/SLAM-Hive/slam_hive_results/mapping_results/3284/2070_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/eb3acf68-9d40-11ef-bfbf-0242ac110002/roslaunch-99b89ed07398-117.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[0m[ INFO] [1731008762.570585181]: init begins[0m
[31m[ERROR] [1731008762.573154387]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731008762.573303719]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://99b89ed07398:38465/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [154][0m
[0m[ INFO] [1731008763.784350527]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731008763.787272706]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://99b89ed07398:11311/[0m
]2;roscore http://99b89ed07398:11311/
config_file: /slamhive/mappingtask.yaml
[1msetting /run_id to eb3acf68-9d40-11ef-bfbf-0242ac110002[0m
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1731008763.820008831]:  fix extrinsic param [0m
config_file: /slamhive/mappingtask.yaml
camera number 1
[0m[ INFO] [1731008763.836145689]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731008763.836195384]: 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
set g       0       0 9.81007
[0m[ INFO] [1731008763.840583877]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
MULTIPLE_THREAD is 1
[33m[ WARN] [1731008763.843818071]: waiting for image and imu...[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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1731008772.158284970]: 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: 327371642.84 
init first imu pose
averge acc 9.410943 -0.689906 -2.446931
init R0 
 0.260797  0.261977  0.929168
        0 -0.962476  0.271368
 0.965394 -0.070772 -0.251011
[0m[ INFO] [1731008775.521136681]: IMU excitation not enouth![0m
[0m[ INFO] [1731008775.521482251]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731008775.547184703]: IMU excitation not enouth![0m
[0m[ INFO] [1731008775.595610837]: IMU excitation not enouth![0m
[0m[ INFO] [1731008775.595972839]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731008775.609512146]: IMU excitation not enouth![0m
[0m[ INFO] [1731008775.609815741]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731008775.634225819]: IMU excitation not enouth![0m
[0m[ INFO] [1731008775.658760310]: IMU excitation not enouth![0m
[0m[ INFO] [1731008775.659051848]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731008775.676327441]: IMU excitation not enouth![0m
[0m[ INFO] [1731008775.676621522]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731008775.811241571]: IMU excitation not enouth![0m
[0m[ INFO] [1731008775.987610969]: IMU excitation not enouth![0m
[0m[ INFO] [1731008775.988033369]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731008776.066168115]: IMU excitation not enouth![0m
[0m[ INFO] [1731008776.281480336]: IMU excitation not enouth![0m
[0m[ INFO] [1731008776.281863100]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731008776.515677406]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1731008777.005711850]: gyroscope bias initial calibration -0.00288417    0.020813   0.0772461[0m
[0m[ INFO] [1731008777.122779940]: Initialization finish![0m
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optimize pose graph 
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optimize pose graph 
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wait for imu ... 
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time: 1403637203.388319, t: 2.468737 -3.149279 0.131131 q: 0.162067 0.787547 -0.221658 0.551699 
optimize pose graph 
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time: 1403637203.588319, t: 2.386132 -3.218117 0.110844 q: 0.165758 0.787070 -0.220691 0.551671 
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time: 1403637203.788319, t: 2.317257 -3.274076 0.075691 q: 0.168114 0.785918 -0.221430 0.552303 
time: 1403637203.888319, t: 2.284276 -3.297388 0.053323 q: 0.168438 0.785290 -0.221838 0.552934 
time: 1403637203.988319, t: 2.252808 -3.317084 0.027858 q: 0.169186 0.785181 -0.221927 0.552824 
time: 1403637204.088319, t: 2.224610 -3.334099 0.002205 q: 0.169430 0.785022 -0.222599 0.552705 
time: 1403637204.188319, t: 2.196743 -3.346224 -0.015486 q: 0.169605 0.785190 -0.223033 0.552238 
time: 1403637204.288319, t: 2.169876 -3.354917 -0.025451 q: 0.169571 0.785674 -0.223848 0.551230 
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time: 1403637205.088319, t: 1.970460 -3.351182 0.043145 q: 0.168096 0.787186 -0.238763 0.543207 
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time: 1403637205.488319, t: 1.905656 -3.320866 0.020742 q: 0.160900 0.790543 -0.220398 0.548249 
optimize pose graph 
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time: 1403637206.088319, t: 1.867982 -3.230513 -0.018752 q: 0.152164 0.789460 -0.207555 0.557243 
time: 1403637206.188319, t: 1.864289 -3.208955 -0.021157 q: 0.144763 0.788345 -0.211768 0.559205 
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time: 1403637206.688319, t: 1.844203 -3.107628 0.048252 q: 0.144327 0.786308 -0.214424 0.561170 
wait for imu ... 
