/SLAM-Hive/slam_hive_results/mapping_results/3292/2340_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1731010387.866760985]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731010387.871640918]: init begins[0m
[31m[ERROR] [1731010387.872768340]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b43e4662-9d44-11ef-9948-0242ac110002/roslaunch-d1707b93b68d-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://d1707b93b68d:38499/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[1mROS_MASTER_URI=http://d1707b93b68d:11311/[0m
]2;roscore http://d1707b93b68d:11311/
[1msetting /run_id to b43e4662-9d44-11ef-9948-0242ac110002[0m
[0m[ INFO] [1731010389.122914913]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731010389.129034998]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
config_file: /slamhive/mappingtask.yaml
[33m[ WARN] [1731010389.135801931]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731010389.136034517]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731010389.136059037]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g       0       0 9.81007
[0m[ INFO] [1731010389.139721148]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731010389.141006095]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731010389.141232183]: waiting for image and imu...[0m
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_02_easy.bag  --clock 
[0m[ INFO] [1731010397.980754727]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 327373541.63 
init first imu pose
averge acc 9.439445 -0.460368 -3.138128
init R0 
  0.318508   0.137589   0.937882
         0   -0.98941   0.145148
   0.94792 -0.0462307  -0.315135
[33m[ WARN] [1731010401.492195393]: gyroscope bias initial calibration -0.00582878   0.0243179   0.0801026[0m
[0m[ INFO] [1731010401.572016642]: Initialization finish![0m
time: 1403636859.801666, t: 0.017006 -0.072999 0.284689 q: -0.026266 0.805275 0.041567 0.590859 
time: 1403636859.901666, t: 0.018368 -0.072787 0.327630 q: -0.016270 0.802415 0.040351 0.595178 
time: 1403636860.001667, t: 0.014552 -0.075152 0.360374 q: -0.021857 0.797387 0.045188 0.601377 
time: 1403636860.101666, t: 0.017273 -0.079587 0.369258 q: -0.025048 0.801046 0.044892 0.596392 
time: 1403636860.201667, t: 0.018812 -0.086964 0.346589 q: -0.037451 0.804266 0.050540 0.590931 
time: 1403636860.301666, t: 0.019343 -0.091843 0.297934 q: -0.053420 0.811882 0.055830 0.578686 
time: 1403636860.401666, t: 0.017414 -0.093902 0.239596 q: -0.057093 0.824982 0.054051 0.559664 
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time: 1403636860.601666, t: 0.008280 -0.095958 0.137993 q: -0.053603 0.848663 0.041600 0.524563 
time: 1403636860.701667, t: 0.002868 -0.097424 0.108837 q: -0.048382 0.853674 0.037189 0.517221 
time: 1403636860.801666, t: -0.001910 -0.099385 0.101371 q: -0.034249 0.855144 0.035114 0.516065 
time: 1403636860.901666, t: -0.004530 -0.100470 0.120822 q: -0.026948 0.856306 0.037625 0.514391 
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time: 1403636861.801666, t: 0.015487 -0.112323 0.322899 q: -0.035527 0.816698 0.045454 0.574174 
time: 1403636861.901666, t: 0.011713 -0.109599 0.266013 q: -0.037259 0.824326 0.046528 0.562968 
time: 1403636862.001667, t: 0.007820 -0.105823 0.207629 q: -0.042186 0.836197 0.046657 0.544810 
time: 1403636862.101666, t: 0.003797 -0.100999 0.154719 q: -0.045905 0.845489 0.044666 0.530138 
time: 1403636862.201667, t: 0.001051 -0.097518 0.115940 q: -0.049844 0.849860 0.046118 0.522616 
time: 1403636862.301666, t: -0.001381 -0.097255 0.103365 q: -0.045257 0.853294 0.052104 0.516842 
time: 1403636862.401666, t: -0.001467 -0.097960 0.123867 q: -0.043006 0.856303 0.054625 0.511774 
time: 1403636862.501667, t: 0.000390 -0.098864 0.171175 q: -0.041866 0.854255 0.055019 0.515236 
time: 1403636862.601666, t: 0.005979 -0.101927 0.232946 q: -0.031383 0.848445 0.053603 0.525626 
time: 1403636862.701667, t: 0.011613 -0.103552 0.300828 q: -0.025335 0.840654 0.052685 0.538407 
wait for imu ... 
time: 1403636862.801666, t: 0.016129 -0.103667 0.369331 q: -0.029101 0.835697 0.047210 0.546383 
time: 1403636862.901666, t: 0.018188 -0.103726 0.433231 q: -0.030293 0.832594 0.037277 0.551797 
time: 1403636863.001667, t: 0.016639 -0.103995 0.476875 q: -0.034143 0.826878 0.033126 0.560365 
time: 1403636863.101666, t: 0.015264 -0.106164 0.485647 q: -0.028237 0.820635 0.037632 0.569513 
time: 1403636863.201667, t: 0.014223 -0.107214 0.460524 q: -0.019574 0.817938 0.042820 0.573377 
time: 1403636863.301666, t: 0.013789 -0.106825 0.409027 q: -0.013913 0.819289 0.046464 0.571325 
time: 1403636863.401666, t: 0.013623 -0.106890 0.345548 q: -0.008553 0.821456 0.046220 0.568331 
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time: 1403636863.701667, t: 0.002251 -0.105293 0.149979 q: -0.036402 0.842350 0.039447 0.536251 
time: 1403636863.801666, t: -0.000405 -0.105766 0.111946 q: -0.041746 0.850170 0.037288 0.523524 
time: 1403636863.901666, t: -0.002948 -0.107911 0.107334 q: -0.040705 0.855743 0.037549 0.514429 
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time: 1403636867.801666, t: -0.073494 -0.112675 0.223469 q: -0.046701 0.929144 0.057560 0.362212 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403636882.501667, t: 0.029708 -0.295014 0.192193 q: -0.029518 0.884656 0.016315 0.465023 
wait for imu ... 
wait for imu ... 
