/SLAM-Hive/slam_hive_results/mapping_results/3363/2280_vins-fusion-stereo+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/36b7b90a-9d65-11ef-8bec-0242ac110002/roslaunch-19b860b93304-118.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
[31m[ERROR] [1731024350.864806583]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731024350.867448904]: init begins[0m
[31m[ERROR] [1731024350.868590346]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://19b860b93304:43105/[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] [1731024352.021955630]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731024352.024563727]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
config_file: /slamhive/mappingtask.yaml
result path /home/output/vio.csv
[33m[ WARN] [1731024352.038411732]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731024352.038672804]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731024352.038699720]: ROW: 480 COL: 752 [0m
no imu, fix extrinsic param; no time offset calibration
 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 9.8
[0m[ INFO] [1731024352.041049818]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731024352.043764154]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731024352.043928352]: waiting for image and imu...[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://19b860b93304:11311/[0m
]2;roscore http://19b860b93304:11311/
[1msetting /run_id to 36b7b90a-9d65-11ef-8bec-0242ac110002[0m
loop start load vocabulary
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1731024360.493863867]: 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: 327385842.57 
[0m[ INFO] [1731024361.888847282]: Initialization finish![0m
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time: 1403638531.627830, t: 0.138888 0.068589 0.052282 q: 0.995781 -0.088095 -0.014522 0.021170 
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time: 1403638531.927830, t: 0.138844 0.068462 0.052319 q: 0.995769 -0.088039 -0.014619 0.021879 
optimize pose graph 
time: 1403638532.027829, t: 0.138831 0.068413 0.052323 q: 0.995770 -0.087997 -0.014602 0.022047 
time: 1403638532.127830, t: 0.138853 0.068417 0.052338 q: 0.995770 -0.087982 -0.014596 0.022107 
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time: 1403638532.527829, t: 0.138846 0.068494 0.052328 q: 0.995767 -0.088096 -0.014688 0.021724 
time: 1403638532.627830, t: 0.138843 0.068484 0.052325 q: 0.995766 -0.088093 -0.014706 0.021758 
time: 1403638532.727829, t: 0.138832 0.068467 0.052314 q: 0.995770 -0.088042 -0.014678 0.021817 
time: 1403638532.827830, t: 0.138849 0.068461 0.052324 q: 0.995768 -0.088037 -0.014660 0.021904 
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time: 1403638536.027829, t: 0.138889 0.068521 0.052157 q: 0.995774 -0.087989 -0.014713 0.021788 
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time: 1403638538.127830, t: 0.138994 0.068578 0.052152 q: 0.995762 -0.088130 -0.014622 0.021863 
time: 1403638538.227829, t: 0.139006 0.068575 0.052139 q: 0.995762 -0.088110 -0.014651 0.021922 
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time: 1403638539.227829, t: 0.152494 0.057876 0.030877 q: 0.995642 -0.088310 0.021176 0.021193 
time: 1403638539.327830, t: 0.161706 0.087367 0.087580 q: 0.995702 -0.086940 0.024048 0.020971 
time: 1403638539.427830, t: 0.182468 0.075339 0.088699 q: 0.995799 -0.086662 0.021486 0.020316 
time: 1403638539.527829, t: 0.202363 0.077228 0.095097 q: 0.995943 -0.085773 0.018880 0.019581 