time: 1403637206.788319, t: 1.835800 -3.088392 0.053593 q: 0.146534 0.785445 -0.213776 0.562053 
time: 1403637206.888319, t: 1.826103 -3.068334 0.058083 q: 0.147996 0.784635 -0.213825 0.562783 
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time: 1403637207.288319, t: 1.775288 -2.979410 0.094696 q: 0.150197 0.780864 -0.218032 0.565821 
time: 1403637207.388319, t: 1.757738 -2.955263 0.089423 q: 0.150835 0.780902 -0.218794 0.565305 
time: 1403637207.488319, t: 1.737898 -2.930841 0.078884 q: 0.151228 0.780761 -0.219921 0.564958 
time: 1403637207.588319, t: 1.716180 -2.905586 0.062972 q: 0.146957 0.783224 -0.224166 0.560993 
optimize pose graph 
time: 1403637207.688319, t: 1.693661 -2.880428 0.047905 q: 0.137514 0.788314 -0.231410 0.553264 
time: 1403637207.788319, t: 1.670232 -2.859276 0.043319 q: 0.137773 0.789899 -0.231732 0.550798 
time: 1403637207.888319, t: 1.644314 -2.840273 0.050753 q: 0.143535 0.789129 -0.228697 0.551698 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
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time: 1403637208.088319, t: 1.601692 -2.813740 0.092505 q: 0.152515 0.787529 -0.223619 0.553653 
time: 1403637208.188319, t: 1.581146 -2.801178 0.123345 q: 0.155648 0.787053 -0.222122 0.554060 
time: 1403637208.288319, t: 1.562553 -2.791396 0.156663 q: 0.151876 0.786829 -0.225889 0.553902 
time: 1403637208.388319, t: 1.543504 -2.779280 0.179580 q: 0.145870 0.784301 -0.231359 0.556836 
time: 1403637208.488319, t: 1.524258 -2.769420 0.195706 q: 0.146727 0.783234 -0.232188 0.557768 
wait for imu ... 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403637239.688319, t: 0.376942 -3.721342 0.586203 q: -0.367811 -0.511088 0.685633 -0.365254 
time: 1403637239.788319, t: 0.131505 -3.758802 0.560852 q: -0.398426 -0.488212 0.688956 -0.358114 
time: 1403637239.888319, t: -0.118009 -3.801637 0.521983 q: -0.434185 -0.465546 0.688137 -0.348163 
time: 1403637239.988319, t: -0.369369 -3.842655 0.475176 q: -0.462325 -0.441710 0.691328 -0.336471 
time: 1403637240.088319, t: -0.620669 -3.882425 0.422233 q: -0.482926 -0.417854 0.698745 -0.322392 
time: 1403637240.188319, t: -0.868321 -3.918261 0.364421 q: -0.495863 -0.394262 0.710719 -0.305868 
time: 1403637240.288319, t: -1.110833 -3.949321 0.301775 q: -0.499568 -0.375152 0.726448 -0.286298 
time: 1403637240.388319, t: -1.348429 -3.980037 0.238338 q: -0.495232 -0.365966 0.742351 -0.264062 
time: 1403637240.488319, t: -1.583324 -4.011696 0.181669 q: -0.490022 -0.364310 0.754215 -0.241487 
time: 1403637240.588319, t: -1.815933 -4.051981 0.132863 q: -0.488412 -0.362218 0.759939 -0.229662 
time: 1403637240.688319, t: -2.046710 -4.097464 0.093405 q: -0.491315 -0.362128 0.759926 -0.223574 
time: 1403637240.788319, t: -2.275883 -4.153628 0.062260 q: -0.497041 -0.361231 0.756741 -0.223172 
time: 1403637240.888319, t: -2.503393 -4.217854 0.040797 q: 0.515258 0.361465 -0.743374 0.226380 
time: 1403637240.988319, t: -2.726055 -4.287734 0.022740 q: 0.527860 0.362164 -0.732987 0.230069 
time: 1403637241.088319, t: -2.942842 -4.360010 -0.003205 q: 0.525679 0.362979 -0.732902 0.234015 
time: 1403637241.188319, t: -3.152155 -4.433645 -0.038043 q: 0.521988 0.366367 -0.733414 0.235389 
time: 1403637241.288319, t: -3.355698 -4.510561 -0.076887 q: 0.523693 0.373221 -0.729988 0.231449 
time: 1403637241.388319, t: -3.549752 -4.589319 -0.119328 q: 0.527726 0.379689 -0.724983 0.227467 
time: 1403637241.488319, t: -3.731007 -4.669521 -0.161179 q: 0.532449 0.386352 -0.719614 0.222227 
time: 1403637241.588319, t: -3.899096 -4.754832 -0.197671 q: 0.540520 0.391881 -0.711736 0.218401 
time: 1403637241.688319, t: -4.052749 -4.844689 -0.227398 q: 0.548284 0.392605 -0.704458 0.221325 
time: 1403637241.788319, t: -4.190105 -4.937341 -0.251374 q: 0.557157 0.391566 -0.696588 0.225871 
time: 1403637241.888319, t: -4.309710 -5.030960 -0.267444 q: 0.561798 0.385037 -0.692568 0.237654 