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optimize pose graph 
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optimize pose graph 
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time: 1403636900.201667, t: 0.449842 -0.309152 0.298879 q: -0.062946 0.805677 0.077741 0.583848 
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time: 1403636900.401666, t: 0.486168 -0.345794 0.338189 q: -0.063530 0.810984 0.081862 0.575818 
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time: 1403636901.901666, t: 0.946757 -0.759035 0.412689 q: -0.074328 0.812788 0.089091 0.570889 
optimize pose graph 
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time: 1403636902.601666, t: 1.209874 -1.038575 0.323954 q: -0.065594 0.813955 0.089034 0.570304 
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time: 1403636903.301666, t: 1.437075 -1.287306 0.329364 q: -0.068114 0.812966 0.093720 0.570669 
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time: 1403636903.701667, t: 1.548192 -1.406066 0.372345 q: -0.070193 0.816946 0.097767 0.564016 
time: 1403636903.801666, t: 1.577344 -1.431471 0.368081 q: -0.074325 0.819502 0.095389 0.560173 
time: 1403636903.901666, t: 1.609426 -1.458017 0.371014 q: -0.078632 0.819944 0.092617 0.559402 
time: 1403636904.001667, t: 1.644290 -1.484248 0.379421 q: -0.082492 0.818203 0.089995 0.561818 
time: 1403636904.101666, t: 1.679778 -1.513410 0.396835 q: -0.085149 0.816320 0.088003 0.564470 
optimize pose graph 
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time: 1403636904.701667, t: 1.911610 -1.737180 0.514823 q: -0.074319 0.813520 0.087782 0.570050 
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time: 1403636985.401666, t: 8.351965 -6.962885 -1.509823 q: 0.198550 0.772232 -0.272776 0.538357 
time: 1403636985.501667, t: 8.445938 -6.991822 -1.519670 q: 0.195960 0.776281 -0.263376 0.538165 
time: 1403636985.601666, t: 8.533936 -7.012768 -1.521937 q: 0.193442 0.778454 -0.254173 0.540356 
time: 1403636985.701667, t: 8.628683 -7.033268 -1.515813 q: 0.193695 0.779902 -0.245472 0.542198 
time: 1403636985.801666, t: 8.722833 -7.049174 -1.504168 q: 0.193336 0.779038 -0.238915 0.546480 
time: 1403636986.001667, t: 8.908500 -7.064697 -1.481823 q: 0.197591 0.759027 -0.226124 0.577671 
time: 1403636986.101666, t: 8.992990 -7.059781 -1.484254 q: 0.197925 0.758669 -0.223857 0.578908 
time: 1403636986.201667, t: 9.072599 -7.047287 -1.496526 q: 0.193159 0.766886 -0.226797 0.568452 
optimize pose graph 
time: 1403636986.301666, t: 9.145991 -7.027935 -1.512431 q: 0.189162 0.776336 -0.229897 0.555579 
time: 1403636986.401666, t: 9.220129 -7.004047 -1.530950 q: 0.184987 0.781039 -0.232764 0.549161 
time: 1403636986.501667, t: 9.294835 -6.975359 -1.549293 q: 0.177419 0.782026 -0.237751 0.548117 
time: 1403636986.601666, t: 9.369417 -6.943425 -1.560316 q: 0.170606 0.781092 -0.242024 0.549740 
time: 1403636986.701667, t: 9.441298 -6.911358 -1.559984 q: 0.165596 0.780515 -0.245310 0.550634 
time: 1403636986.801666, t: 9.512936 -6.881344 -1.550655 q: 0.160068 0.779460 -0.248777 0.552206 
time: 1403636986.901666, t: 9.581769 -6.851821 -1.531223 q: 0.159065 0.778278 -0.249850 0.553676 
time: 1403636987.001667, t: 9.646095 -6.824274 -1.502348 q: 0.161771 0.777721 -0.248673 0.554203 
time: 1403636987.101666, t: 9.705989 -6.797903 -1.470187 q: 0.167465 0.777330 -0.246320 0.554111 
time: 1403636987.201667, t: 9.765105 -6.770605 -1.440690 q: 0.170504 0.776209 -0.246133 0.554840 
time: 1403636987.301666, t: 9.820048 -6.743705 -1.418236 q: 0.171907 0.774452 -0.247066 0.556444 
time: 1403636987.401666, t: 9.874900 -6.714841 -1.401757 q: 0.171693 0.773125 -0.246445 0.558627 
time: 1403636987.501667, t: 9.926804 -6.686670 -1.390324 q: 0.172886 0.771309 -0.240940 0.563152 
time: 1403636987.601666, t: 9.977307 -6.654187 -1.383922 q: 0.175654 0.769072 -0.235047 0.567827 
