/SLAM-Hive/slam_hive_results/mapping_results/3239/2444_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-14.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720564554.343883878]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720564554.345768518]: init begins[0m
[31m[ERROR] [1720564554.346774149]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9a47c248-3e43-11ef-a8fe-0242ac110005/roslaunch-9da17facc2fa-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://9da17facc2fa:40383/[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] [1720564555.550950722]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720564555.553463592]: 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] [1720564555.559314394]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720564555.559500072]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720564555.559522759]: 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] [1720564555.559810431]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[1mROS_MASTER_URI=http://9da17facc2fa:11311/[0m
]2;roscore http://9da17facc2fa:11311/
[0m[ INFO] [1720564555.560035866]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720564555.560211523]: waiting for image and imu...[0m
[1msetting /run_id to 9a47c248-3e43-11ef-a8fe-0242ac110005[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_05_difficult.bag  --clock 
[0m[ INFO] [1720564564.507077535]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316926046.57 
init first imu pose
averge acc 9.017038 -0.028934 -3.796764
init R0 
   0.388077  0.00702325      0.9216
          0   -0.999971  0.00762049
   0.921627 -0.00295733   -0.388065
[33m[ WARN] [1720564569.037908299]: gyroscope bias initial calibration 0.000932263   0.0114235   0.0821558[0m
[0m[ INFO] [1720564569.112241462]: Initialization finish![0m
time: 1403638522.277829, t: 0.004598 0.003872 0.030405 q: -0.012827 0.831353 0.007732 0.555543 
time: 1403638522.677830, t: 0.020941 0.003526 0.187055 q: -0.044566 0.827737 0.013549 0.559180 
time: 1403638523.077830, t: 0.030561 -0.004805 0.359769 q: -0.087220 0.804478 0.024842 0.587018 
time: 1403638523.477829, t: 0.002022 -0.022138 0.297054 q: -0.085084 0.795420 0.038344 0.598830 
time: 1403638523.877830, t: -0.005394 -0.050261 0.098365 q: -0.040233 0.822016 0.036075 0.566894 
time: 1403638524.277829, t: -0.031056 -0.065317 0.096127 q: -0.029873 0.831856 0.055847 0.551366 
time: 1403638524.677830, t: -0.018138 -0.051704 0.320140 q: -0.042038 0.806094 0.043384 0.588697 
time: 1403638525.077830, t: 0.005369 -0.038709 0.380044 q: -0.020816 0.797459 0.035516 0.601968 
time: 1403638525.477829, t: 0.016419 -0.046311 0.198192 q: -0.023462 0.821585 0.047468 0.567622 
time: 1403638525.877830, t: -0.032804 -0.055945 0.060139 q: -0.030707 0.828822 0.040271 0.557215 
time: 1403638526.277829, t: -0.064068 -0.145329 0.067475 q: -0.010822 0.830608 0.017104 0.556490 
time: 1403638526.677830, t: -0.092033 -0.332144 0.124858 q: -0.002010 0.810872 -0.022025 0.584805 
time: 1403638527.077830, t: -0.144269 -0.578357 0.159771 q: 0.023734 0.815826 -0.048506 0.575771 
time: 1403638527.477829, t: -0.161962 -0.698364 0.176423 q: 0.069688 0.805576 -0.091964 0.581148 
time: 1403638527.877830, t: -0.078433 -0.562177 0.189522 q: 0.044860 0.812003 -0.072754 0.577361 
time: 1403638528.277829, t: -0.001122 -0.342928 0.187582 q: 0.003670 0.815701 -0.038803 0.577159 
time: 1403638528.677830, t: 0.146164 -0.242799 0.172115 q: -0.004175 0.819203 -0.036786 0.572307 
time: 1403638529.077830, t: 0.175230 -0.220512 0.205763 q: -0.007049 0.819923 -0.057847 0.569501 