time: 1403637241.988319, t: -4.412339 -5.121801 -0.276954 q: 0.563378 0.373078 -0.690708 0.257567 
time: 1403637242.088319, t: -4.500320 -5.205958 -0.280534 q: 0.565870 0.368875 -0.689092 0.262440 
time: 1403637242.188319, t: -4.571579 -5.282153 -0.278114 q: 0.565750 0.373318 -0.690143 0.253501 
optimize pose graph 
time: 1403637242.288319, t: -4.625236 -5.352921 -0.269381 q: 0.567046 0.377942 -0.689921 0.244186 
time: 1403637242.388319, t: -4.661507 -5.419096 -0.261898 q: 0.573493 0.383042 -0.685524 0.233326 
time: 1403637242.488319, t: -4.684245 -5.486542 -0.262683 q: 0.581425 0.386302 -0.679601 0.225517 
time: 1403637242.588319, t: -4.681548 -5.546888 -0.266298 q: 0.584873 0.388447 -0.674788 0.227364 
time: 1403637242.688319, t: -4.662129 -5.611606 -0.268613 q: 0.579853 0.394534 -0.671873 0.238117 
time: 1403637242.788319, t: -4.618992 -5.670869 -0.263165 q: 0.569985 0.400973 -0.669314 0.257598 
time: 1403637242.888319, t: -4.561046 -5.727104 -0.250383 q: 0.563589 0.404758 -0.664636 0.277123 
time: 1403637242.988319, t: -4.489434 -5.775935 -0.233062 q: 0.563030 0.409993 -0.657269 0.287926 
time: 1403637243.088319, t: -4.405733 -5.819117 -0.215892 q: 0.560970 0.418874 -0.653810 0.287035 
time: 1403637243.188319, t: -4.308604 -5.854609 -0.205802 q: 0.554887 0.426427 -0.655623 0.283582 
time: 1403637243.288319, t: -4.198518 -5.883362 -0.202952 q: 0.543869 0.429179 -0.662573 0.284620 
time: 1403637243.388319, t: -4.078299 -5.908117 -0.207055 q: 0.536083 0.429478 -0.667816 0.286680 
time: 1403637243.488319, t: -3.948751 -5.927793 -0.214682 q: 0.532691 0.428080 -0.670494 0.288834 
time: 1403637243.588319, t: -3.809604 -5.945702 -0.218709 q: 0.525079 0.426277 -0.676672 0.291024 
time: 1403637243.688319, t: -3.664045 -5.962301 -0.215980 q: 0.513722 0.424685 -0.685838 0.292163 
time: 1403637243.788319, t: -3.515805 -5.976974 -0.203680 q: 0.502050 0.419813 -0.695496 0.296626 
time: 1403637243.888319, t: -3.368363 -5.988824 -0.182798 q: -0.488060 -0.413369 0.706535 -0.302874 
time: 1403637243.988319, t: -3.224947 -5.995964 -0.151418 q: -0.481244 -0.408908 0.712331 -0.306241 
time: 1403637244.088319, t: -3.089183 -6.001283 -0.109736 q: -0.481106 -0.406898 0.713824 -0.305658 
time: 1403637244.188319, t: -2.960905 -6.005090 -0.060407 q: -0.483906 -0.406118 0.713323 -0.303437 
time: 1403637244.288319, t: -2.839033 -6.009249 -0.004975 q: -0.484244 -0.404681 0.714218 -0.302710 
time: 1403637244.388319, t: -2.723294 -6.010740 0.054499 q: -0.480243 -0.405067 0.717240 -0.301419 
optimize pose graph 
time: 1403637244.488319, t: -2.613773 -6.011967 0.118533 q: -0.476371 -0.412132 0.716574 -0.299566 
time: 1403637244.588319, t: -2.511764 -6.016381 0.184623 q: -0.476447 -0.427428 0.709535 -0.294724 
time: 1403637244.688319, t: -2.413023 -6.024787 0.244608 q: -0.474467 -0.444843 0.701349 -0.291726 
time: 1403637244.788319, t: -2.316870 -6.039431 0.297782 q: -0.470621 -0.458758 0.694309 -0.293245 
time: 1403637244.888319, t: -2.221059 -6.060056 0.345117 q: -0.466862 -0.468302 0.689146 -0.296331 
time: 1403637244.988319, t: -2.125524 -6.086538 0.386161 q: -0.459784 -0.473654 0.688293 -0.300836 
time: 1403637245.088319, t: -2.032099 -6.118253 0.419666 q: -0.444004 -0.472316 0.696062 -0.308667 
time: 1403637245.188319, t: -1.943181 -6.155955 0.446997 q: -0.428184 -0.471007 0.704939 -0.312846 
time: 1403637245.288319, t: -1.862731 -6.201446 0.473840 q: -0.433557 -0.474517 0.700580 -0.309920 
time: 1403637245.388319, t: -1.787339 -6.254084 0.497497 q: -0.444237 -0.478466 0.693122 -0.305459 
time: 1403637245.488319, t: -1.713172 -6.311647 0.515733 q: -0.449567 -0.483619 0.686584 -0.304312 
time: 1403637245.588319, t: -1.638819 -6.375521 0.527732 q: -0.449022 -0.491392 0.680211 -0.306963 
time: 1403637245.688319, t: -1.566047 -6.444891 0.534594 q: -0.443598 -0.501934 0.673517 -0.312503 
time: 1403637245.788319, t: -1.492079 -6.521558 0.537597 q: -0.441284 -0.512144 0.660396 -0.326885 