time: 1403636987.701667, t: 10.021696 -6.618995 -1.381885 q: 0.175681 0.768227 -0.231655 0.570350 
time: 1403636987.801666, t: 10.061628 -6.580351 -1.377173 q: 0.173019 0.768363 -0.229985 0.571655 
time: 1403636987.901666, t: 10.096126 -6.538768 -1.363093 q: 0.167839 0.769272 -0.230954 0.571587 
time: 1403636988.101666, t: 10.152129 -6.448918 -1.329600 q: 0.149899 0.773976 -0.241312 0.565915 
time: 1403636988.201667, t: 10.173092 -6.405417 -1.317844 q: 0.144083 0.774840 -0.245928 0.564254 
time: 1403636988.301666, t: 10.189070 -6.364972 -1.310438 q: 0.141285 0.771077 -0.248800 0.568838 
optimize pose graph 
time: 1403636988.401666, t: 10.198801 -6.330603 -1.299478 q: 0.142395 0.764624 -0.248759 0.577229 
time: 1403636988.501667, t: 10.201231 -6.295856 -1.280916 q: 0.145945 0.760485 -0.246472 0.582764 
time: 1403636988.601666, t: 10.192724 -6.262487 -1.256441 q: 0.146561 0.758241 -0.245777 0.585819 
time: 1403636988.701667, t: 10.175519 -6.231849 -1.233152 q: 0.146279 0.757183 -0.245913 0.587200 
time: 1403636988.801666, t: 10.148456 -6.203010 -1.214775 q: 0.147503 0.755507 -0.244819 0.589505 
time: 1403636988.901666, t: 10.113752 -6.175024 -1.203014 q: 0.146974 0.752964 -0.244966 0.592820 
time: 1403636989.001667, t: 10.067061 -6.147416 -1.196257 q: 0.146209 0.750340 -0.245637 0.596049 
time: 1403636989.101666, t: 10.009964 -6.121344 -1.194167 q: 0.145671 0.748551 -0.246565 0.598044 
time: 1403636989.201667, t: 9.940818 -6.095854 -1.194775 q: 0.145697 0.748521 -0.247362 0.597747 
time: 1403636989.301666, t: 9.861177 -6.071682 -1.192550 q: 0.151452 0.754784 -0.245191 0.589275 
time: 1403636989.401666, t: 9.774233 -6.048014 -1.183074 q: 0.157897 0.764693 -0.242629 0.575712 
time: 1403636989.501667, t: 9.681133 -6.024740 -1.166928 q: 0.159586 0.772370 -0.242671 0.564879 
time: 1403636989.601666, t: 9.584881 -6.001165 -1.145332 q: 0.162396 0.776097 -0.241478 0.559454 
time: 1403636989.701667, t: 9.487459 -5.977424 -1.125852 q: 0.166860 0.779062 -0.238700 0.555196 
time: 1403636989.801666, t: 9.390570 -5.951264 -1.112193 q: 0.168733 0.780362 -0.237678 0.553240 
time: 1403636989.901666, t: 9.297432 -5.925789 -1.101397 q: 0.168273 0.778845 -0.237788 0.555465 
time: 1403636990.001667, t: 9.201143 -5.897857 -1.095740 q: 0.168268 0.773995 -0.237703 0.562241 
time: 1403636990.101666, t: 9.106545 -5.870270 -1.087555 q: 0.169355 0.769971 -0.236704 0.567833 
time: 1403636990.201667, t: 9.007192 -5.839681 -1.073488 q: 0.170714 0.769739 -0.235443 0.568265 
time: 1403636990.301666, t: 8.908051 -5.807765 -1.053189 q: 0.171015 0.773237 -0.234178 0.563932 
time: 1403636990.401666, t: 8.805515 -5.771117 -1.028045 q: 0.171116 0.776635 -0.232813 0.559781 
optimize pose graph 
time: 1403636990.501667, t: 8.705321 -5.734219 -1.005349 q: 0.167785 0.779524 -0.233060 0.556663 
time: 1403636990.601666, t: 8.605316 -5.695213 -0.989951 q: 0.166342 0.781230 -0.232287 0.555025 
time: 1403636990.701667, t: 8.507747 -5.656544 -0.978871 q: 0.165520 0.783509 -0.231129 0.552536 
time: 1403636990.801666, t: 8.410735 -5.616666 -0.976490 q: 0.165544 0.784776 -0.229702 0.551324 
time: 1403636990.901666, t: 8.315440 -5.575900 -0.980203 q: 0.164647 0.785127 -0.229243 0.551284 
time: 1403636991.001667, t: 8.222646 -5.536586 -0.988596 q: 0.165165 0.785214 -0.228486 0.551320 
time: 1403636991.101666, t: 8.131431 -5.496443 -0.999946 q: 0.166018 0.784760 -0.228185 0.551834 
time: 1403636991.201667, t: 8.044414 -5.456731 -1.012281 q: 0.167219 0.784886 -0.228354 0.551222 
time: 1403636991.301666, t: 7.955488 -5.414498 -1.019916 q: 0.167027 0.785243 -0.229184 0.550428 
time: 1403636991.401666, t: 7.871078 -5.372415 -1.018249 q: 0.167039 0.785787 -0.230521 0.549087 
time: 1403636991.501667, t: 7.786617 -5.327315 -1.006020 q: 0.168259 0.786048 -0.231491 0.547932 