time: 1403638529.477829, t: 0.047687 -0.148181 0.185112 q: 0.027261 0.837946 -0.039538 0.543635 
time: 1403638529.877830, t: -0.001808 -0.109248 0.093349 q: 0.024655 0.841857 -0.034126 0.538055 
time: 1403638530.277829, t: 0.045844 -0.102267 0.040961 q: 0.028616 0.841766 -0.045392 0.537170 
time: 1403638530.677830, t: 0.089646 -0.104120 0.001637 q: 0.033035 0.843633 -0.060663 0.532458 
time: 1403638531.077830, t: 0.077229 -0.117583 -0.025886 q: 0.033396 0.840983 -0.062191 0.536437 
time: 1403638531.477829, t: 0.080123 -0.113174 -0.029480 q: 0.037340 0.835266 -0.059477 0.545344 
time: 1403638531.877830, t: 0.082125 -0.112268 -0.031833 q: 0.037771 0.835714 -0.058857 0.544694 
time: 1403638532.277829, t: 0.084855 -0.111410 -0.034290 q: 0.038399 0.835731 -0.059511 0.544553 
time: 1403638532.677830, t: 0.085603 -0.111562 -0.035196 q: 0.038656 0.835677 -0.059979 0.544566 
time: 1403638533.077830, t: 0.085984 -0.111642 -0.035752 q: 0.038988 0.835663 -0.060077 0.544553 
time: 1403638533.477829, t: 0.086256 -0.111700 -0.036140 q: 0.039161 0.835591 -0.060260 0.544631 
time: 1403638533.877830, t: 0.086377 -0.111671 -0.036343 q: 0.038980 0.835602 -0.060188 0.544635 
time: 1403638534.277829, t: 0.086332 -0.111681 -0.036214 q: 0.038886 0.835639 -0.060408 0.544560 
time: 1403638534.677830, t: 0.086229 -0.111630 -0.035794 q: 0.038404 0.835794 -0.059992 0.544402 
time: 1403638535.077830, t: 0.086058 -0.111680 -0.035581 q: 0.038642 0.835837 -0.060009 0.544319 
time: 1403638535.477829, t: 0.085962 -0.111686 -0.035405 q: 0.038448 0.835852 -0.059903 0.544321 
time: 1403638535.877830, t: 0.085937 -0.111664 -0.035374 q: 0.038339 0.835855 -0.059799 0.544336 
time: 1403638536.277829, t: 0.085849 -0.111644 -0.035253 q: 0.038202 0.835886 -0.059758 0.544302 
time: 1403638536.677830, t: 0.085840 -0.111655 -0.035207 q: 0.038069 0.835834 -0.059619 0.544405 
time: 1403638537.077830, t: 0.085839 -0.111620 -0.035170 q: 0.037961 0.835806 -0.059711 0.544447 
time: 1403638537.477829, t: 0.085795 -0.111589 -0.035158 q: 0.038192 0.835847 -0.059637 0.544376 
time: 1403638537.877830, t: 0.085552 -0.111469 -0.034856 q: 0.038163 0.835932 -0.059406 0.544273 
time: 1403638538.277829, t: 0.085405 -0.111326 -0.034663 q: 0.038141 0.835895 -0.059477 0.544323 
time: 1403638538.677830, t: 0.085236 -0.111256 -0.034447 q: 0.038369 0.835674 -0.059675 0.544624 
time: 1403638539.077830, t: 0.095637 -0.110936 -0.028114 q: 0.039752 0.823539 -0.059519 0.562726 
time: 1403638539.477829, t: 0.123866 -0.107933 0.055794 q: 0.038202 0.817677 -0.057701 0.571504 
time: 1403638539.877830, t: 0.156905 -0.107373 0.149827 q: 0.035718 0.823106 -0.053680 0.564215 
time: 1403638540.277829, t: 0.242278 -0.108798 0.188205 q: 0.033895 0.833579 -0.051739 0.548927 
time: 1403638540.677830, t: 0.408170 -0.104890 0.226479 q: 0.015756 0.825756 -0.015073 0.563607 
time: 1403638541.077830, t: 0.607293 -0.072292 0.240933 q: -0.030255 0.820532 0.082486 0.564807 
time: 1403638541.477829, t: 0.813907 0.011843 0.235984 q: -0.050019 0.817449 0.108328 0.563507 
time: 1403638541.877830, t: 1.025908 0.213469 0.339888 q: -0.075800 0.811406 0.126786 0.565508 
time: 1403638542.277829, t: 1.203282 0.452021 0.436616 q: -0.131251 0.800072 0.200728 0.549878 
time: 1403638542.677830, t: 1.386094 0.706542 0.476071 q: -0.147055 0.763459 0.269668 0.568141 
time: 1403638543.077830, t: 1.439404 0.999915 0.577971 q: -0.173621 0.779358 0.261507 0.542283 
time: 1403638543.477829, t: 1.486118 1.323563 0.659076 q: -0.175931 0.780726 0.260546 0.540029 
