547 0.490038 
time: 1403638211.845097, t: 2.304026 8.933080 1.069927 q: -0.313399 0.716253 0.380145 0.494220 
time: 1403638211.945097, t: 2.262183 8.799920 1.008175 q: -0.300811 0.728512 0.357474 0.500994 
time: 1403638212.045097, t: 2.225396 8.663473 0.954946 q: -0.287112 0.739574 0.336165 0.507534 
time: 1403638212.145097, t: 2.192950 8.524761 0.912290 q: -0.270098 0.748261 0.317630 0.516007 
time: 1403638212.245097, t: 2.160802 8.380281 0.876770 q: -0.252738 0.755899 0.298600 0.524955 
time: 1403638212.345097, t: 2.127181 8.231297 0.848633 q: -0.236487 0.763920 0.279187 0.531559 
time: 1403638212.445097, t: 2.097672 8.081462 0.828447 q: -0.219102 0.770573 0.260246 0.538965 
time: 1403638212.545097, t: 2.066039 7.921955 0.812389 q: -0.206587 0.776929 0.237957 0.545051 
time: 1403638212.645097, t: 2.035058 7.756505 0.800560 q: -0.192387 0.784041 0.216189 0.549117 
time: 1403638212.745097, t: 2.005358 7.588710 0.796981 q: -0.174385 0.790919 0.196373 0.552698 
time: 1403638212.845097, t: 1.974636 7.419137 0.799573 q: -0.158807 0.795991 0.172996 0.557899 
time: 1403638212.945097, t: 1.946645 7.248509 0.807271 q: -0.142750 0.801669 0.148200 0.561237 
time: 1403638213.045097, t: 1.919743 7.076792 0.822030 q: -0.124751 0.807060 0.122777 0.563930 
time: 1403638213.145097, t: 1.894788 6.902679 0.838158 q: -0.109238 0.812586 0.095071 0.564564 
time: 1403638213.245097, t: 1.869698 6.725453 0.848413 q: -0.095857 0.821039 0.065757 0.558912 
time: 1403638213.345097, t: 1.849588 6.546157 0.852296 q: -0.085308 0.829685 0.034374 0.550604 
time: 1403638213.445097, t: 1.834917 6.362647 0.849856 q: -0.076318 0.835628 0.002474 0.543962 
time: 1403638213.545097, t: 1.830082 6.171957 0.843231 q: -0.064536 0.836685 -0.025408 0.543275 
time: 1403638213.645097, t: 1.832644 5.974687 0.837558 q: -0.041577 0.829662 -0.037137 0.555475 
time: 1403638213.745097, t: 1.840159 5.772484 0.834956 q: -0.019839 0.821027 -0.039823 0.569152 
time: 1403638213.845097, t: 1.851407 5.569483 0.838275 q: -0.003970 0.816310 -0.039701 0.576235 
time: 1403638213.945097, t: 1.858843 5.367608 0.849057 q: 0.004434 0.815409 -0.039285 0.577534 
time: 1403638214.045097, t: 1.870518 5.168990 0.864638 q: 0.005674 0.818227 -0.039004 0.573542 
time: 1403638214.145097, t: 1.881366 4.973159 0.883481 q: 0.006054 0.824751 -0.037052 0.564249 
time: 1403638214.245097, t: 1.899049 4.777039 0.903973 q: 0.004629 0.831446 -0.033676 0.554564 
time: 1403638214.445097, t: 1.947993 4.388336 0.931500 q: 0.000950 0.837924 -0.026024 0.545166 
time: 1403638214.545097, t: 1.977790 4.201452 0.934191 q: -0.000129 0.832738 -0.022182 0.553223 
time: 1403638214.645097, t: 2.008905 4.014751 0.929264 q: -0.001247 0.826199 -0.018715 0.563067 
time: 1403638214.745097, t: 2.040968 3.832923 0.920022 q: -0.002233 0.819699 -0.015480 0.572581 
time: 1403638214.845097, t: 2.068943 3.650585 0.905232 q: -0.003717 0.815491 -0.012774 0.578617 
time: 1403638214.945097, t: 2.094231 3.471267 0.886093 q: -0.004421 0.812891 -0.010853 0.582298 
time: 1403638215.045097, t: 2.120448 3.292617 0.862592 q: -0.005693 0.812050 -0.009730 0.583479 
time: 1403638215.145097, t: 2.144090 3.117224 0.834696 q: -0.005175 0.812240 -0.007998 0.583245 
time: 1403638215.245097, t: 2.168031 2.943793 0.803529 q: -0.003664 0.814273 -0.006588 0.580433 