time: 1403636991.601666, t: 7.712331 -5.289169 -0.985254 q: 0.166106 0.785400 -0.234868 0.548081 
time: 1403636991.701667, t: 7.633249 -5.245160 -0.960870 q: 0.160184 0.783832 -0.241810 0.549069 
time: 1403636991.801666, t: 7.562388 -5.207459 -0.932509 q: 0.155431 0.782319 -0.248237 0.549723 
time: 1403636991.901666, t: 7.484045 -5.169620 -0.904871 q: 0.152741 0.781459 -0.253224 0.549426 
time: 1403636992.001667, t: 7.411589 -5.137166 -0.884991 q: 0.155419 0.781161 -0.254355 0.548576 
time: 1403636992.101666, t: 7.334914 -5.105898 -0.869158 q: 0.164820 0.779714 -0.250478 0.549674 
time: 1403636992.201667, t: 7.263394 -5.080599 -0.865881 q: 0.171622 0.776680 -0.247619 0.553172 
time: 1403636992.301666, t: 7.189502 -5.054339 -0.860849 q: 0.175082 0.775654 -0.246924 0.553837 
time: 1403636992.401666, t: 7.119421 -5.027571 -0.863265 q: 0.176708 0.777666 -0.248008 0.550002 
time: 1403636992.501667, t: 7.046296 -4.998180 -0.861896 q: 0.177231 0.780531 -0.250064 0.544820 
time: 1403636992.601666, t: 6.980222 -4.968110 -0.856123 q: 0.179137 0.782025 -0.251244 0.541501 time: 1403636992.701667, t: 6.915795 -4.937688 -0.841619 q: 0.180610 0.782363 -0.252581 0.539899 
time: 1403636992.801666, t: 6.851521 -4.906556 -0.825678 q: 0.182457 0.782949 -0.253439 0.538024 
time: 1403636992.901666, t: 6.792498 -4.875126 -0.818888 q: 0.185598 0.782505 -0.253467 0.537582 
time: 1403636993.001667, t: 6.736334 -4.843925 -0.814679 q: 0.187485 0.780664 -0.253925 0.539384 
time: 1403636993.101666, t: 6.685633 -4.812286 -0.818128 q: 0.184909 0.776637 -0.255882 0.545131 
time: 1403636993.201667, t: 6.634544 -4.778440 -0.816457 q: 0.177719 0.774777 -0.253344 0.551320 
time: 1403636993.301666, t: 6.585147 -4.743042 -0.807864 q: 0.169286 0.776180 -0.244814 0.555835 
time: 1403636993.401666, t: 6.539187 -4.707426 -0.793667 q: 0.159285 0.779071 -0.231657 0.560367 
time: 1403636993.501667, t: 6.492064 -4.669785 -0.770621 q: 0.147594 0.783308 -0.215835 0.563968 
time: 1403636993.601666, t: 6.442922 -4.632839 -0.741022 q: 0.136201 0.788153 -0.198786 0.566346 
time: 1403636993.701667, t: 6.393611 -4.596456 -0.712526 q: 0.126055 0.793154 -0.185498 0.566221 
time: 1403636993.801666, t: 6.343334 -4.559544 -0.690419 q: 0.119601 0.796755 -0.175737 0.565679 
time: 1403636993.901666, t: 6.293276 -4.522483 -0.675196 q: 0.117125 0.798883 -0.167288 0.565759 
time: 1403636994.001667, t: 6.242050 -4.486116 -0.664238 q: 0.115091 0.796931 -0.162050 0.570434 
time: 1403636994.101666, t: 6.189600 -4.448518 -0.658178 q: 0.117149 0.792256 -0.156989 0.577894 
time: 1403636994.201667, t: 6.135465 -4.409993 -0.655373 q: 0.118451 0.787336 -0.153678 0.585197 
time: 1403636994.301666, t: 6.077144 -4.368895 -0.657794 q: 0.119095 0.782800 -0.152422 0.591446 
time: 1403636994.401666, t: 6.015383 -4.324158 -0.662649 q: 0.120303 0.780282 -0.151487 0.594760 
time: 1403636994.501667, t: 5.947733 -4.273970 -0.669501 q: 0.120424 0.780907 -0.152145 0.593746 
time: 1403636994.601666, t: 5.874358 -4.222604 -0.670591 q: 0.116091 0.784144 -0.155625 0.589425 
optimize pose graph 
time: 1403636994.701667, t: 5.798201 -4.166891 -0.666227 q: 0.109203 0.789520 -0.161564 0.581919 
time: 1403636994.801666, t: 5.719183 -4.111320 -0.655622 q: 0.099556 0.794872 -0.169541 0.574040 
time: 1403636994.901666, t: 5.638901 -4.057934 -0.642699 q: 0.092383 0.796710 -0.175719 0.570825 
time: 1403636995.001667, t: 5.556902 -4.007858 -0.634603 q: 0.092411 0.794991 -0.176619 0.572936 
time: 1403636995.101666, t: 5.473070 -3.961439 -0.630948 q: 0.099521 0.791932 -0.171382 0.577553 
time: 1403636995.201667, t: 5.388933 -3.916411 -0.626714 q: 0.105675 0.789312 -0.166164 0.581557 
time: 1403636995.301666, t: 5.301188 -3.872205 -0.616257 q: 0.109058 0.787931 -0.162469 0.583845 
time: 1403636995.401666, t: 5.210874 -3.826829 -0.599383 q: 0.110851 0.790371 -0.159352 0.581062 