time: 1403638543.877830, t: 1.537213 1.685035 0.708893 q: -0.210446 0.753683 0.333667 0.525681 
time: 1403638544.277829, t: 1.590082 2.081593 0.799330 q: -0.256029 0.735143 0.372956 0.504894 
time: 1403638544.677830, t: 1.656984 2.488156 0.839567 q: -0.263563 0.725998 0.375102 0.512602 
time: 1403638545.077830, t: 1.720835 2.868257 0.883328 q: -0.265310 0.728162 0.379601 0.505266 
time: 1403638545.477829, t: 1.774072 3.230180 0.856742 q: -0.269170 0.724463 0.382823 0.506111 
time: 1403638545.877830, t: 1.825505 3.606458 0.852693 q: -0.302100 0.697950 0.436745 0.480474 
time: 1403638546.277829, t: 1.879017 3.964154 0.913755 q: -0.332100 0.659307 0.497458 0.455586 
time: 1403638546.677830, t: 1.907685 4.353024 0.907428 q: -0.346527 0.650056 0.510323 0.443753 
time: 1403638547.077830, t: 1.928518 4.769484 0.960168 q: -0.346545 0.635911 0.529018 0.442338 
time: 1403638547.477829, t: 1.890978 5.192274 0.948801 q: -0.350015 0.636807 0.528241 0.439235 
time: 1403638547.877830, t: 1.825275 5.644365 0.880205 q: -0.348324 0.637931 0.526582 0.440937 
time: 1403638548.277829, t: 1.729000 6.139973 0.849855 q: -0.362374 0.626890 0.543606 0.424484 
time: 1403638548.677830, t: 1.619360 6.655485 0.921028 q: -0.389480 0.594167 0.578997 0.400042 
time: 1403638549.077830, t: 1.501863 7.190546 1.004540 q: -0.395538 0.586967 0.586916 0.393126 
time: 1403638549.477829, t: 1.383552 7.729676 1.171667 q: -0.401338 0.591029 0.580464 0.390735 
time: 1403638549.877830, t: 1.262044 8.287868 1.304244 q: -0.401232 0.592234 0.578072 0.392561 
time: 1403638550.277829, t: 1.158877 8.869693 1.518983 q: -0.401217 0.593560 0.578460 0.389995 
time: 1403638550.677830, t: 1.095424 9.427998 1.745680 q: -0.412904 0.592306 0.571293 0.390267 
time: 1403638551.077830, t: 1.067774 9.969211 1.901685 q: -0.431036 0.581454 0.557020 0.407244 
time: 1403638551.477829, t: 1.109344 10.416496 2.059450 q: -0.423876 0.604297 0.540931 0.403171 
time: 1403638551.877830, t: 1.248818 10.765995 2.155435 q: -0.391374 0.661881 0.472911 0.430226 
time: 1403638552.277829, t: 1.527325 11.055157 2.277945 q: -0.360066 0.676319 0.456422 0.452354 
time: 1403638552.677830, t: 1.860740 11.248630 2.391283 q: -0.375512 0.668210 0.445240 0.462869 
time: 1403638553.077830, t: 2.264524 11.339032 2.424848 q: -0.364783 0.661711 0.463006 0.463354 
time: 1403638553.477829, t: 2.675854 11.306715 2.430491 q: -0.375705 0.641327 0.463138 0.482751 
time: 1403638553.877830, t: 3.059632 11.117613 2.535041 q: -0.366316 0.638746 0.471435 0.485350 
time: 1403638554.277829, t: 3.379340 10.805748 2.644807 q: -0.351037 0.653882 0.482393 0.465305 
time: 1403638554.677830, t: 3.640387 10.454440 2.684270 q: -0.349138 0.661489 0.484988 0.453124 
time: 1403638555.077830, t: 3.899982 10.133617 2.756193 q: -0.355688 0.666396 0.472519 0.454014 
time: 1403638555.477829, t: 4.191214 9.802066 2.760466 q: -0.330157 0.684121 0.450372 0.469192 
time: 1403638555.877830, t: 4.470923 9.479447 2.778935 q: -0.325125 0.688549 0.447272 0.469193 
time: 1403638556.277829, t: 4.748048 9.195659 2.857047 q: -0.319418 0.694987 0.452090 0.458889 
time: 1403638556.677830, t: 5.057555 8.971419 2.888192 q: -0.322730 0.705443 0.448089 0.444311 
time: 1403638557.077830, t: 5.427927 8.799313 2.975042 q: -0.337232 0.698061 0.437925 0.455200 
time: 1403638557.477829, t: 5.868465 8.634343 3.008900 q: -0.327137 0.691036 0.447362 0.464025 
time: 1403638557.877830, t: 6.327486 8.459793 3.080502 q: -0.317885 0.686614 0.453744 0.470772 
time: 1403638558.277829, t: 6.759534 8.308006 3.099387 q: -0.307342 0.701329 0.459299 0.450249 