time: 1403638215.345097, t: 2.188923 2.777537 0.771967 q: 0.000570 0.815926 -0.004237 0.578141 
time: 1403638215.445097, t: 2.209172 2.613779 0.742764 q: 0.005922 0.815389 -0.000559 0.578882 
time: 1403638215.545097, t: 2.228384 2.456292 0.721981 q: 0.006970 0.815613 -0.000173 0.578555 
time: 1403638215.645097, t: 2.245941 2.303353 0.710222 q: 0.006461 0.813607 -0.000285 0.581379 
time: 1403638215.745097, t: 2.262171 2.155338 0.702790 q: 0.002091 0.813097 -0.003377 0.582115 
time: 1403638215.845097, t: 2.275823 2.008582 0.693062 q: 0.000939 0.813118 -0.008966 0.582029 
time: 1403638215.945097, t: 2.285231 1.869671 0.677342 q: 0.003444 0.812906 -0.013609 0.582226 
time: 1403638216.045097, t: 2.291019 1.732037 0.658285 q: 0.004805 0.812884 -0.017641 0.582138 
time: 1403638216.145097, t: 2.293790 1.599575 0.638940 q: 0.008125 0.812929 -0.019378 0.581984 
time: 1403638216.245097, t: 2.294575 1.471070 0.625593 q: 0.011114 0.811742 -0.020224 0.583560 
time: 1403638216.345097, t: 2.292177 1.347131 0.619200 q: 0.013467 0.810831 -0.020972 0.584750 
time: 1403638216.445097, t: 2.286999 1.227523 0.618297 q: 0.015127 0.809643 -0.021621 0.586329 
time: 1403638216.545097, t: 2.279923 1.111281 0.618439 q: 0.015952 0.809987 -0.021898 0.585821 
time: 1403638216.645097, t: 2.271059 1.000008 0.611805 q: 0.019307 0.811446 -0.020419 0.583751 
time: 1403638216.745097, t: 2.261367 0.892646 0.597452 q: 0.021763 0.812750 -0.018548 0.581911 
time: 1403638216.845097, t: 2.250718 0.788651 0.579669 q: 0.025483 0.809211 -0.020019 0.586624 
time: 1403638216.945097, t: 2.237838 0.691009 0.557743 q: 0.029906 0.806779 -0.027290 0.589465 
time: 1403638217.045097, t: 2.222228 0.597149 0.531453 q: 0.032792 0.807114 -0.040990 0.588058 
time: 1403638217.145097, t: 2.201466 0.508673 0.502851 q: 0.038427 0.809166 -0.056640 0.583580 
time: 1403638217.245097, t: 2.179393 0.424307 0.473397 q: 0.045706 0.810717 -0.068451 0.579624 
time: 1403638217.345097, t: 2.156279 0.344347 0.449506 q: 0.051861 0.811509 -0.076372 0.577002 
time: 1403638217.445097, t: 2.132712 0.268584 0.434722 q: 0.056123 0.812390 -0.082012 0.574583 
time: 1403638217.545097, t: 2.108657 0.198161 0.428969 q: 0.063383 0.813300 -0.082984 0.572398 
time: 1403638217.645097, t: 2.085276 0.132779 0.429809 q: 0.071000 0.814133 -0.080848 0.570623 
time: 1403638217.945097, t: 2.016241 -0.028147 0.469338 q: 0.086444 0.815055 -0.070364 0.568561 
time: 1403638218.045097, t: 1.999460 -0.065798 0.478050 q: 0.085892 0.813219 -0.068826 0.571454 
time: 1403638218.145097, t: 1.980176 -0.098838 0.483918 q: 0.083973 0.811785 -0.068410 0.573824 
time: 1403638218.245097, t: 1.962498 -0.123943 0.483801 q: 0.082628 0.809076 -0.066956 0.578001 
time: 1403638218.345097, t: 1.949690 -0.138874 0.476109 q: 0.078296 0.805261 -0.067664 0.583820 
time: 1403638218.445097, t: 1.928292 -0.148902 0.477885 q: 0.072091 0.804880 -0.069389 0.584942 
optimize pose graph 
time: 1403638218.545097, t: 1.912688 -0.149346 0.481920 q: 0.069479 0.805736 -0.070090 0.583994 
time: 1403638218.645097, t: 1.885527 -0.148165 0.497666 q: 0.066458 0.807716 -0.071008 0.581495 
time: 1403638218.745097, t: 1.857651 -0.142888 0.511261 q: 0.066668 0.812414 -0.074603 0.574433 
time: 1403638218.845097, t: 1.829630 -0.135280 0.520871 q: 0.070670 0.815675 -0.081686 0.568337 