time: 1403636995.501667, t: 5.117730 -3.780435 -0.576189 q: 0.109879 0.795025 -0.158916 0.574985 
time: 1403636995.601666, t: 5.022118 -3.732628 -0.546248 q: 0.108968 0.796802 -0.158734 0.572744 
time: 1403636995.701667, t: 4.927766 -3.685898 -0.517191 q: 0.106632 0.796811 -0.160319 0.572730 
time: 1403636995.801666, t: 4.832435 -3.637403 -0.492926 q: 0.101964 0.796780 -0.164069 0.572561 
time: 1403636995.901666, t: 4.737755 -3.593547 -0.478101 q: 0.094494 0.797877 -0.169639 0.570688 
time: 1403636996.001667, t: 4.641765 -3.550696 -0.467039 q: 0.090879 0.798930 -0.172971 0.568800 
time: 1403636996.101666, t: 4.549135 -3.513005 -0.460508 q: 0.095984 0.800887 -0.169850 0.566143 
time: 1403636996.201667, t: 4.453258 -3.476984 -0.452982 q: 0.101369 0.802096 -0.166314 0.564540 
time: 1403636996.301666, t: 4.363173 -3.444516 -0.440613 q: 0.105181 0.802862 -0.162785 0.563782 
time: 1403636996.401666, t: 4.271869 -3.412612 -0.420238 q: 0.102876 0.803922 -0.158162 0.564012 
time: 1403636996.501667, t: 4.185943 -3.380458 -0.391405 q: 0.098592 0.805769 -0.148867 0.564672 
time: 1403636996.601666, t: 4.099643 -3.346635 -0.356589 q: 0.091687 0.808554 -0.135962 0.565110 
time: 1403636996.701667, t: 4.017920 -3.313075 -0.324677 q: 0.081764 0.811934 -0.119867 0.565428 
optimize pose graph 
time: 1403636996.801666, t: 3.936940 -3.279381 -0.308730 q: 0.069183 0.815309 -0.102069 0.565744 
time: 1403636996.901666, t: 3.856872 -3.245823 -0.305305 q: 0.053621 0.818202 -0.083864 0.566249 
time: 1403636997.001667, t: 3.780779 -3.212466 -0.307570 q: 0.038425 0.820571 -0.064320 0.566612 
time: 1403636997.101666, t: 3.707152 -3.179349 -0.314843 q: 0.025072 0.822566 -0.046387 0.566220 
time: 1403636997.201667, t: 3.637089 -3.148913 -0.326945 q: 0.015028 0.824043 -0.033358 0.565344 
time: 1403636997.301666, t: 3.570502 -3.120959 -0.341862 q: 0.009218 0.824892 -0.023485 0.564726 
time: 1403636997.401666, t: 3.506731 -3.094828 -0.351154 q: 0.006378 0.825639 -0.017262 0.563898 
time: 1403636997.501667, t: 3.448337 -3.070666 -0.351990 q: 0.005352 0.825391 -0.014332 0.564355 
time: 1403636997.601666, t: 3.395693 -3.046105 -0.344985 q: 0.005218 0.826184 -0.014163 0.563198 
time: 1403636997.701667, t: 3.344662 -3.022439 -0.330874 q: 0.006950 0.826567 -0.014396 0.562611 
time: 1403636997.801666, t: 3.298612 -2.999177 -0.309312 q: 0.009856 0.827658 -0.015215 0.560940 
time: 1403636997.901666, t: 3.261814 -2.976102 -0.280986 q: 0.012078 0.827908 -0.016845 0.560481 
time: 1403636998.001667, t: 3.223806 -2.954303 -0.245000 q: 0.013087 0.827814 -0.018993 0.560528 
time: 1403636998.101666, t: 3.191467 -2.931372 -0.204197 q: 0.014028 0.827963 -0.021157 0.560207 
time: 1403636998.201667, t: 3.166207 -2.910179 -0.163882 q: 0.013138 0.826661 -0.024248 0.562025 
time: 1403636998.301666, t: 3.141928 -2.889205 -0.130341 q: 0.014196 0.827151 -0.025694 0.561212 
time: 1403636998.401666, t: 3.121487 -2.868467 -0.103488 q: 0.014009 0.826789 -0.027284 0.561675 
time: 1403636998.501667, t: 3.105105 -2.849478 -0.079168 q: 0.013502 0.826512 -0.029141 0.562002 
time: 1403636998.601666, t: 3.089909 -2.831624 -0.048390 q: 0.015026 0.823277 -0.028905 0.566704 
time: 1403636998.701667, t: 3.078932 -2.814732 -0.010350 q: 0.018394 0.815125 -0.027296 0.578349 
time: 1403636998.801666, t: 3.066513 -2.799591 0.032523 q: 0.021462 0.810012 -0.026068 0.585440 
optimize pose graph 
time: 1403636998.901666, t: 3.052783 -2.783372 0.074021 q: 0.026962 0.808493 -0.022658 0.587451 
time: 1403636999.001667, t: 3.036458 -2.765116 0.106976 q: 0.030677 0.808879 -0.020801 0.586806 
time: 1403636999.101666, t: 3.016440 -2.743587 0.133430 q: 0.033471 0.809084 -0.019332 0.586420 
time: 1403636999.201667, t: 2.996237 -2.718826 0.153403 q: 0.035016 0.810764 -0.019040 0.584015 