time: 1403638558.677830, t: 7.196794 8.260102 3.185752 q: -0.305493 0.709213 0.457828 0.440551 
time: 1403638559.077830, t: 7.661968 8.319410 3.280374 q: -0.318590 0.698478 0.447600 0.458566 
time: 1403638559.477829, t: 8.147995 8.417319 3.280169 q: -0.311556 0.687549 0.455420 0.472019 
time: 1403638559.877830, t: 8.595245 8.546199 3.227589 q: -0.313145 0.684087 0.457235 0.474238 
time: 1403638560.277829, t: 9.021045 8.684080 3.170294 q: -0.285010 0.716482 0.399766 0.495591 
time: 1403638560.677830, t: 9.402398 8.795741 3.042756 q: -0.240224 0.753022 0.296008 0.536311 
time: 1403638561.077830, t: 9.740310 8.827425 2.955866 q: -0.197853 0.775946 0.207137 0.562010 
time: 1403638561.477829, t: 10.022739 8.736414 2.956252 q: -0.157833 0.788250 0.175350 0.568334 
time: 1403638561.877830, t: 10.232525 8.552712 2.908372 q: -0.141158 0.792755 0.185147 0.563325 
time: 1403638562.277829, t: 10.446836 8.374636 2.828652 q: -0.115192 0.798492 0.155314 0.570105 
time: 1403638562.677830, t: 10.587772 8.165960 2.841547 q: -0.083167 0.807544 0.083214 0.577955 
time: 1403638563.077830, t: 10.691090 7.936640 2.848709 q: -0.038035 0.811655 -0.013416 0.582743 
time: 1403638563.477829, t: 10.722836 7.638993 2.776513 q: -0.007424 0.795113 -0.062929 0.603142 
time: 1403638563.877830, t: 10.644014 7.283176 2.717029 q: -0.007586 0.800846 -0.062279 0.595575 
time: 1403638564.277829, t: 10.467149 6.853873 2.716733 q: -0.016054 0.798549 -0.048374 0.599768 
time: 1403638564.677830, t: 10.188187 6.363837 2.751257 q: -0.022880 0.799352 -0.041562 0.598987 
time: 1403638565.077830, t: 9.830306 5.803074 2.697086 q: -0.031447 0.799516 -0.049741 0.597755 
time: 1403638565.477829, t: 9.425727 5.137981 2.480161 q: -0.024578 0.801832 -0.046312 0.595245 
time: 1403638565.877830, t: 8.970669 4.433624 2.314215 q: 0.009681 0.804200 -0.030271 0.593508 
time: 1403638566.277829, t: 8.449629 3.757332 2.158183 q: 0.011819 0.806636 -0.032166 0.590054 
time: 1403638566.677830, t: 7.922114 3.128932 1.895339 q: 0.007213 0.820071 -0.027981 0.571531 
time: 1403638567.077830, t: 7.484186 2.559966 1.555941 q: 0.004458 0.835594 -0.019948 0.548968 
time: 1403638567.477829, t: 7.144822 2.059725 1.185706 q: 0.014140 0.813579 -0.015915 0.581065 
time: 1403638567.877830, t: 6.726869 1.563777 0.861887 q: 0.020178 0.826753 -0.020141 0.561842 
time: 1403638568.277829, t: 6.386837 1.149334 0.666634 q: 0.026225 0.826246 -0.018084 0.562407 
time: 1403638569.077830, t: 5.861664 0.523667 0.391630 q: 0.029380 0.829867 -0.014639 0.556995 
time: 1403638569.477829, t: 5.710817 0.349199 0.341462 q: 0.033175 0.830071 -0.013115 0.556516 
time: 1403638569.877830, t: 5.648753 0.293332 0.312617 q: 0.034856 0.825486 -0.012623 0.563205 
time: 1403638570.277829, t: 5.644691 0.311532 0.308015 q: 0.018498 0.823458 -0.022703 0.566620 
time: 1403638570.677830, t: 5.664271 0.339972 0.206936 q: 0.001637 0.815568 -0.101993 0.569599 
time: 1403638571.077830, t: 5.626691 0.225256 0.050744 q: 0.053510 0.782914 -0.194631 0.588474 
time: 1403638571.477829, t: 5.471061 -0.021836 -0.055446 q: 0.113957 0.783382 -0.223592 0.568624 
time: 1403638571.877830, t: 5.255825 -0.327827 -0.121137 q: 0.142440 0.777587 -0.267837 0.550756 
time: 1403638572.277829, t: 4.994093 -0.693957 -0.156247 q: 0.189226 0.754241 -0.338405 0.529902 
time: 1403638572.677830, t: 4.701744 -1.123483 -0.172841 q: 0.233260 0.740129 -0.383713 0.500563 
time: 1403638573.077830, t: 4.461613 -1.610087 -0.129021 q: 0.244560 0.748118 -0.380412 0.485588 