time: 1403638539.627830, t: 0.227143 0.076818 0.093074 q: 0.996063 -0.084554 0.018265 0.019400 
time: 1403638539.727829, t: 0.302806 0.076162 0.088546 q: 0.996211 -0.083490 0.015248 0.018986 
time: 1403638539.827830, t: 0.299029 0.078704 0.094920 q: 0.996339 -0.082536 0.013175 0.017973 
time: 1403638539.927830, t: 0.313055 0.079230 0.104534 q: 0.996512 -0.081143 0.006436 0.018382 
time: 1403638540.027829, t: 0.329442 0.078043 0.111967 q: 0.996568 -0.080321 -0.003467 0.019740 
optimize pose graph 
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time: 1403638540.227829, t: 0.368334 0.081306 0.150192 q: 0.996533 -0.079797 -0.014245 0.018737 
time: 1403638540.327830, t: 0.393916 0.080147 0.171114 q: 0.996670 -0.079777 -0.003374 0.016551 
time: 1403638540.427830, t: 0.422528 0.095061 0.199730 q: 0.996964 -0.076643 0.004551 0.012939 
time: 1403638540.527829, t: 0.452286 0.093149 0.241258 q: 0.997656 -0.067659 0.005449 0.008662 
time: 1403638540.627830, t: 0.475515 0.098464 0.282486 q: 0.998609 -0.052389 0.005654 0.001880 
time: 1403638540.727829, t: 0.503271 0.098925 0.322802 q: 0.999306 -0.034610 0.006906 -0.011947 
time: 1403638540.827830, t: 0.529797 0.090691 0.366796 q: 0.999478 -0.012861 0.007065 -0.028770 
time: 1403638540.927830, t: 0.554336 0.079913 0.412419 q: 0.998855 0.012293 0.006416 -0.045793 
time: 1403638541.027829, t: 0.578569 0.068161 0.457092 q: 0.997701 0.037307 0.006577 -0.056190 
time: 1403638541.127830, t: 0.599577 0.048969 0.502274 q: 0.996404 0.056373 0.007843 -0.062768 
time: 1403638541.227829, t: 0.617968 0.028080 0.547276 q: 0.995303 0.068786 0.007066 -0.067747 
time: 1403638541.327830, t: 0.634842 -0.005825 0.600842 q: 0.994658 0.074948 0.006843 -0.070648 
time: 1403638541.427830, t: 0.658739 -0.034350 0.646504 q: 0.994460 0.077831 0.006205 -0.070374 
time: 1403638541.527829, t: 0.690480 -0.071110 0.691900 q: 0.994390 0.077204 0.008069 -0.071858 
time: 1403638541.627830, t: 0.725055 -0.115847 0.736732 q: 0.994110 0.079132 0.010382 -0.073318 
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time: 1403638541.827830, t: 0.811910 -0.224313 0.819791 q: 0.992278 0.100877 0.011629 -0.071222 
time: 1403638541.927830, t: 0.863683 -0.275104 0.853470 q: 0.990267 0.117426 0.009711 -0.074079 
optimize pose graph 
time: 1403638542.027829, t: 0.907509 -0.334583 0.889788 q: 0.987358 0.136922 0.007333 -0.079522 
time: 1403638542.127830, t: 0.956046 -0.402604 0.918302 q: 0.983493 0.158231 0.004737 -0.087641 
time: 1403638542.327830, t: 1.019073 -0.517874 0.999029 q: 0.972012 0.209142 0.001159 -0.107006 
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time: 1403638542.727829, t: 1.103737 -0.771809 1.156037 q: 0.955127 0.253681 0.032218 -0.149466 
time: 1403638542.827830, t: 1.128895 -0.844541 1.173845 q: 0.954939 0.259890 0.023609 -0.141390 
time: 1403638542.927830, t: 1.157173 -0.918261 1.187213 q: 0.955114 0.263237 0.014202 -0.135137 
time: 1403638543.027829, t: 1.187205 -0.992221 1.197413 q: 0.955399 0.264601 0.007840 -0.130911 
time: 1403638543.127830, t: 1.218681 -1.071548 1.204037 q: 0.955934 0.264626 0.004788 -0.127041 
time: 1403638543.327830, t: 1.267206 -1.232031 1.224472 q: 0.956931 0.262443 0.003608 -0.124068 
time: 1403638543.427830, t: 1.282211 -1.315237 1.238079 q: 0.956365 0.264239 0.002711 -0.124646 
time: 1403638543.527829, t: 1.293678 -1.399181 1.251135 q: 0.953746 0.271811 0.001528 -0.128390 
time: 1403638543.627830, t: 1.304162 -1.482886 1.268781 q: 0.948473 0.285155 0.000917 -0.138150 
time: 1403638543.727829, t: 1.309777 -1.569022 1.281948 q: 0.940961 0.303960 0.001522 -0.148990 