time: 1403636999.301666, t: 2.975700 -2.691439 0.167881 q: 0.033751 0.812480 -0.020471 0.581651 
time: 1403636999.401666, t: 2.951742 -2.660955 0.176654 q: 0.029014 0.813034 -0.024244 0.580987 
time: 1403636999.501667, t: 2.927894 -2.629093 0.180401 q: 0.026094 0.812691 -0.026543 0.581505 
time: 1403636999.601666, t: 2.904039 -2.596769 0.180714 q: 0.024454 0.810533 -0.028133 0.584505 
time: 1403636999.701667, t: 2.875758 -2.563498 0.177710 q: 0.023915 0.808638 -0.029116 0.587099 
time: 1403636999.801666, t: 2.845411 -2.529931 0.172318 q: 0.023936 0.808230 -0.029961 0.587618 
time: 1403636999.901666, t: 2.811143 -2.496481 0.166039 q: 0.025540 0.808443 -0.029163 0.587296 
time: 1403637000.001667, t: 2.776111 -2.461570 0.159096 q: 0.029694 0.808360 -0.026653 0.587334 
time: 1403637000.101666, t: 2.736885 -2.425111 0.158813 q: 0.031847 0.809344 -0.024882 0.585943 
time: 1403637000.201667, t: 2.696742 -2.386277 0.167113 q: 0.031030 0.811082 -0.025011 0.583573 
time: 1403637000.301666, t: 2.656387 -2.344453 0.176163 q: 0.029805 0.812504 -0.025913 0.581616 
time: 1403637000.401666, t: 2.615467 -2.301847 0.184172 q: 0.027677 0.811965 -0.027281 0.582412 
time: 1403637000.501667, t: 2.571848 -2.257775 0.185895 q: 0.029748 0.811924 -0.026005 0.582424 
time: 1403637000.601666, t: 2.528276 -2.213571 0.188676 q: 0.030468 0.812095 -0.025637 0.582165 
wait for imu ... 
time: 1403637000.701667, t: 2.481738 -2.166747 0.195581 q: 0.028345 0.811154 -0.027255 0.583509 
time: 1403637000.801666, t: 2.435122 -2.118534 0.211106 q: 0.028324 0.810540 -0.027854 0.584335 
time: 1403637000.901666, t: 2.388276 -2.068292 0.228317 q: 0.027884 0.810642 -0.028882 0.584165 
time: 1403637001.001667, t: 2.339062 -2.019353 0.237780 q: 0.028125 0.810331 -0.029774 0.584539 
time: 1403637001.101666, t: 2.286874 -1.969679 0.241660 q: 0.027839 0.810142 -0.030541 0.584775 
time: 1403637001.201667, t: 2.232424 -1.919184 0.244372 q: 0.026988 0.809488 -0.031786 0.585654 
time: 1403637001.301666, t: 2.175057 -1.869973 0.251165 q: 0.026079 0.809636 -0.032698 0.585440 
time: 1403637001.401666, t: 2.115717 -1.820578 0.266025 q: 0.023713 0.810945 -0.034753 0.583608 
time: 1403637001.501667, t: 2.052715 -1.774115 0.288122 q: 0.023708 0.813959 -0.035787 0.579335 
time: 1403637001.601666, t: 1.991934 -1.726779 0.307800 q: 0.024047 0.815429 -0.036859 0.577181 
time: 1403637001.701667, t: 1.927352 -1.681233 0.326241 q: 0.024422 0.815586 -0.037440 0.576907 
time: 1403637001.801666, t: 1.866779 -1.635817 0.336370 q: 0.023825 0.814708 -0.038823 0.578079 
time: 1403637001.901666, t: 1.805413 -1.591270 0.339692 q: 0.024815 0.816231 -0.038803 0.575887 
time: 1403637002.001667, t: 1.745884 -1.545842 0.337978 q: 0.025468 0.817135 -0.038704 0.574581 
time: 1403637002.101666, t: 1.685745 -1.502417 0.332654 q: 0.025844 0.817772 -0.038941 0.573641 
time: 1403637002.201667, t: 1.629026 -1.459582 0.321546 q: 0.025636 0.817961 -0.039001 0.573378 
time: 1403637002.301666, t: 1.571310 -1.417769 0.307587 q: 0.027040 0.817959 -0.038200 0.573370 
time: 1403637002.401666, t: 1.512703 -1.375634 0.298031 q: 0.029079 0.818446 -0.036487 0.572686 
time: 1403637002.501667, t: 1.457984 -1.333676 0.296326 q: 0.030707 0.817907 -0.035277 0.573446 
time: 1403637002.601666, t: 1.403519 -1.291854 0.304055 q: 0.033346 0.817542 -0.033338 0.573935 
time: 1403637002.701667, t: 1.347083 -1.248906 0.318991 q: 0.034620 0.817842 -0.033139 0.573444 
time: 1403637002.801666, t: 1.293526 -1.204569 0.332021 q: 0.034785 0.817593 -0.034117 0.573732 
time: 1403637002.901666, t: 1.239433 -1.159317 0.339585 q: 0.031735 0.817034 -0.037550 0.574490 
time: 1403637003.001667, t: 1.184518 -1.117783 0.339397 q: 0.031211 0.817248 -0.038887 0.574126 
optimize pose graph 
time: 1403637003.101666, t: 1.133041 -1.072114 0.334359 q: 0.031100 0.817558 -0.040684 0.573564 