time: 1403638573.877830, t: 4.214839 -2.687503 0.006145 q: 0.269023 0.737770 -0.386905 0.483349 
time: 1403638574.277829, t: 4.218751 -3.246776 0.067645 q: 0.301631 0.662303 -0.469252 0.500176 
time: 1403638574.677830, t: 4.124754 -3.771298 0.084886 q: 0.350192 0.621180 -0.528816 0.460276 
time: 1403638575.077830, t: 3.992346 -4.251833 0.138466 q: 0.353541 0.624433 -0.543901 0.435045 
time: 1403638575.477829, t: 3.797815 -4.711465 0.139958 q: 0.338950 0.628855 -0.546697 0.436779 
time: 1403638575.877830, t: 3.623461 -5.253842 0.145239 q: 0.342877 0.650904 -0.533423 0.417395 
time: 1403638576.277829, t: 3.474603 -5.820604 0.275483 q: 0.347993 0.650294 -0.528368 0.420530 
time: 1403638576.677830, t: 3.419925 -6.498637 0.367172 q: 0.364391 0.660013 -0.517434 0.404800 
time: 1403638577.077830, t: 3.484549 -7.163273 0.386457 q: 0.365487 0.642484 -0.517340 0.431269 
time: 1403638577.477829, t: 3.644419 -7.788934 0.467646 q: 0.374420 0.647062 -0.510762 0.424550 
time: 1403638577.877830, t: 3.851289 -8.401442 0.536641 q: 0.364816 0.646006 -0.516027 0.428138 
time: 1403638578.277829, t: 4.133621 -8.977517 0.585789 q: 0.351316 0.638021 -0.522904 0.442807 
time: 1403638578.677830, t: 4.417203 -9.519748 0.624800 q: 0.351997 0.634816 -0.524241 0.445285 
time: 1403638579.077830, t: 4.667052 -10.006963 0.619457 q: 0.365489 0.641779 -0.514095 0.436169 
time: 1403638579.477829, t: 4.966076 -10.519466 0.691517 q: 0.351871 0.633534 -0.522225 0.449557 
time: 1403638579.877830, t: 5.221417 -10.974336 0.686888 q: 0.339595 0.661449 -0.467007 0.478606 
time: 1403638580.277829, t: 5.487037 -11.324060 0.634181 q: 0.260996 0.725530 -0.335786 0.541051 
time: 1403638580.677830, t: 5.679547 -11.553350 0.511065 q: 0.171656 0.769565 -0.264768 0.555160 
time: 1403638581.077830, t: 5.815067 -11.740778 0.453349 q: 0.149432 0.788795 -0.232860 0.548861 
time: 1403638581.477829, t: 5.959911 -11.938778 0.497303 q: 0.162274 0.785793 -0.233484 0.549256 
time: 1403638581.877830, t: 6.104436 -12.063474 0.609787 q: 0.175615 0.774752 -0.236491 0.559456 
time: 1403638582.277829, t: 6.178519 -12.042089 0.686786 q: 0.175361 0.779310 -0.239372 0.551929 
time: 1403638582.677830, t: 6.257343 -12.071136 0.869511 q: 0.180670 0.775056 -0.234792 0.558140 
time: 1403638583.077830, t: 6.330431 -12.046048 1.108148 q: 0.177242 0.782638 -0.240106 0.546271 
time: 1403638583.477829, t: 6.415559 -11.993580 1.239367 q: 0.176450 0.785211 -0.241521 0.542196 
time: 1403638584.277829, t: 6.617654 -11.730831 1.436600 q: 0.187827 0.762981 -0.232001 0.573373 
time: 1403638584.677830, t: 6.683348 -11.500215 1.446646 q: 0.187607 0.762407 -0.231618 0.574363 
time: 1403638585.077830, t: 6.666199 -11.197265 1.497844 q: 0.175146 0.782174 -0.240825 0.547294 
time: 1403638585.477829, t: 6.649796 -10.874043 1.477043 q: 0.174230 0.778383 -0.241404 0.552710 
time: 1403638585.877830, t: 6.649028 -10.544736 1.502919 q: 0.167697 0.791712 -0.245137 0.533834 
time: 1403638586.277829, t: 6.692596 -10.221931 1.599852 q: 0.172139 0.781967 -0.244682 0.546833 
time: 1403638586.677830, t: 6.716532 -9.903419 1.622852 q: 0.184995 0.777128 -0.236830 0.552955 
time: 1403638587.077830, t: 6.748784 -9.552018 1.562328 q: 0.178413 0.775257 -0.240632 0.556096 
time: 1403638587.477829, t: 6.762977 -9.182033 1.547891 q: 0.174839 0.779992 -0.242691 0.549677 
time: 1403638587.877830, t: 6.783017 -8.804400 1.519998 q: 0.173076 0.778991 -0.245559 0.550380 
time: 1403638588.277829, t: 6.794740 -8.441219 1.424609 q: 0.183415 0.779862 -0.237952 0.549139 