time: 1403638543.927830, t: 1.347186 -1.751271 1.298667 q: 0.921341 0.348971 0.004307 -0.171266 
time: 1403638544.027829, t: 1.370300 -1.843687 1.299530 q: 0.912778 0.369175 0.002363 -0.174757 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403638620.027829, t: 2.391785 -1.245903 3.095396 q: 0.972543 -0.212239 0.011638 0.094765 
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time: 1403638620.727829, t: 2.493565 -0.705158 3.385105 q: 0.973316 -0.213205 0.003567 0.084771 
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time: 1403638620.927830, t: 2.497911 -0.544310 3.448031 q: 0.974192 -0.212253 -0.003868 0.076700 
time: 1403638621.027829, t: 2.495645 -0.463213 3.478203 q: 0.974661 -0.212756 -0.001976 0.069044 
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time: 1403638621.327830, t: 2.508165 -0.224955 3.551631 q: 0.975934 -0.209483 0.003188 0.060497 
time: 1403638621.427830, t: 2.518224 -0.152013 3.572629 q: 0.976273 -0.208350 0.005489 0.058742 
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time: 1403638621.627830, t: 2.524002 -0.013607 3.615194 q: 0.976765 -0.206784 0.012153 0.054988 
time: 1403638621.727829, t: 2.516933 0.051812 3.634939 q: 0.976908 -0.206313 0.013543 0.053864 
time: 1403638621.827830, t: 2.508210 0.112907 3.654218 q: 0.976907 -0.206616 0.017262 0.051623 
time: 1403638621.927830, t: 2.495754 0.170803 3.670709 q: 0.976856 -0.206841 0.022936 0.049422 
time: 1403638622.027829, t: 2.479024 0.220297 3.686915 q: 0.976841 -0.206537 0.025125 0.049919 
time: 1403638622.227829, t: 2.426094 0.318452 3.700454 q: 0.977000 -0.204350 0.023273 0.056315 
time: 1403638622.327830, t: 2.404891 0.359837 3.698148 q: 0.976974 -0.203623 0.023195 0.059347 
time: 1403638622.427830, t: 2.388399 0.398010 3.686884 q: 0.976813 -0.205123 0.021425 0.057470 
time: 1403638622.527829, t: 2.377896 0.435759 3.666521 q: 0.976674 -0.206494 0.020990 0.055031 
time: 1403638622.627830, t: 2.376331 0.464162 3.642082 q: 0.976338 -0.209128 0.022940 0.050031 
optimize pose graph 
time: 1403638622.727829, t: 2.381653 0.487551 3.612522 q: 0.975767 -0.210832 0.035634 0.046474 
time: 1403638622.927830, t: 2.390748 0.514969 3.521300 q: 0.974779 -0.212442 0.050837 0.045714 
time: 1403638623.027829, t: 2.383441 0.521197 3.463759 q: 0.975126 -0.211951 0.041021 0.050240 
time: 1403638623.127830, t: 2.370015 0.523065 3.402805 q: 0.975430 -0.210738 0.031783 0.055815 
time: 1403638623.227829, t: 2.349835 0.519340 3.338418 q: 0.975612 -0.209210 0.026944 0.060711 
time: 1403638623.327830, t: 2.326681 0.516207 3.270547 q: 0.975745 -0.208240 0.021129 0.064124 
time: 1403638623.427830, t: 2.298077 0.511029 3.200560 q: 0.975796 -0.208377 0.016477 0.064267 
time: 1403638623.527829, t: 2.263723 0.506358 3.131314 q: 0.975849 -0.207721 0.015683 0.065761 
time: 1403638623.727829, t: 2.214679 0.491607 2.974077 q: 0.975537 -0.210445 0.014971 0.061769 
time: 1403638623.827830, t: 2.199567 0.482103 2.887875 q: 0.975382 -0.211624 0.013259 0.060574 
time: 1403638623.927830, t: 2.185720 0.471339 2.798347 q: 0.975099 -0.213183 0.010179 0.060263 
time: 1403638624.027829, t: 2.170633 0.458542 2.712197 q: 0.974842 -0.214172 0.008562 0.061160 
time: 1403638624.127830, t: 2.150315 0.443536 2.625645 q: 0.974625 -0.214118 0.007614 0.064820 
time: 1403638624.227829, t: 2.125830 0.426439 2.540279 q: 0.974391 -0.213970 0.007414 0.068736 
time: 1403638624.327830, t: 2.095021 0.411341 2.453687 q: 0.974157 -0.214254 0.008369 0.071013 