time: 1403637003.201667, t: 1.081399 -1.025632 0.324690 q: 0.031891 0.817106 -0.041809 0.574085 
time: 1403637003.301666, t: 1.031729 -0.983597 0.312903 q: 0.031841 0.816038 -0.043128 0.575507 
time: 1403637003.501667, t: 0.933575 -0.893935 0.306760 q: 0.031172 0.813487 -0.045799 0.578939 
time: 1403637003.601666, t: 0.881963 -0.851826 0.315071 q: 0.030484 0.813789 -0.046755 0.578473 
time: 1403637003.701667, t: 0.830273 -0.808373 0.328036 q: 0.030328 0.813949 -0.047546 0.578193 
time: 1403637003.801666, t: 0.773034 -0.766691 0.337463 q: 0.028686 0.814397 -0.047660 0.577636 
time: 1403637003.901666, t: 0.724536 -0.724988 0.341758 q: 0.030099 0.816225 -0.045507 0.575153 
time: 1403637004.001667, t: 0.670940 -0.685209 0.339388 q: 0.030643 0.818871 -0.042771 0.571561 
time: 1403637004.101666, t: 0.623694 -0.649001 0.332367 q: 0.031210 0.821032 -0.040381 0.568596 
time: 1403637004.201667, t: 0.574195 -0.610397 0.320462 q: 0.031542 0.822272 -0.038370 0.566923 
time: 1403637004.301666, t: 0.531069 -0.571126 0.315396 q: 0.029294 0.822445 -0.037954 0.566821 
time: 1403637004.401666, t: 0.486127 -0.535320 0.317732 q: 0.026794 0.821288 -0.039491 0.568515 
time: 1403637004.501667, t: 0.447652 -0.496579 0.332022 q: 0.026710 0.816954 -0.040963 0.574626 
time: 1403637004.601666, t: 0.404435 -0.459571 0.356734 q: 0.026244 0.814510 -0.043943 0.577887 
time: 1403637004.701667, t: 0.364408 -0.421798 0.384077 q: 0.018082 0.813938 -0.052985 0.578248 
time: 1403637004.801666, t: 0.321009 -0.385998 0.404430 q: 0.011522 0.813454 -0.060878 0.578320 
time: 1403637004.901666, t: 0.279927 -0.353815 0.409476 q: 0.010086 0.816188 -0.064810 0.574051 
time: 1403637005.001667, t: 0.239113 -0.327190 0.399163 q: 0.013608 0.820419 -0.064679 0.567929 
time: 1403637005.101666, t: 0.200589 -0.306749 0.382818 q: 0.021692 0.820331 -0.060700 0.568244 
optimize pose graph 
time: 1403637005.201667, t: 0.165438 -0.288376 0.364962 q: 0.028718 0.819220 -0.056903 0.569926 
time: 1403637005.301666, t: 0.131476 -0.271732 0.343521 q: 0.032273 0.821168 -0.054597 0.567151 
time: 1403637005.401666, t: 0.097339 -0.257446 0.318786 q: 0.033014 0.822130 -0.052766 0.565887 
time: 1403637005.501667, t: 0.059498 -0.241496 0.297195 q: 0.034313 0.819137 -0.048807 0.570486 
time: 1403637005.601666, t: 0.030634 -0.223453 0.281608 q: 0.032311 0.818336 -0.047689 0.571845 
time: 1403637005.701667, t: -0.002293 -0.207339 0.275475 q: 0.025687 0.822497 -0.049989 0.565985 
time: 1403637005.801666, t: -0.029090 -0.191415 0.281311 q: 0.022533 0.824149 -0.050926 0.563629 
time: 1403637005.901666, t: -0.051701 -0.177311 0.293860 q: 0.025846 0.822538 -0.047506 0.566133 
time: 1403637006.001667, t: -0.072774 -0.163319 0.303537 q: 0.028389 0.820071 -0.045468 0.569746 
time: 1403637006.101666, t: -0.093270 -0.148151 0.309625 q: 0.026604 0.818150 -0.046643 0.572492 
time: 1403637006.201667, t: -0.112099 -0.134171 0.313497 q: 0.025639 0.818159 -0.046957 0.572498 
time: 1403637006.301666, t: -0.132197 -0.118972 0.315683 q: 0.023089 0.822378 -0.048786 0.566376 
time: 1403637006.401666, t: -0.148534 -0.106367 0.314516 q: 0.020734 0.828826 -0.050111 0.556871 
time: 1403637006.501667, t: -0.160980 -0.095447 0.312590 q: 0.014609 0.831477 -0.054151 0.552721 
time: 1403637006.601666, t: -0.168216 -0.087962 0.310886 q: 0.010845 0.827061 -0.051989 0.559598 
time: 1403637006.701667, t: -0.172839 -0.082806 0.308098 q: 0.008964 0.822311 -0.041490 0.567453 
time: 1403637006.801666, t: -0.175520 -0.079269 0.301944 q: 0.003104 0.818284 -0.027548 0.574145 
time: 1403637006.901666, t: -0.177968 -0.076680 0.293044 q: -0.008633 0.818442 -0.011606 0.574407 
time: 1403637007.001667, t: -0.180382 -0.075108 0.283635 q: -0.018485 0.819743 0.010450 0.572337 
time: 1403637007.101666, t: -0.182968 -0.075080 0.274453 q: -0.026392 0.818400 0.029491 0.573284 