time: 1403638218.945097, t: 1.806886 -0.124960 0.518205 q: 0.067200 0.815843 -0.093540 0.566688 
time: 1403638219.045097, t: 1.785394 -0.112593 0.512003 q: 0.057741 0.813834 -0.107684 0.568106 
time: 1403638219.145097, t: 1.761578 -0.100356 0.507837 q: 0.055348 0.811320 -0.115381 0.570425 
time: 1403638219.245097, t: 1.741358 -0.091801 0.497325 q: 0.063681 0.807161 -0.113257 0.575855 
time: 1403638219.345097, t: 1.715011 -0.082909 0.489691 q: 0.072337 0.800994 -0.109760 0.584063 
time: 1403638219.445097, t: 1.689845 -0.074526 0.481099 q: 0.076877 0.793392 -0.107707 0.594154 
time: 1403638219.545097, t: 1.659901 -0.063968 0.477261 q: 0.077824 0.791328 -0.107249 0.596859 
time: 1403638219.645097, t: 1.624526 -0.051828 0.477726 q: 0.073755 0.793660 -0.109674 0.593832 
time: 1403638219.745097, t: 1.581808 -0.036310 0.479221 q: 0.067083 0.796306 -0.113918 0.590271 
time: 1403638219.845097, t: 1.535202 -0.021500 0.475696 q: 0.058177 0.799461 -0.119756 0.585778 
time: 1403638219.945097, t: 1.485764 -0.006144 0.465845 q: 0.050256 0.801559 -0.125626 0.582404 
time: 1403638220.045097, t: 1.433137 0.003015 0.450807 q: 0.045123 0.803933 -0.129138 0.578773 
time: 1403638220.145097, t: 1.377800 0.007005 0.437118 q: 0.047487 0.806152 -0.127579 0.575836 
time: 1403638220.245097, t: 1.323219 0.004899 0.429665 q: 0.061417 0.808263 -0.118403 0.573515 
time: 1403638220.345097, t: 1.265225 0.002344 0.431592 q: 0.073482 0.810219 -0.110340 0.570939 
time: 1403638220.445097, t: 1.204749 0.000977 0.440540 q: 0.078715 0.810826 -0.107307 0.569957 
time: 1403638220.545097, t: 1.145257 0.002042 0.456881 q: 0.080550 0.810332 -0.106786 0.570500 
optimize pose graph 
time: 1403638220.645097, t: 1.089078 0.002659 0.468613 q: 0.082180 0.810045 -0.107206 0.570597 
time: 1403638220.745097, t: 1.033418 0.005409 0.474139 q: 0.082435 0.809887 -0.108706 0.570500 
time: 1403638220.845097, t: 0.975994 0.011946 0.475447 q: 0.081784 0.809351 -0.110592 0.570992 
time: 1403638220.945097, t: 0.921209 0.017645 0.467045 q: 0.081487 0.810028 -0.112408 0.569718 
time: 1403638221.045097, t: 0.867650 0.024642 0.452746 q: 0.081727 0.810619 -0.112968 0.568732 
time: 1403638221.145097, t: 0.815158 0.033669 0.437199 q: 0.082325 0.811394 -0.113828 0.567367 
time: 1403638221.245097, t: 0.764683 0.042389 0.428434 q: 0.081669 0.812803 -0.114922 0.565221 
time: 1403638221.345097, t: 0.712535 0.054524 0.424610 q: 0.079648 0.814228 -0.116999 0.563028 
time: 1403638221.445097, t: 0.663239 0.065210 0.425618 q: 0.077027 0.814786 -0.119564 0.562046 
time: 1403638221.545097, t: 0.620451 0.074461 0.422660 q: 0.074752 0.814673 -0.121603 0.562079 
time: 1403638221.645097, t: 0.575527 0.083627 0.414673 q: 0.074573 0.813589 -0.122420 0.563494 
time: 1403638221.745097, t: 0.533613 0.092013 0.404952 q: 0.072742 0.810933 -0.124067 0.567189 
time: 1403638221.845097, t: 0.493202 0.099105 0.398483 q: 0.072025 0.809902 -0.123864 0.568796 
time: 1403638221.945097, t: 0.459687 0.103094 0.401560 q: 0.075983 0.808689 -0.120461 0.570734 
time: 1403638222.045097, t: 0.417315 0.109115 0.410008 q: 0.079346 0.808994 -0.117973 0.570365 
time: 1403638222.145097, t: 0.376137 0.114716 0.419917 q: 0.080820 0.812210 -0.116873 0.565795 