time: 1403638624.427830, t: 2.061442 0.393770 2.368032 q: 0.973885 -0.215087 0.008323 0.072220 
time: 1403638624.527829, t: 2.022291 0.378221 2.286360 q: 0.973500 -0.215762 0.013179 0.074641 
time: 1403638624.627830, t: 1.979655 0.364550 2.202671 q: 0.973033 -0.215275 0.029034 0.077592 
optimize pose graph 
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time: 1403638624.827830, t: 1.890495 0.337883 2.024940 q: 0.975237 -0.212187 0.015573 0.060390 
time: 1403638624.927830, t: 1.857868 0.318236 1.926160 q: 0.976561 -0.207148 0.009455 0.057692 
time: 1403638625.027829, t: 1.823615 0.293209 1.827602 q: 0.977749 -0.200691 0.008654 0.060462 
time: 1403638625.127830, t: 1.790928 0.270049 1.728795 q: 0.978644 -0.194646 0.007987 0.065620 
time: 1403638625.227829, t: 1.752682 0.253706 1.630001 q: 0.979283 -0.190844 0.006921 0.067348 
time: 1403638625.327830, t: 1.708390 0.240536 1.535260 q: 0.979680 -0.188994 0.007073 0.066770 
time: 1403638625.427830, t: 1.671156 0.223616 1.435272 q: 0.979910 -0.188033 0.007472 0.066063 
time: 1403638625.527829, t: 1.639521 0.207784 1.332280 q: 0.979978 -0.187770 0.007919 0.065746 
time: 1403638625.627830, t: 1.612778 0.195561 1.225187 q: 0.979963 -0.188103 0.005446 0.065272 
time: 1403638625.727829, t: 1.591036 0.179242 1.116642 q: 0.979945 -0.187789 0.000390 0.066649 
time: 1403638625.827830, t: 1.568071 0.167772 1.011184 q: 0.979800 -0.187817 -0.007248 0.068299 
time: 1403638625.927830, t: 1.542335 0.157514 0.907042 q: 0.979667 -0.188727 -0.009261 0.067440 
time: 1403638626.027829, t: 1.515249 0.150056 0.810720 q: 0.979471 -0.189314 -0.010946 0.068394 
time: 1403638626.127830, t: 1.480756 0.144864 0.715089 q: 0.979336 -0.189044 -0.011890 0.070869 
time: 1403638626.227829, t: 1.443845 0.141303 0.628522 q: 0.979240 -0.190017 -0.011835 0.069584 
time: 1403638626.327830, t: 1.403540 0.140944 0.542187 q: 0.979175 -0.192913 -0.008672 0.062648 
time: 1403638626.427830, t: 1.363124 0.139552 0.459206 q: 0.979163 -0.195177 -0.005137 0.055857 
time: 1403638626.527829, t: 1.321096 0.136496 0.383777 q: 0.979133 -0.195745 -0.007535 0.054084 
time: 1403638626.627830, t: 1.277904 0.135590 0.306097 q: 0.979138 -0.195162 -0.011248 0.055450 
time: 1403638626.727829, t: 1.233809 0.132967 0.229736 q: 0.979166 -0.194187 -0.016019 0.057181 
time: 1403638626.827830, t: 1.200657 0.130488 0.158986 q: 0.979106 -0.193333 -0.021636 0.059203 
time: 1403638626.927830, t: 1.174126 0.128743 0.090473 q: 0.979086 -0.193009 -0.025690 0.058976 
optimize pose graph 
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time: 1403638627.127830, t: 1.129657 0.122552 -0.027031 q: 0.979302 -0.191832 -0.025096 0.059476 
time: 1403638627.327830, t: 1.087332 0.121402 -0.130953 q: 0.979438 -0.192084 -0.025237 0.056278 
time: 1403638627.527829, t: 1.037520 0.123957 -0.209406 q: 0.979475 -0.192339 -0.024477 0.055103 
time: 1403638627.627830, t: 1.012616 0.126375 -0.241417 q: 0.979407 -0.193940 -0.021238 0.051936 
time: 1403638627.727829, t: 0.988824 0.125893 -0.268225 q: 0.979418 -0.194671 -0.016043 0.050847 
time: 1403638627.827830, t: 0.966372 0.122260 -0.294243 q: 0.979325 -0.195563 -0.014034 0.049806 
time: 1403638627.927830, t: 0.943847 0.116531 -0.320128 q: 0.979155 -0.196311 -0.016303 0.049511 
time: 1403638628.027829, t: 0.922524 0.115482 -0.338909 q: 0.978948 -0.197223 -0.019282 0.048911 
time: 1403638628.127830, t: 0.903169 0.112397 -0.355883 q: 0.978760 -0.197938 -0.021313 0.048946 
time: 1403638628.227829, t: 0.890280 0.105014 -0.370170 q: 0.978550 -0.198756 -0.022019 0.049509 