time: 1403637007.201667, t: -0.185237 -0.075887 0.264571 q: -0.033069 0.816205 0.043854 0.575145 
optimize pose graph 
time: 1403637007.301666, t: -0.187473 -0.077257 0.255623 q: -0.034473 0.811000 0.055603 0.581377 
time: 1403637007.401666, t: -0.192998 -0.077492 0.246143 q: -0.035452 0.807555 0.062436 0.585405 
time: 1403637007.501667, t: -0.201960 -0.076311 0.234993 q: -0.037428 0.808922 0.065121 0.583098 
time: 1403637007.601666, t: -0.212899 -0.073940 0.222184 q: -0.038686 0.813492 0.065561 0.576572 
time: 1403637007.701667, t: -0.225516 -0.069928 0.207773 q: -0.038417 0.821712 0.064959 0.564884 
time: 1403637007.801666, t: -0.236248 -0.064378 0.195409 q: -0.036421 0.825355 0.064623 0.559720 
time: 1403637007.901666, t: -0.244089 -0.056503 0.186291 q: -0.039996 0.820553 0.060043 0.566999 
time: 1403637008.001667, t: -0.250568 -0.047739 0.178509 q: -0.046086 0.814145 0.053224 0.576377 
time: 1403637008.101666, t: -0.259268 -0.040458 0.170683 q: -0.042662 0.815911 0.052370 0.574218 
time: 1403637008.201667, t: -0.268365 -0.033506 0.162925 q: -0.037979 0.825083 0.052294 0.561304 
time: 1403637008.301666, t: -0.274837 -0.026032 0.158840 q: -0.032773 0.831277 0.052967 0.552358 
time: 1403637008.401666, t: -0.276981 -0.017203 0.159353 q: -0.030075 0.831520 0.052223 0.552216 
time: 1403637008.501667, t: -0.274593 -0.006608 0.164615 q: -0.033350 0.824185 0.047757 0.563317 
time: 1403637008.601666, t: -0.270271 0.004389 0.170243 q: -0.036190 0.818097 0.043389 0.572299 
time: 1403637008.701667, t: -0.266297 0.015115 0.171645 q: -0.041011 0.816070 0.037945 0.575246 
time: 1403637008.801666, t: -0.262340 0.024217 0.167677 q: -0.053121 0.819763 0.027744 0.569558 
time: 1403637008.901666, t: -0.257128 0.029180 0.159131 q: -0.060852 0.824011 0.021283 0.562894 
time: 1403637009.001667, t: -0.249556 0.027440 0.147491 q: -0.057431 0.824424 0.022134 0.562616 
time: 1403637009.101666, t: -0.239477 0.019902 0.133262 q: -0.045375 0.823140 0.029185 0.565270 
time: 1403637009.201667, t: -0.228712 0.009251 0.117547 q: -0.033614 0.822046 0.036524 0.567254 
time: 1403637009.301666, t: -0.216066 -0.002297 0.099578 q: -0.017570 0.821923 0.047102 0.567376 
time: 1403637009.401666, t: -0.203825 -0.011043 0.085585 q: -0.031585 0.817789 0.048324 0.572616 
optimize pose graph 
time: 1403637009.501667, t: -0.201144 -0.019537 0.081763 q: -0.045400 0.808167 0.062386 0.583877 
time: 1403637009.601666, t: -0.201435 -0.024588 0.074393 q: -0.087815 0.786076 0.051396 0.609698 
time: 1403637009.701667, t: -0.210285 -0.031267 0.072181 q: -0.076698 0.791831 0.038322 0.604692 
time: 1403637009.801666, t: -0.211626 -0.030799 0.071551 q: -0.076397 0.791269 0.035057 0.605664 
time: 1403637009.901666, t: -0.213756 -0.031606 0.071492 q: -0.076861 0.791267 0.035788 0.605564 
time: 1403637010.001667, t: -0.214033 -0.031600 0.071216 q: -0.077194 0.791263 0.035673 0.605534 
time: 1403637010.101666, t: -0.214952 -0.032310 0.071783 q: -0.077989 0.791401 0.035447 0.605266 
time: 1403637010.201667, t: -0.214938 -0.032422 0.071840 q: -0.078174 0.791365 0.035327 0.605295 
time: 1403637010.301666, t: -0.214860 -0.032435 0.071920 q: -0.078481 0.791588 0.035196 0.604971 
time: 1403637010.401666, t: -0.214756 -0.032446 0.072031 q: -0.078389 0.791530 0.035178 0.605060 
time: 1403637010.501667, t: -0.214688 -0.032504 0.072014 q: -0.078356 0.791609 0.035127 0.604964 

Done.
time: 1403637010.601666, t: -0.214762 -0.032535 0.072025 q: -0.078422 0.791639 0.035068 0.604920 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731010552.933692291]: Shutdown request received.[0m
[33m[ WARN] [1731010552.933748749]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731010552.934569910]: Shutdown request received.[0m
[33m[ WARN] [1731010552.934609658]: Reason given for shutdown: [user request][0m
killed