time: 1403638588.677830, t: 6.805525 -8.049921 1.402437 q: 0.177427 0.778908 -0.240833 0.551200 
time: 1403638589.077830, t: 6.802322 -7.632078 1.420333 q: 0.174032 0.777146 -0.244760 0.553036 
time: 1403638589.477829, t: 6.781103 -7.223137 1.366303 q: 0.175071 0.776756 -0.244193 0.553507 
time: 1403638589.877830, t: 6.744057 -6.817656 1.377896 q: 0.174165 0.779401 -0.245518 0.549474 
time: 1403638590.277829, t: 6.705082 -6.431115 1.355877 q: 0.173943 0.777759 -0.247241 0.551096 
time: 1403638590.677830, t: 6.653172 -6.050560 1.292942 q: 0.171069 0.781543 -0.249145 0.545759 
time: 1403638591.077830, t: 6.612605 -5.684732 1.321106 q: 0.167888 0.784879 -0.251641 0.540792 
time: 1403638591.477829, t: 6.599072 -5.368416 1.325978 q: 0.158489 0.802194 -0.259253 0.513959 
time: 1403638591.877830, t: 6.662784 -5.158801 1.269253 q: 0.156515 0.801132 -0.260503 0.515585 
time: 1403638592.277829, t: 6.833512 -5.070041 1.300560 q: 0.150090 0.787628 -0.251522 0.542081 
time: 1403638592.677830, t: 6.998797 -5.072151 1.474079 q: 0.114221 0.801734 -0.202607 0.550569 
time: 1403638593.077830, t: 7.153792 -5.122221 1.641173 q: 0.103149 0.816856 -0.184441 0.536739 
time: 1403638593.477829, t: 7.368336 -5.208207 1.807271 q: 0.126918 0.803856 -0.170120 0.555668 
time: 1403638593.877830, t: 7.602367 -5.265577 1.922213 q: 0.130800 0.786164 -0.168777 0.579958 
time: 1403638594.277829, t: 7.770814 -5.259072 2.054393 q: 0.114203 0.796799 -0.153570 0.573137 
time: 1403638594.677830, t: 7.865877 -5.209588 2.213607 q: 0.108922 0.795221 -0.148251 0.577737 
time: 1403638595.077830, t: 7.904469 -5.129865 2.351465 q: 0.105145 0.799095 -0.153735 0.571626 
time: 1403638595.477829, t: 7.898762 -5.041299 2.387419 q: 0.104679 0.799994 -0.155169 0.570066 
time: 1403638595.877830, t: 7.880844 -4.936426 2.404001 q: 0.112644 0.802048 -0.149300 0.567221 
time: 1403638596.277829, t: 7.868226 -4.802308 2.345440 q: 0.145221 0.805418 -0.125763 0.560711 
time: 1403638596.677830, t: 7.891439 -4.525841 2.379145 q: 0.174555 0.805883 -0.101639 0.556555 
time: 1403638597.077830, t: 7.971410 -3.999154 2.518478 q: 0.186234 0.803201 -0.092398 0.558254 
time: 1403638597.477829, t: 8.089677 -3.213969 2.588146 q: 0.172181 0.794025 -0.106963 0.573094 
time: 1403638597.877830, t: 8.206291 -2.236215 2.575104 q: 0.163200 0.791499 -0.103835 0.579753 
time: 1403638598.277829, t: 8.276844 -1.107625 2.556618 q: 0.118295 0.797020 -0.109390 0.582065 
time: 1403638598.677830, t: 8.310101 0.069881 2.528745 q: 0.093832 0.805372 -0.105557 0.575699 
time: 1403638599.077830, t: 8.307208 1.205881 2.490744 q: 0.053868 0.811544 -0.047201 0.579885 
time: 1403638599.477829, t: 8.266157 2.331223 2.538081 q: 0.009595 0.818867 0.020226 0.573546 
time: 1403638599.877830, t: 8.229631 3.430310 2.573631 q: -0.002627 0.823924 0.032370 0.565769 
time: 1403638600.277829, t: 8.229656 4.497082 2.510903 q: -0.034796 0.829968 -0.002805 0.556717 
time: 1403638600.677830, t: 8.310948 5.405930 2.477234 q: -0.048821 0.835359 -0.021048 0.547127 
time: 1403638601.077830, t: 8.432135 6.036259 2.509121 q: -0.012185 0.844453 0.009732 0.535402 
time: 1403638601.477829, t: 8.701926 6.598343 2.518612 q: -0.011930 0.826813 0.031494 0.561468 
time: 1403638601.877830, t: 9.006047 7.142518 2.613989 q: -0.061289 0.809548 0.119808 0.571420 
time: 1403638602.277829, t: 9.292943 7.705043 2.702450 q: -0.101593 0.791396 0.192549 0.571224 
time: 1403638602.677830, t: 9.495619 8.289944 2.817491 q: -0.215754 0.725660 0.227714 0.612384 
time: 1403638603.077830, t: 9.435213 8.643599 2.995799 q: -0.275448 0.711421 0.296485 0.574548 