time: 1403638222.245097, t: 0.336085 0.121905 0.424906 q: 0.080625 0.815856 -0.117466 0.560428 
time: 1403638222.345097, t: 0.298976 0.129699 0.424623 q: 0.079698 0.819208 -0.118389 0.555455 
time: 1403638222.445097, t: 0.270409 0.141478 0.416898 q: 0.079366 0.821839 -0.119273 0.551412 
time: 1403638222.545097, t: 0.239063 0.146547 0.410267 q: 0.079068 0.821517 -0.119328 0.551924 
time: 1403638222.645097, t: 0.219686 0.154463 0.398021 q: 0.079011 0.815887 -0.119325 0.560221 
optimize pose graph 
time: 1403638222.745097, t: 0.197562 0.160540 0.383458 q: 0.079751 0.812230 -0.118958 0.565483 
time: 1403638222.845097, t: 0.176819 0.167102 0.366829 q: 0.080543 0.809658 -0.118396 0.569166 
time: 1403638222.945097, t: 0.159862 0.174871 0.348194 q: 0.080916 0.802084 -0.117744 0.579871 
time: 1403638223.045097, t: 0.135958 0.182836 0.330917 q: 0.080295 0.801703 -0.117662 0.580500 
time: 1403638223.145097, t: 0.109027 0.194105 0.320573 q: 0.080909 0.807541 -0.117702 0.572256 
time: 1403638223.245097, t: 0.084202 0.204022 0.313810 q: 0.074435 0.817438 -0.122704 0.557851 
time: 1403638223.345097, t: 0.060616 0.211646 0.310719 q: 0.071377 0.819723 -0.125000 0.554377 
time: 1403638223.445097, t: 0.040475 0.219042 0.305635 q: 0.065019 0.816164 -0.129667 0.559316 
time: 1403638223.645097, t: 0.000356 0.222172 0.284324 q: 0.063956 0.810539 -0.130847 0.567288 
time: 1403638223.745097, t: -0.019489 0.219280 0.275672 q: 0.075586 0.811264 -0.123093 0.566556 
time: 1403638223.845097, t: -0.035578 0.209807 0.264276 q: 0.082972 0.812332 -0.117852 0.565104 
time: 1403638223.945097, t: -0.055531 0.204790 0.249830 q: 0.088115 0.812551 -0.114172 0.564766 
time: 1403638224.045097, t: -0.073444 0.198215 0.237602 q: 0.089340 0.814845 -0.113039 0.561488 
time: 1403638224.145097, t: -0.090089 0.197593 0.217987 q: 0.086875 0.820508 -0.114431 0.553285 
time: 1403638224.245097, t: -0.102574 0.198230 0.199614 q: 0.085101 0.823858 -0.115696 0.548297 
time: 1403638224.345097, t: -0.103358 0.202116 0.195831 q: 0.085378 0.819782 -0.115764 0.554317 
time: 1403638224.445097, t: -0.105662 0.204877 0.185081 q: 0.079305 0.813559 -0.120563 0.563290 
time: 1403638224.545097, t: -0.107049 0.209503 0.173786 q: 0.079578 0.806334 -0.120306 0.573602 
time: 1403638224.645097, t: -0.110828 0.213601 0.161277 q: 0.081048 0.808736 -0.119215 0.570232 
time: 1403638224.745097, t: -0.113477 0.217117 0.150644 q: 0.079975 0.819008 -0.120199 0.555322 
optimize pose graph 
time: 1403638224.845097, t: -0.113148 0.222128 0.145451 q: 0.079041 0.821849 -0.120759 0.551121 
time: 1403638224.945097, t: -0.110365 0.227518 0.144635 q: 0.072029 0.814567 -0.125032 0.561835 
time: 1403638225.045097, t: -0.106183 0.232348 0.146943 q: 0.065873 0.808135 -0.128082 0.571116 
time: 1403638225.145097, t: -0.103347 0.233330 0.151722 q: 0.070193 0.807499 -0.124141 0.572370 
time: 1403638225.245097, t: -0.100660 0.233273 0.155321 q: 0.074387 0.814184 -0.120113 0.563156 
time: 1403638225.345097, t: -0.099005 0.232951 0.161988 q: 0.077201 0.817962 -0.117878 0.557748 
time: 1403638225.445097, t: -0.093250 0.232319 0.164695 q: 0.079116 0.813915 -0.116380 0.563683 
time: 1403638225.545097, t: -0.086587 0.231920 0.160884 q: 0.082069 0.803596 -0.114312 0.578300 
time: 1403638225.645097, t: -0.082156 0.232498 0.149975 q: 0.084496 0.793218 -0.112326 0.592494 
