/SLAM-Hive/slam_hive_results/mapping_results/3391/2340_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1731030004.690300859]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731030004.702131456]: init begins[0m
[31m[ERROR] [1731030004.706234650]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/60d98242-9d72-11ef-8a57-0242ac110002/roslaunch-b3ea292408e8-117.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
[1mstarted roslaunch server http://b3ea292408e8:35013/[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] [1731030005.947579039]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://b3ea292408e8:11311/[0m
]2;roscore http://b3ea292408e8:11311/
[1msetting /run_id to 60d98242-9d72-11ef-8a57-0242ac110002[0m
config_file: /slamhive/mappingtask.yaml
[0m[ INFO] [1731030005.962259137]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
result path /home/output/vio.csv
[33m[ WARN] [1731030005.966889061]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731030005.967074432]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731030005.967096555]: 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] [1731030005.967329675]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731030005.967534023]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731030005.967694830]: 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 [231][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1731030012.570172379]: 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: 327393156.19 
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] [1731030016.057007074]: gyroscope bias initial calibration -0.00582878   0.0243179   0.0801026[0m
[0m[ INFO] [1731030016.136211471]: 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 
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time: 1403636860.301666, t: 0.019111 -0.091700 0.297987 q: -0.052387 0.811817 0.055101 0.578942 
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time: 1403636866.601666, t: 0.011853 -0.092902 0.403539 q: -0.024498 0.816060 0.033505 0.576475 
wait for imu ... 
time: 1403636866.701667, t: 0.012466 -0.098900 0.350818 q: -0.021006 0.823472 0.034326 0.565928 
time: 1403636866.801666, t: 0.008304 -0.103658 0.309187 q: -0.024982 0.829021 0.038653 0.557320 
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time: 1403636867.901666, t: -0.077946 -0.114542 0.222016 q: -0.042125 0.942297 0.051308 0.328129 
optimize pose graph 
time: 1403636868.001667, t: -0.077814 -0.113638 0.225873 q: -0.042173 0.943165 0.046449 0.326348 
time: 1403636868.101666, t: -0.078025 -0.112437 0.231379 q: -0.043488 0.938030 0.045403 0.340802 
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time: 1403636875.201667, t: -0.016881 -0.047806 0.182352 q: -0.048985 0.921655 -0.002138 0.384900 
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time: 1403636875.901666, t: -0.201663 -0.072256 0.168973 q: -0.021538 0.915191 -0.133437 0.379680 
optimize pose graph 
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time: 1403636876.601666, t: -0.158439 -0.412312 0.181786 q: 0.073075 0.892350 -0.226294 0.383617 
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time: 1403636881.001667, t: -0.304358 -0.119558 0.273084 q: -0.006516 0.908817 -0.060250 0.412769 
time: 1403636881.101666, t: -0.300373 -0.082134 0.275297 q: -0.014497 0.904098 -0.043662 0.424842 
time: 1403636881.201667, t: -0.285312 -0.045278 0.276860 q: -0.029824 0.900336 -0.022854 0.433570 
time: 1403636881.301666, t: -0.260014 -0.015288 0.279743 q: -0.046391 0.897928 0.000275 0.437691 
time: 1403636881.401666, t: -0.223918 0.002559 0.282907 q: -0.054717 0.896260 0.020209 0.439676 
time: 1403636881.501667, t: -0.177833 0.005391 0.284923 q: -0.054739 0.893663 0.035545 0.443966 
time: 1403636881.601666, t: -0.126368 -0.006651 0.285740 q: -0.051232 0.890089 0.048183 0.450327 
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time: 1403636881.901666, t: 0.023146 -0.112967 0.270720 q: -0.036641 0.890649 0.055527 0.449799 
optimize pose graph 
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time: 1403636882.101666, t: 0.075200 -0.209526 0.251376 q: -0.030141 0.892324 0.030896 0.449328 
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time: 1403636882.301666, t: 0.067598 -0.284002 0.223532 q: -0.017995 0.888613 0.013866 0.458096 
time: 1403636882.401666, t: 0.048554 -0.298325 0.208097 q: -0.020107 0.886404 0.013390 0.462283 
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time: 1403636882.601666, t: 0.020886 -0.280659 0.179086 q: -0.040704 0.881050 0.023158 0.470700 
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time: 1403636883.301666, t: 0.126442 -0.151878 0.046116 q: -0.125895 0.814848 0.130391 0.550610 
time: 1403636883.401666, t: 0.135969 -0.142964 0.030370 q: -0.131134 0.811055 0.134846 0.553905 
time: 1403636883.501667, t: 0.142911 -0.137904 0.019980 q: -0.136519 0.805727 0.139749 0.559139 
time: 1403636883.601666, t: 0.147920 -0.134289 0.013695 q: -0.141718 0.798259 0.146126 0.566874 
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time: 1403636883.901666, t: 0.157200 -0.129448 0.000569 q: -0.154379 0.792388 0.158481 0.568482 