time: 1403637245.888319, t: -1.417409 -6.603405 0.536599 q: -0.442668 -0.524489 0.638863 -0.347578 
time: 1403637245.988319, t: -1.342591 -6.685698 0.527942 q: -0.437322 -0.541732 0.616047 -0.368460 
time: 1403637246.088319, t: -1.265097 -6.767730 0.515075 q: -0.426442 -0.563547 0.590876 -0.389138 
time: 1403637246.188319, t: -1.184155 -6.846705 0.497282 q: 0.411205 0.588383 -0.562657 0.410040 
time: 1403637246.288319, t: -1.102052 -6.923366 0.473966 q: 0.392015 0.614348 -0.532410 0.430628 
time: 1403637246.388319, t: -1.018050 -6.996401 0.448513 q: 0.374107 0.641241 -0.496964 0.449312 
time: 1403637246.488319, t: -0.931283 -7.064724 0.421027 q: 0.360012 0.667005 -0.457505 0.464957 
optimize pose graph 
time: 1403637246.588319, t: -0.842129 -7.126052 0.389330 q: 0.346505 0.685893 -0.419116 0.483556 
time: 1403637246.688319, t: -0.750145 -7.177672 0.353986 q: 0.331209 0.699278 -0.383469 0.504244 
time: 1403637246.788319, t: -0.655542 -7.216957 0.320209 q: 0.314218 0.712405 -0.350522 0.520461 
time: 1403637246.888319, t: -0.561011 -7.242532 0.291795 q: 0.294835 0.726126 -0.320934 0.531803 
time: 1403637246.988319, t: -0.464855 -7.258437 0.267719 q: 0.271969 0.743150 -0.300398 0.532468 
time: 1403637247.088319, t: -0.370356 -7.259745 0.248955 q: 0.251687 0.757100 -0.289420 0.528856 
time: 1403637247.188319, t: -0.273117 -7.257017 0.227879 q: 0.235359 0.766574 -0.285836 0.524660 
time: 1403637247.288319, t: -0.173956 -7.248811 0.201100 q: 0.225242 0.769614 -0.285248 0.524971 
time: 1403637247.388319, t: -0.071854 -7.237474 0.174761 q: 0.227792 0.759618 -0.280432 0.540786 
time: 1403637247.488319, t: 0.030476 -7.221389 0.146514 q: 0.233120 0.746700 -0.276436 0.558280 
time: 1403637247.588319, t: 0.130847 -7.196647 0.110415 q: 0.234120 0.745991 -0.273360 0.560321 
time: 1403637247.688319, t: 0.227082 -7.161646 0.071829 q: 0.235992 0.748851 -0.263150 0.560609 
time: 1403637247.788319, t: 0.320129 -7.115671 0.034522 q: 0.239130 0.753880 -0.247201 0.559797 
time: 1403637247.888319, t: 0.411108 -7.055571 0.005049 q: 0.234918 0.757266 -0.232896 0.563135 
time: 1403637247.988319, t: 0.500019 -6.981392 -0.015427 q: 0.219154 0.756861 -0.223481 0.573750 
time: 1403637248.088319, t: 0.583327 -6.894490 -0.031242 q: 0.200693 0.765473 -0.215382 0.572175 
time: 1403637248.188319, t: 0.660190 -6.799363 -0.041879 q: 0.183450 0.776799 -0.206992 0.565760 
time: 1403637248.288319, t: 0.735758 -6.699471 -0.056562 q: 0.170617 0.785133 -0.201087 0.560375 
time: 1403637248.388319, t: 0.810358 -6.595634 -0.077802 q: 0.163909 0.788529 -0.195963 0.559424 
time: 1403637248.488319, t: 0.883854 -6.489067 -0.101745 q: 0.160209 0.787288 -0.193354 0.563138 
time: 1403637248.588319, t: 0.955181 -6.379930 -0.123597 q: 0.161236 0.781957 -0.190448 0.571205 
optimize pose graph 
time: 1403637248.688319, t: 1.022040 -6.266534 -0.140312 q: 0.162658 0.783538 -0.190634 0.568567 
time: 1403637248.888319, t: 1.146663 -6.026817 -0.148758 q: 0.163783 0.791377 -0.198175 0.554639 
time: 1403637248.988319, t: 1.209106 -5.902894 -0.140918 q: 0.162928 0.791823 -0.203427 0.552348 
time: 1403637249.088319, t: 1.273123 -5.777470 -0.127153 q: 0.165380 0.791301 -0.205835 0.551474 
time: 1403637249.188319, t: 1.337483 -5.652707 -0.105273 q: 0.166907 0.790711 -0.207777 0.551133 
time: 1403637249.288319, t: 1.402698 -5.527535 -0.077057 q: 0.167215 0.789202 -0.210000 0.552357 
time: 1403637249.388319, t: 1.468121 -5.400204 -0.049757 q: 0.168905 0.787892 -0.210969 0.553343 
time: 1403637249.488319, t: 1.533149 -5.270180 -0.036702 q: 0.168543 0.787199 -0.212147 0.553990 
time: 1403637249.588319, t: 1.598741 -5.139894 -0.041776 q: 0.167422 0.787097 -0.212659 0.554278 
time: 1403637249.688319, t: 1.663667 -5.005921 -0.060892 q: 0.167694 0.785617 -0.211702 0.556656 
time: 1403637249.788319, t: 1.727509 -4.870864 -0.079838 q: 0.168308 0.780605 -0.208490 0.564677 