time: 1403638603.477829, t: 9.277305 8.837139 3.096687 q: -0.273837 0.731549 0.349919 0.517113 
time: 1403638604.277829, t: 8.707574 8.869401 3.061206 q: -0.259457 0.697484 0.370616 0.555735 
time: 1403638604.677830, t: 8.258159 8.774558 3.074438 q: -0.261940 0.721209 0.368783 0.524638 
time: 1403638605.077830, t: 7.785014 8.655414 3.082469 q: -0.260422 0.739336 0.369014 0.499391 
time: 1403638605.477829, t: 7.365862 8.564815 3.156088 q: -0.240879 0.729273 0.383106 0.513194 
time: 1403638605.877830, t: 6.943301 8.556683 3.181161 q: -0.226390 0.714210 0.392884 0.533192 
time: 1403638606.277829, t: 6.406484 8.627104 3.241482 q: -0.213756 0.714595 0.397782 0.534258 
time: 1403638606.677830, t: 5.795605 8.796232 3.189127 q: -0.238589 0.745729 0.384700 0.488845 
time: 1403638607.077830, t: 5.242956 9.067247 3.098506 q: -0.276190 0.724890 0.436547 0.455720 
time: 1403638607.477829, t: 4.795523 9.436033 3.063642 q: -0.325331 0.689777 0.448738 0.465834 
time: 1403638607.877830, t: 4.456345 9.779060 2.931933 q: -0.328765 0.687604 0.448719 0.466653 
time: 1403638608.277829, t: 4.201505 10.076758 2.731703 q: -0.327018 0.683252 0.442809 0.479735 
time: 1403638608.677830, t: 3.970839 10.328152 2.464666 q: -0.331294 0.676644 0.437759 0.490676 
time: 1403638609.077830, t: 3.741792 10.504949 2.245115 q: -0.328472 0.687169 0.440614 0.475147 
time: 1403638609.477829, t: 3.523536 10.620842 2.071812 q: -0.333120 0.688507 0.435977 0.474250 
time: 1403638609.877830, t: 3.398533 10.658856 1.821002 q: -0.327580 0.687498 0.439906 0.475941 
time: 1403638610.277829, t: 3.308257 10.651682 1.651694 q: -0.335574 0.680661 0.433171 0.486265 
time: 1403638610.677830, t: 3.231506 10.573836 1.434695 q: -0.344098 0.668504 0.426351 0.502915 
time: 1403638611.077830, t: 3.161951 10.398804 1.248453 q: -0.341116 0.677780 0.431415 0.487992 
time: 1403638611.477829, t: 3.111140 10.138584 1.073887 q: -0.324049 0.669113 0.445028 0.499229 
time: 1403638611.877830, t: 3.024774 9.828284 0.966920 q: -0.324443 0.682080 0.442888 0.483068 
time: 1403638612.277829, t: 2.921783 9.518186 0.854384 q: -0.328208 0.688679 0.437973 0.475584 
time: 1403638612.677830, t: 2.856594 9.197194 0.780720 q: -0.317160 0.683017 0.440613 0.488628 
time: 1403638613.077830, t: 2.766875 8.865302 0.664669 q: -0.315762 0.684839 0.434460 0.492478 
time: 1403638613.477829, t: 2.649045 8.531846 0.643285 q: -0.313984 0.687195 0.433320 0.491335 
time: 1403638613.877830, t: 2.517400 8.197065 0.569795 q: -0.317661 0.691112 0.406205 0.506412 
time: 1403638614.277829, t: 2.381429 7.823141 0.417730 q: -0.272193 0.725878 0.357883 0.520512 
time: 1403638614.677830, t: 2.230068 7.418543 0.355198 q: -0.252865 0.747870 0.319066 0.524353 
time: 1403638615.077830, t: 2.121351 6.978036 0.418427 q: -0.212390 0.786851 0.245650 0.524797 
time: 1403638615.477829, t: 2.102760 6.501088 0.535113 q: -0.125406 0.801096 0.151582 0.565280 
time: 1403638615.877830, t: 2.076832 6.056276 0.642073 q: -0.082000 0.810347 0.086794 0.573655 
time: 1403638616.277829, t: 2.045963 5.599967 0.686953 q: -0.045802 0.815961 0.030795 0.575467 
time: 1403638616.677830, t: 1.981601 5.119687 0.569559 q: -0.006493 0.824402 -0.028370 0.565255 
time: 1403638617.077830, t: 1.963454 4.631767 0.429437 q: -0.002313 0.833151 -0.037627 0.551759 
time: 1403638617.477829, t: 2.036434 4.104324 0.403380 q: 0.004416 0.839090 -0.020028 0.543605 
time: 1403638617.877830, t: 2.190842 3.603070 0.489838 q: 0.006059 0.836552 -0.007846 0.547798 
time: 1403638618.277829, t: 2.435512 3.173084 0.603589 q: 0.000974 0.835256 -0.004584 0.549841 