time: 1403638225.745097, t: -0.084017 0.235588 0.127797 q: 0.085245 0.795456 -0.111591 0.589517 
time: 1403638225.845097, t: -0.089764 0.241158 0.096717 q: 0.083593 0.806796 -0.112778 0.573910 
time: 1403638225.945097, t: -0.096193 0.247878 0.060516 q: 0.081905 0.816965 -0.114014 0.559339 
time: 1403638226.045097, t: -0.097787 0.258302 0.034595 q: 0.077337 0.827130 -0.114425 0.544777 
time: 1403638226.145097, t: -0.087703 0.268099 0.045200 q: 0.054400 0.824908 -0.128665 0.547734 
time: 1403638226.245097, t: -0.079384 0.271113 0.039800 q: 0.080433 0.830050 -0.112864 0.540193 
time: 1403638226.345097, t: -0.084687 0.285155 0.026713 q: 0.078661 0.826014 -0.113883 0.546392 
time: 1403638226.445097, t: -0.091755 0.266408 0.051446 q: 0.077243 0.826061 -0.113242 0.546656 
time: 1403638226.545097, t: -0.103106 0.283314 0.048247 q: 0.078367 0.825586 -0.113381 0.547184 
time: 1403638226.645097, t: -0.087742 0.276840 0.042996 q: 0.077888 0.825842 -0.113835 0.546773 
time: 1403638226.845097, t: -0.072533 0.269907 0.065529 q: 0.077586 0.826659 -0.113942 0.545557 
time: 1403638226.945097, t: -0.069987 0.268419 0.071097 q: 0.078177 0.826882 -0.113729 0.545179 
time: 1403638227.045097, t: -0.068809 0.265807 0.074016 q: 0.078761 0.826902 -0.113147 0.545186 
time: 1403638227.245097, t: -0.065892 0.265400 0.080433 q: 0.078402 0.827141 -0.113472 0.544808 
time: 1403638227.345097, t: -0.063752 0.267297 0.083262 q: 0.078062 0.827188 -0.113924 0.544691 
time: 1403638227.445097, t: -0.061645 0.268869 0.085291 q: 0.078138 0.827242 -0.113987 0.544584 
time: 1403638227.545097, t: -0.059976 0.268506 0.086773 q: 0.078290 0.827261 -0.113798 0.544573 
time: 1403638227.645097, t: -0.058862 0.269096 0.087807 q: 0.078554 0.827281 -0.113694 0.544527 
time: 1403638227.745097, t: -0.058076 0.270390 0.088325 q: 0.078568 0.827311 -0.113763 0.544464 
time: 1403638227.845097, t: -0.056832 0.272563 0.089261 q: 0.078585 0.827367 -0.113834 0.544362 
time: 1403638227.945097, t: -0.056245 0.275329 0.090053 q: 0.078545 0.827363 -0.113967 0.544346 
time: 1403638228.045097, t: -0.054620 0.277165 0.089488 q: 0.078556 0.827358 -0.114058 0.544333 
time: 1403638228.145097, t: -0.053585 0.278303 0.088421 q: 0.078590 0.827323 -0.114040 0.544385 
time: 1403638228.245097, t: -0.052974 0.278963 0.087362 q: 0.078626 0.827307 -0.113997 0.544413 
time: 1403638228.345097, t: -0.053493 0.281263 0.087182 q: 0.078699 0.827293 -0.114058 0.544411 
time: 1403638228.445097, t: -0.053059 0.283664 0.085742 q: 0.078728 0.827302 -0.114075 0.544390 
time: 1403638228.545097, t: -0.052003 0.285648 0.084280 q: 0.078702 0.827264 -0.114134 0.544439 
time: 1403638228.645097, t: -0.054263 0.288013 0.084817 q: 0.078782 0.827287 -0.114157 0.544387 
time: 1403638228.745097, t: -0.054723 0.289336 0.084233 q: 0.078748 0.827266 -0.114199 0.544416 
time: 1403638228.845097, t: -0.054232 0.290209 0.083479 q: 0.078755 0.827243 -0.114205 0.544449 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720558647.663426271]: Shutdown request received.[0m
[33m[ WARN] [1720558647.663467184]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720558647.664373299]: Shutdown request received.[0m
[33m[ WARN] [1720558647.664399353]: Reason given for shutdown: [user request][0m
killed