time: 1403637249.888319, t: 1.789912 -4.732424 -0.093608 q: 0.165200 0.778222 -0.202598 0.570993 
time: 1403637249.988319, t: 1.848092 -4.588734 -0.101611 q: 0.155078 0.781687 -0.195112 0.571705 
time: 1403637250.088319, t: 1.901669 -4.444321 -0.102948 q: 0.138353 0.786524 -0.192239 0.570336 
time: 1403637250.188319, t: 1.951145 -4.299311 -0.099017 q: 0.125367 0.791595 -0.185918 0.568415 
time: 1403637250.288319, t: 1.997135 -4.155563 -0.098392 q: 0.111266 0.793977 -0.180024 0.569923 
time: 1403637250.388319, t: 2.040368 -4.015259 -0.103574 q: 0.099473 0.795087 -0.176524 0.571648 
time: 1403637250.488319, t: 2.080100 -3.878993 -0.114527 q: 0.088179 0.796613 -0.176560 0.571366 
time: 1403637250.588319, t: 2.115888 -3.749443 -0.126957 q: 0.081292 0.799608 -0.176577 0.568190 
time: 1403637250.688319, t: 2.148774 -3.625878 -0.133095 q: 0.078458 0.802765 -0.171323 0.565740 
time: 1403637250.788319, t: 2.180312 -3.509905 -0.131110 q: 0.078140 0.804958 -0.166093 0.564225 
optimize pose graph 
time: 1403637250.888319, t: 2.211858 -3.402426 -0.120535 q: 0.076731 0.803741 -0.164009 0.566757 
time: 1403637250.988319, t: 2.244474 -3.302718 -0.105202 q: 0.073330 0.803452 -0.164817 0.567383 
time: 1403637251.088319, t: 2.275092 -3.210591 -0.082342 q: 0.067497 0.804525 -0.163375 0.567002 
time: 1403637251.188319, t: 2.305274 -3.124492 -0.054019 q: 0.057829 0.807088 -0.161521 0.564956 
time: 1403637251.288319, t: 2.332400 -3.047402 -0.017529 q: 0.051193 0.808591 -0.157734 0.564518 
time: 1403637251.388319, t: 2.358193 -2.978952 0.028473 q: 0.055145 0.807939 -0.143985 0.568738 
time: 1403637251.488319, t: 2.384236 -2.919173 0.077062 q: 0.055339 0.807471 -0.128795 0.573009 
time: 1403637251.588319, t: 2.409765 -2.863455 0.119100 q: 0.051024 0.807842 -0.113596 0.576094 
time: 1403637251.688319, t: 2.433496 -2.813364 0.154299 q: 0.044402 0.808395 -0.102035 0.578026 
time: 1403637251.788319, t: 2.454303 -2.766726 0.182827 q: 0.038048 0.808682 -0.094105 0.579422 
time: 1403637251.888319, t: 2.472494 -2.726277 0.207866 q: 0.037372 0.807431 -0.086633 0.582369 
time: 1403637251.988319, t: 2.489202 -2.689664 0.229564 q: 0.044264 0.803772 -0.076266 0.588366 
time: 1403637252.088319, t: 2.502057 -2.654882 0.247075 q: 0.048234 0.799946 -0.070134 0.594004 
time: 1403637252.188319, t: 2.508693 -2.620308 0.260034 q: 0.045987 0.796101 -0.069490 0.599399 
time: 1403637252.288319, t: 2.508452 -2.585923 0.265888 q: 0.041411 0.795911 -0.071501 0.599748 
time: 1403637252.388319, t: 2.502670 -2.551523 0.264544 q: 0.037661 0.799066 -0.073869 0.595499 
time: 1403637252.488319, t: 2.488966 -2.519728 0.255702 q: 0.034943 0.804167 -0.076315 0.588447 
time: 1403637252.588319, t: 2.474267 -2.488403 0.242063 q: 0.033695 0.807315 -0.077974 0.583976 
time: 1403637252.688319, t: 2.454411 -2.459803 0.222283 q: 0.029888 0.811742 -0.081192 0.577573 
time: 1403637252.888319, t: 2.417172 -2.414938 0.189565 q: 0.025737 0.819076 -0.085469 0.566698 
optimize pose graph 
time: 1403637252.988319, t: 2.399862 -2.400252 0.187965 q: 0.033946 0.814464 -0.080863 0.573547 
time: 1403637253.088319, t: 2.382498 -2.387366 0.192774 q: 0.038998 0.811150 -0.078370 0.578250 
time: 1403637253.188319, t: 2.364874 -2.375699 0.201030 q: 0.041630 0.809422 -0.077588 0.580589 
time: 1403637253.288319, t: 2.347353 -2.364266 0.205875 q: 0.042903 0.808621 -0.077966 0.581561 
time: 1403637253.388319, t: 2.327219 -2.356181 0.203931 q: 0.043219 0.808534 -0.078503 0.581585 
time: 1403637253.488319, t: 2.306043 -2.349184 0.195708 q: 0.042386 0.807738 -0.079730 0.582586 
time: 1403637253.588319, t: 2.283063 -2.343373 0.183269 q: 0.043592 0.808747 -0.079443 0.581134 
time: 1403637253.688319, t: 2.258843 -2.338452 0.175054 q: 0.047476 0.808426 -0.076768 0.581635 
time: 1403637253.788319, t: 2.232665 -2.333856 0.174516 q: 0.052056 0.807114 -0.073601 0.583472 
time: 1403637253.888319, t: 2.205155 -2.327691 0.179248 q: 0.053820 0.806642 -0.072598 0.584090 