time: 1403638618.677830, t: 2.704502 2.793987 0.661878 q: 0.005276 0.833450 -0.004536 0.552551 
time: 1403638619.077830, t: 3.040264 2.476675 0.740228 q: 0.028329 0.823575 -0.033518 0.565506 
time: 1403638619.477829, t: 3.372754 2.198039 0.724752 q: 0.082703 0.808734 -0.122015 0.569405 
time: 1403638619.877830, t: 3.718642 1.933969 0.660258 q: 0.081498 0.798179 -0.171859 0.571605 
time: 1403638620.277829, t: 3.998406 1.645350 0.592693 q: 0.092090 0.792378 -0.174638 0.577198 
time: 1403638620.677830, t: 4.190914 1.346302 0.607895 q: 0.092621 0.798780 -0.167853 0.570260 
time: 1403638621.077830, t: 4.310903 1.040022 0.572689 q: 0.100575 0.804007 -0.152244 0.565932 
time: 1403638621.477829, t: 4.430776 0.744431 0.560197 q: 0.101416 0.800474 -0.142815 0.573202 
time: 1403638621.877830, t: 4.515873 0.498260 0.507250 q: 0.103281 0.792402 -0.136476 0.585496 
time: 1403638622.277829, t: 4.529291 0.305254 0.406528 q: 0.095609 0.790140 -0.140697 0.588848 
time: 1403638622.677830, t: 4.455014 0.165874 0.384628 q: 0.106581 0.787694 -0.136064 0.591325 
time: 1403638623.077830, t: 4.283823 0.103753 0.450436 q: 0.105505 0.782088 -0.140263 0.597941 
time: 1403638623.477829, t: 4.006891 0.092839 0.448182 q: 0.095838 0.793905 -0.147368 0.582076 
time: 1403638623.877830, t: 3.674832 0.092328 0.474144 q: 0.102157 0.796891 -0.145600 0.577347 
time: 1403638624.277829, t: 3.307009 0.112574 0.505848 q: 0.097678 0.798241 -0.153719 0.574144 
time: 1403638624.677830, t: 2.930255 0.133822 0.473359 q: 0.095411 0.785283 -0.158829 0.590763 
time: 1403638625.077830, t: 2.509909 0.159600 0.472536 q: 0.086986 0.801173 -0.137616 0.575861 
time: 1403638625.477829, t: 2.080780 0.190917 0.467011 q: 0.076731 0.802473 -0.135279 0.576064 
time: 1403638625.877830, t: 1.660391 0.191455 0.507418 q: 0.076777 0.811844 -0.135821 0.562644 
time: 1403638626.277829, t: 1.274190 0.165511 0.499083 q: 0.079475 0.812576 -0.136539 0.561036 
time: 1403638626.677830, t: 0.928288 0.135334 0.435652 q: 0.089199 0.813524 -0.128615 0.560071 
time: 1403638627.077830, t: 0.640249 0.118405 0.423505 q: 0.085005 0.821165 -0.129882 0.549175 
time: 1403638627.477829, t: 0.425639 0.097873 0.391979 q: 0.087858 0.820847 -0.126191 0.550061 
time: 1403638627.877830, t: 0.284359 0.085141 0.333897 q: 0.093735 0.814290 -0.124063 0.559244 
time: 1403638628.277829, t: 0.195629 0.097592 0.282378 q: 0.096330 0.818319 -0.125453 0.552572 
time: 1403638628.677830, t: 0.157103 0.138399 0.268440 q: 0.075093 0.805310 -0.141875 0.570708 
time: 1403638629.077830, t: 0.133103 0.153960 0.232511 q: 0.090979 0.808740 -0.132017 0.565892 
time: 1403638629.477829, t: 0.078841 0.179970 0.224490 q: 0.093983 0.817647 -0.130777 0.552736 
time: 1403638629.877830, t: 0.077663 0.212173 0.227652 q: 0.071145 0.806804 -0.149740 0.567084 
time: 1403638630.277829, t: 0.099496 0.186838 0.139322 q: 0.096018 0.804780 -0.132484 0.570577 
time: 1403638630.677830, t: 0.138970 0.189921 0.095580 q: 0.089231 0.824263 -0.129184 0.544003 
time: 1403638631.077830, t: 0.119537 0.186363 0.076289 q: 0.088112 0.829484 -0.123712 0.537483 
time: 1403638631.477829, t: 0.166557 0.186455 0.129925 q: 0.087851 0.830247 -0.124397 0.536188 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720564680.227719430]: Shutdown request received.[0m
[33m[ WARN] [1720564680.227780319]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720564680.228766888]: Shutdown request received.[0m
[33m[ WARN] [1720564680.228788796]: Reason given for shutdown: [user request][0m
killed