time: 1403638628.327830, t: 0.873626 0.090253 -0.379746 q: 0.978336 -0.199432 -0.023128 0.050501 
time: 1403638628.427830, t: 0.863412 0.080163 -0.386523 q: 0.978345 -0.198683 -0.022315 0.053559 
time: 1403638628.527829, t: 0.859168 0.071091 -0.388789 q: 0.978567 -0.195610 -0.011964 0.063252 
time: 1403638628.627830, t: 0.858017 0.062349 -0.392219 q: 0.978637 -0.193206 -0.000242 0.070291 
time: 1403638628.727829, t: 0.852046 0.051285 -0.399774 q: 0.978599 -0.192417 0.000742 0.072935 
time: 1403638628.827830, t: 0.843174 0.045945 -0.405402 q: 0.978529 -0.194108 -0.001872 0.069272 
time: 1403638628.927830, t: 0.829508 0.043559 -0.411206 q: 0.978427 -0.196206 -0.002098 0.064655 
time: 1403638629.027829, t: 0.817225 0.042153 -0.416916 q: 0.978373 -0.198200 -0.004013 0.059056 
time: 1403638629.127830, t: 0.807755 0.042052 -0.420924 q: 0.978372 -0.199328 -0.006394 0.054911 
optimize pose graph 
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time: 1403638629.327830, t: 0.795542 0.035210 -0.433905 q: 0.978331 -0.200284 -0.010006 0.051530 
time: 1403638629.427830, t: 0.790106 0.029265 -0.440654 q: 0.978145 -0.200367 -0.017111 0.052838 
time: 1403638629.527829, t: 0.786881 0.022037 -0.444954 q: 0.977910 -0.199531 -0.025428 0.056861 
time: 1403638629.627830, t: 0.787160 0.014463 -0.444787 q: 0.977900 -0.196880 -0.025903 0.065407 
time: 1403638629.727829, t: 0.791234 0.006987 -0.441743 q: 0.977898 -0.193290 -0.018788 0.077463 
time: 1403638629.827830, t: 0.795940 0.005384 -0.434404 q: 0.977923 -0.191986 -0.008391 0.082085 
time: 1403638629.927830, t: 0.793565 0.005917 -0.427786 q: 0.977906 -0.194464 0.002055 0.076678 
time: 1403638630.027829, t: 0.783017 0.010194 -0.419510 q: 0.977826 -0.198976 0.011690 0.064247 
time: 1403638630.127830, t: 0.760654 0.015019 -0.409861 q: 0.977786 -0.201478 0.010915 0.056765 
time: 1403638630.327830, t: 0.698137 0.019068 -0.391542 q: 0.977643 -0.203290 -0.006833 0.053304 
time: 1403638630.427830, t: 0.734373 0.024115 -0.429529 q: 0.978293 -0.195620 -0.019090 0.065663 
time: 1403638630.527829, t: 0.701257 0.035166 -0.352277 q: 0.978642 -0.198195 -0.000395 0.054577 
time: 1403638630.627830, t: 0.691194 0.031679 -0.331116 q: 0.978475 -0.199061 0.001050 0.054413 
time: 1403638630.727829, t: 0.681175 0.031900 -0.368512 q: 0.979714 -0.187557 -0.043474 0.055607 
time: 1403638630.827830, t: 0.684214 0.080293 -0.378283 q: 0.979229 -0.191273 -0.040168 0.053956 
time: 1403638630.927830, t: 0.664806 0.081912 -0.426526 q: 0.979640 -0.189137 -0.041021 0.053391 
time: 1403638631.027829, t: 0.609830 0.047639 -0.338707 q: 0.979542 -0.189727 -0.038522 0.054921 
time: 1403638631.127830, t: 0.610074 0.045646 -0.336468 q: 0.979531 -0.189735 -0.038314 0.055233 
time: 1403638631.227829, t: 0.610537 0.045323 -0.336154 q: 0.979542 -0.189758 -0.038311 0.054965 
time: 1403638631.327830, t: 0.608347 0.045537 -0.335473 q: 0.979541 -0.189821 -0.037989 0.054995 
optimize pose graph 
time: 1403638631.427830, t: 0.607710 0.045610 -0.335221 q: 0.979547 -0.189891 -0.038009 0.054632 
time: 1403638631.527829, t: 0.607609 0.045508 -0.335117 q: 0.979528 -0.189955 -0.038161 0.054639 
time: 1403638631.627830, t: 0.607467 0.045566 -0.335256 q: 0.979525 -0.190041 -0.038218 0.054354 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731024476.200632266]: Shutdown request received.[0m
[33m[ WARN] [1731024476.200685397]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731024476.201561453]: Shutdown request received.[0m
[33m[ WARN] [1731024476.201589575]: Reason given for shutdown: [user request][0m
killed