time: 1403637253.988319, t: 2.177720 -2.319709 0.190891 q: 0.054561 0.806518 -0.072704 0.584179 
time: 1403637254.088319, t: 2.144325 -2.309711 0.208064 q: 0.055687 0.805626 -0.071275 0.585479 
time: 1403637254.188319, t: 2.109126 -2.296818 0.229947 q: 0.052548 0.805668 -0.066544 0.586267 
time: 1403637254.288319, t: 2.071946 -2.280896 0.256782 q: 0.048352 0.809095 -0.057829 0.582824 
time: 1403637254.388319, t: 2.033030 -2.262394 0.286660 q: 0.043183 0.813531 -0.049658 0.577786 
time: 1403637254.488319, t: 1.996028 -2.242545 0.312024 q: 0.038982 0.816731 -0.043454 0.574057 
time: 1403637254.688319, t: 1.922015 -2.199228 0.349067 q: 0.032935 0.816640 -0.035212 0.575130 
time: 1403637254.788319, t: 1.884742 -2.176318 0.358733 q: 0.030961 0.813668 -0.033424 0.579541 
time: 1403637254.888319, t: 1.847648 -2.152493 0.362803 q: 0.027746 0.810992 -0.033511 0.583437 
time: 1403637254.988319, t: 1.809503 -2.127414 0.360186 q: 0.026568 0.808699 -0.033479 0.586667 
optimize pose graph 
time: 1403637255.088319, t: 1.772088 -2.101440 0.354509 q: 0.024637 0.808144 -0.031084 0.587647 
time: 1403637255.188319, t: 1.730291 -2.073281 0.350429 q: 0.018958 0.808641 -0.024709 0.587477 
time: 1403637255.288319, t: 1.686896 -2.044630 0.353250 q: 0.011840 0.808308 -0.017622 0.588377 
time: 1403637255.388319, t: 1.643394 -2.016084 0.362526 q: 0.003929 0.808642 -0.011110 0.588183 
time: 1403637255.488319, t: 1.595603 -1.985072 0.368570 q: -0.002848 0.809668 -0.000874 0.586880 
time: 1403637255.588319, t: 1.545982 -1.952964 0.367910 q: -0.008943 0.810139 0.013400 0.586016 
time: 1403637255.688319, t: 1.496556 -1.920510 0.362698 q: -0.016651 0.810537 0.029706 0.584696 
time: 1403637255.788319, t: 1.444724 -1.887472 0.357212 q: -0.025787 0.812150 0.048410 0.580864 
time: 1403637255.888319, t: 1.392307 -1.853743 0.358568 q: -0.037329 0.813946 0.067148 0.575838 
time: 1403637255.988319, t: 1.340607 -1.820338 0.369743 q: -0.049027 0.813718 0.083384 0.573155 
time: 1403637256.088319, t: 1.286169 -1.785788 0.390676 q: -0.055758 0.813133 0.096402 0.571325 
time: 1403637256.188319, t: 1.232194 -1.749937 0.413271 q: -0.060233 0.810411 0.104216 0.573363 
time: 1403637256.288319, t: 1.178187 -1.712639 0.430972 q: -0.063933 0.806397 0.108022 0.577899 
time: 1403637256.388319, t: 1.123613 -1.673472 0.440779 q: -0.064640 0.804191 0.110210 0.580476 
time: 1403637256.488319, t: 1.067113 -1.632241 0.444402 q: -0.062761 0.803126 0.111152 0.581975 
time: 1403637256.588319, t: 1.009452 -1.589451 0.442464 q: -0.063008 0.802719 0.109276 0.582865 
time: 1403637256.688319, t: 0.948708 -1.544661 0.433173 q: -0.066459 0.807998 0.103859 0.576138 
time: 1403637256.788319, t: 0.886529 -1.499127 0.419725 q: -0.074952 0.815481 0.094574 0.566064 
time: 1403637256.888319, t: 0.825391 -1.453505 0.405286 q: -0.080505 0.817248 0.088972 0.563657 
time: 1403637256.988319, t: 0.767460 -1.410253 0.392705 q: -0.080311 0.813541 0.094247 0.568172 
time: 1403637257.088319, t: 0.708730 -1.369237 0.385917 q: -0.080562 0.809248 0.104981 0.572370 
optimize pose graph 
time: 1403637257.188319, t: 0.650810 -1.326995 0.387034 q: -0.081648 0.806947 0.113954 0.573747 
time: 1403637257.288319, t: 0.596453 -1.284342 0.394419 q: -0.083528 0.807076 0.121189 0.571808 
time: 1403637257.388319, t: 0.542747 -1.243367 0.408092 q: -0.083989 0.807562 0.128399 0.569476 
time: 1403637257.488319, t: 0.491615 -1.202254 0.422428 q: -0.084899 0.807595 0.133007 0.568235 
time: 1403637257.588319, t: 0.439334 -1.160387 0.430890 q: -0.084464 0.808586 0.136984 0.565942 
time: 1403637257.688319, t: 0.386120 -1.117387 0.430570 q: -0.087155 0.812520 0.137312 0.559787 
time: 1403637257.788319, t: 0.336694 -1.073030 0.427500 q: -0.091062 0.815534 0.139862 0.554122 
time: 1403637257.888319, t: 0.294704 -1.024486 0.420394 q: -0.096272 0.817780 0.145315 0.548500 
time: 1403637257.988319, t: 0.254305 -0.973356 0.409013 q: -0.104421 0.817767 0.153294 0.544844 
time: 1403637258.088319, t: 0.216846 -0.919726 0.397792 q: -0.115967 0.815817 0.164756 0.542079 
time: 1403637258.188319, t: 0.185573 -0.863673 0.394501 q: -0.127139 0.808402 0.181625 0.545284 
time: 1403637258.288319, t: 0.156462 -0.806860 0.396169 q: -0.134700 0.798985 0.197854 0.551664 
time: 1403637258.388319, t: 0.128763 -0.749728 0.394616 q: -0.142675 0.792381 0.208911 0.555096 
time: 1403637258.488319, t: 0.101552 -0.691938 0.385252 q: -0.154068 0.791447 0.212678 0.551944 
time: 1403637258.588319, t: 0.077517 -0.635651 0.369077 q: -0.163262 0.793025 0.213404 0.546732 
time: 1403637258.688319, t: 0.053990 -0.582506 0.348933 q: -0.166149 0.789775 0.214866 0.549985 
time: 1403637258.788319, t: 0.035675 -0.531735 0.327247 q: -0.167375 0.787275 0.215459 0.552957 
time: 1403637258.888319, t: 0.016649 -0.482653 0.305133 q: -0.169063 0.785395 0.214369 0.555534 
time: 1403637258.988319, t: -0.001273 -0.435867 0.288720 q: -0.170664 0.785847 0.212172 0.555249 
time: 1403637259.088319, t: -0.016258 -0.394071 0.283536 q: -0.170430 0.786607 0.210429 0.554907 
time: 1403637259.188319, t: -0.029030 -0.356755 0.291566 q: -0.171079 0.786432 0.209115 0.555452 
time: 1403637259.288319, t: -0.043183 -0.324543 0.308141 q: -0.171597 0.785952 0.207326 0.556642 
optimize pose graph 
time: 1403637259.388319, t: -0.056665 -0.295306 0.322622 q: -0.172268 0.786693 0.205249 0.556157 
time: 1403637259.488319, t: -0.070052 -0.273096 0.334448 q: -0.179726 0.786787 0.198861 0.555984 
time: 1403637259.588319, t: -0.082290 -0.255622 0.342336 q: -0.183669 0.786961 0.195516 0.555636 
time: 1403637259.688319, t: -0.093459 -0.242377 0.347789 q: -0.180207 0.786803 0.197080 0.556440 
time: 1403637259.788319, t: -0.103447 -0.232190 0.347900 q: -0.173055 0.789552 0.201588 0.553192 
time: 1403637259.888319, t: -0.112055 -0.226521 0.346107 q: -0.171717 0.789728 0.202280 0.553106 
time: 1403637259.988319, t: -0.118727 -0.223909 0.339351 q: -0.175657 0.787877 0.199479 0.555520 
time: 1403637260.088319, t: -0.124574 -0.225900 0.328738 q: -0.172112 0.785594 0.202348 0.558816 
time: 1403637260.188319, t: -0.129866 -0.230470 0.313026 q: -0.166071 0.785742 0.206939 0.558754 
time: 1403637260.288319, t: -0.135830 -0.237353 0.294962 q: -0.158614 0.785724 0.212903 0.558706 
time: 1403637260.388319, t: -0.142919 -0.245148 0.276070 q: -0.149727 0.783689 0.219915 0.561293 
time: 1403637260.488319, t: -0.151425 -0.250887 0.254743 q: -0.144639 0.783704 0.224390 0.560835 
time: 1403637260.588319, t: -0.160865 -0.253868 0.231579 q: -0.143472 0.790298 0.225436 0.551383 
time: 1403637260.688319, t: -0.170948 -0.252410 0.208340 q: -0.144560 0.794887 0.224357 0.544904 
time: 1403637260.788319, t: -0.180673 -0.247598 0.186128 q: -0.147940 0.792510 0.222419 0.548244 
time: 1403637260.888319, t: -0.189423 -0.240079 0.163672 q: -0.152051 0.787741 0.220731 0.554637 
time: 1403637260.988319, t: -0.197872 -0.231158 0.141201 q: -0.154097 0.783169 0.219959 0.560820 
time: 1403637261.088319, t: -0.207748 -0.221847 0.117818 q: -0.154829 0.784906 0.219723 0.558276 
time: 1403637261.188319, t: -0.218333 -0.211368 0.094603 q: -0.152123 0.791800 0.221288 0.548583 
time: 1403637261.288319, t: -0.228577 -0.199444 0.075008 q: -0.149481 0.797248 0.222848 0.540731 
time: 1403637261.388319, t: -0.236065 -0.185081 0.063427 q: -0.151461 0.793829 0.221187 0.545868 
time: 1403637261.488319, t: -0.242080 -0.169358 0.056636 q: -0.158512 0.789963 0.216198 0.551444 
time: 1403637261.588319, t: -0.246711 -0.154214 0.050163 q: -0.157408 0.795019 0.216451 0.544350 
time: 1403637261.688319, t: -0.248971 -0.138631 0.047913 q: -0.152996 0.800694 0.219078 0.536177 
time: 1403637261.788319, t: -0.246667 -0.120970 0.052765 q: -0.151859 0.798404 0.219546 0.539713 
time: 1403637261.888319, t: -0.241649 -0.100965 0.060286 q: -0.154066 0.791351 0.217452 0.550220 
time: 1403637261.988319, t: -0.236446 -0.082253 0.061368 q: -0.155375 0.786769 0.215417 0.557179 
time: 1403637262.088319, t: -0.231095 -0.064250 0.052510 q: -0.158899 0.784255 0.211602 0.561176 
time: 1403637262.188319, t: -0.226886 -0.048088 0.034655 q: -0.162607 0.784531 0.207739 0.561172 
time: 1403637262.288319, t: -0.223244 -0.034679 0.009412 q: -0.165429 0.785151 0.204264 0.560756 
time: 1403637262.388319, t: -0.227021 -0.041296 0.007061 q: -0.168347 0.771888 0.202330 0.578714 
time: 1403637262.488319, t: -0.228394 -0.051159 -0.001778 q: -0.156802 0.789500 0.172574 0.567734 
time: 1403637262.588319, t: -0.234261 -0.058355 0.002152 q: -0.168130 0.772844 0.161951 0.590098 
time: 1403637262.688319, t: -0.231476 -0.061381 0.002177 q: -0.163471 0.783013 0.164233 0.577231 
time: 1403637262.788319, t: -0.234285 -0.060263 0.004956 q: -0.164285 0.781168 0.161467 0.580271 
time: 1403637262.888319, t: -0.234053 -0.058845 0.005062 q: -0.164863 0.782126 0.162453 0.578539 
time: 1403637262.988319, t: -0.234195 -0.059341 0.005141 q: -0.164695 0.781738 0.162276 0.579161 
time: 1403637263.088319, t: -0.234184 -0.059509 0.005131 q: -0.164134 0.781704 0.162544 0.579291 
time: 1403637263.188319, t: -0.234306 -0.059805 0.005215 q: -0.163754 0.781575 0.162672 0.579537 
wait for imu ... 
time: 1403637263.288319, t: -0.234372 -0.059744 0.005183 q: -0.163993 0.781775 0.162560 0.579231 
time: 1403637263.388319, t: -0.234354 -0.059666 0.005193 q: -0.164291 0.781774 0.162474 0.579171 
time: 1403637263.488319, t: -0.234395 -0.059816 0.005171 q: -0.163985 0.781782 0.162579 0.579218 
time: 1403637263.588319, t: -0.234384 -0.059799 0.005160 q: -0.164196 0.781820 0.162458 0.579141 
time: 1403637263.688319, t: -0.234391 -0.059808 0.005146 q: -0.164269 0.781870 0.162422 0.579063 
time: 1403637263.788319, t: -0.234415 -0.059690 0.005129 q: -0.164611 0.781874 0.162125 0.579044 
time: 1403637263.888319, t: -0.234450 -0.059749 0.005140 q: -0.164648 0.781891 0.162102 0.579017 
time: 1403637263.988319, t: -0.234407 -0.059888 0.005126 q: -0.164349 0.781924 0.162234 0.579020 
time: 1403637264.088319, t: -0.234389 -0.059879 0.005102 q: -0.164315 0.781963 0.162281 0.578964 
time: 1403637264.188319, t: -0.234386 -0.059942 0.005079 q: -0.164266 0.781924 0.162245 0.579040 
time: 1403637264.288319, t: -0.234341 -0.059861 0.005071 q: -0.164449 0.781969 0.162150 0.578954 
time: 1403637264.388319, t: -0.234343 -0.059897 0.005064 q: -0.164426 0.782013 0.162201 0.578888 
time: 1403637264.488319, t: -0.234222 -0.059865 0.005027 q: -0.164320 0.781977 0.162179 0.578972 
time: 1403637264.588319, t: -0.234230 -0.059834 0.005028 q: -0.164371 0.782007 0.162128 0.578931 
time: 1403637264.688319, t: -0.234272 -0.059895 0.005052 q: -0.164407 0.782022 0.162083 0.578913 
time: 1403637264.788319, t: -0.234226 -0.059897 0.005061 q: -0.164479 0.782053 0.162044 0.578862 
time: 1403637264.888319, t: -0.234191 -0.059910 0.005078 q: -0.164445 0.782059 0.162037 0.578866 
time: 1403637264.988319, t: -0.234167 -0.059927 0.005073 q: -0.164291 0.782078 0.162106 0.578865 
time: 1403637265.088319, t: -0.234161 -0.059907 0.005095 q: -0.164309 0.782126 0.162134 0.578787 
time: 1403637265.188319, t: -0.234178 -0.059927 0.005109 q: -0.164258 0.782103 0.162099 0.578842 
time: 1403637265.288319, t: -0.234188 -0.059947 0.005100 q: -0.164277 0.782137 0.162117 0.578786 
time: 1403637265.388319, t: -0.234113 -0.059927 0.005120 q: -0.164259 0.782149 0.162132 0.578771 
time: 1403637265.488319, t: -0.234007 -0.059953 0.005115 q: -0.164284 0.782148 0.162120 0.578768 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731008910.282006896]: Shutdown request received.[0m
[33m[ WARN] [1731008910.282061333]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731008910.292155976]: Shutdown request received.[0m
[33m[ WARN] [1731008910.292199258]: Reason given for shutdown: [user request][0m
killed