optimize pose graph 
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time: 1403636884.101666, t: 0.159612 -0.129871 -0.002687 q: -0.161658 0.785127 0.162619 0.575324 
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time: 1403636884.601666, t: 0.157684 -0.130599 -0.001867 q: -0.158945 0.778642 0.163826 0.584478 
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time: 1403636899.401666, t: 0.272137 -0.205085 0.264420 q: -0.110125 0.798934 0.132717 0.576163 
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time: 1403636899.901666, t: 0.376928 -0.256030 0.289962 q: -0.072267 0.818107 0.076171 0.565399 
optimize pose graph 
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time: 1403636900.101666, t: 0.426631 -0.290658 0.291394 q: -0.063956 0.809542 0.076711 0.578504 
time: 1403636900.201667, t: 0.449959 -0.309120 0.298848 q: -0.063020 0.805667 0.077840 0.583840 
time: 1403636900.301666, t: 0.469738 -0.327586 0.314712 q: -0.062113 0.806287 0.079996 0.582790 
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time: 1403636900.501667, t: 0.501472 -0.364035 0.363285 q: -0.064356 0.814630 0.085425 0.570034 
time: 1403636900.601666, t: 0.516873 -0.382197 0.384826 q: -0.066235 0.816487 0.087434 0.566849 
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time: 1403636901.201667, t: 0.670771 -0.504606 0.403661 q: -0.090387 0.818407 0.078929 0.561969 
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time: 1403636901.701667, t: 0.866574 -0.680779 0.425780 q: -0.073739 0.813409 0.089063 0.570085 
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time: 1403636902.001667, t: 0.988567 -0.796613 0.397907 q: -0.073313 0.812361 0.090638 0.571383 
optimize pose graph 
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time: 1403636902.701667, t: 1.246495 -1.079219 0.302138 q: -0.060502 0.813085 0.089605 0.572017 
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time: 1403636903.301666, t: 1.437434 -1.287031 0.329328 q: -0.068187 0.812954 0.093820 0.570661 
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time: 1403636903.501667, t: 1.493746 -1.348559 0.363378 q: -0.066145 0.813558 0.098552 0.569242 
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time: 1403636903.801666, t: 1.577738 -1.431161 0.368045 q: -0.074396 0.819490 0.095489 0.560164 
time: 1403636904.001667, t: 1.644697 -1.483921 0.379385 q: -0.082563 0.818192 0.090095 0.561808 
optimize pose graph 
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time: 1403636904.201667, t: 1.717182 -1.544760 0.420707 q: -0.088052 0.815907 0.085859 0.564951 
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time: 1403636904.901666, t: 1.991869 -1.822284 0.533826 q: -0.066330 0.813737 0.089491 0.570459 
time: 1403636905.001667, t: 2.031687 -1.862635 0.535588 q: -0.063069 0.813766 0.089489 0.570788 
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time: 1403636905.201667, t: 2.110154 -1.941937 0.538173 q: -0.057838 0.812924 0.088393 0.572709 
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time: 1403636985.701667, t: 8.630193 -7.030850 -1.515801 q: 0.193598 0.779946 -0.245331 0.542233 
time: 1403636985.801666, t: 8.724351 -7.046723 -1.504161 q: 0.193239 0.779081 -0.238774 0.546515 
time: 1403636985.901666, t: 8.818479 -7.058144 -1.490148 q: 0.194811 0.769843 -0.232042 0.561736 
time: 1403636986.001667, t: 8.910048 -7.062183 -1.481821 q: 0.197488 0.759067 -0.225986 0.577707 
optimize pose graph 
time: 1403636986.101666, t: 8.994538 -7.057237 -1.484250 q: 0.197822 0.758709 -0.223720 0.578944 
time: 1403636986.201667, t: 9.074146 -7.044716 -1.496523 q: 0.193057 0.766927 -0.226658 0.568488 
time: 1403636986.301666, t: 9.147531 -7.025337 -1.512429 q: 0.189063 0.776377 -0.229756 0.555614 
time: 1403636986.401666, t: 9.221669 -7.001411 -1.530949 q: 0.184890 0.781081 -0.232623 0.549195 
time: 1403636986.601666, t: 9.370946 -6.940743 -1.560313 q: 0.170507 0.781135 -0.241882 0.549772 
time: 1403636986.701667, t: 9.442812 -6.908649 -1.559979 q: 0.165497 0.780559 -0.245168 0.550664 
time: 1403636986.801666, t: 9.514442 -6.878605 -1.550650 q: 0.159969 0.779504 -0.248635 0.552235 
time: 1403636986.901666, t: 9.583263 -6.849070 -1.531239 q: 0.158964 0.778322 -0.249707 0.553707 
time: 1403636987.001667, t: 9.647591 -6.821481 -1.502343 q: 0.161672 0.777766 -0.248531 0.554234 
time: 1403636987.101666, t: 9.707478 -6.795088 -1.470181 q: 0.167366 0.777374 -0.246179 0.554142 
time: 1403636987.201667, t: 9.766581 -6.767766 -1.440683 q: 0.170404 0.776253 -0.245991 0.554872 
time: 1403636987.301666, t: 9.821517 -6.740846 -1.418228 q: 0.171807 0.774497 -0.246924 0.556476 
time: 1403636987.401666, t: 9.876357 -6.711960 -1.401749 q: 0.171591 0.773170 -0.246304 0.558659 
time: 1403636987.501667, t: 9.928253 -6.683765 -1.390307 q: 0.172784 0.771352 -0.240799 0.563184 
time: 1403636987.601666, t: 9.978737 -6.651269 -1.383913 q: 0.175551 0.769114 -0.234905 0.567860 
time: 1403636987.701667, t: 10.023116 -6.616058 -1.381878 q: 0.175577 0.768269 -0.231513 0.570383 
time: 1403636987.801666, t: 10.063036 -6.577406 -1.377163 q: 0.172914 0.768405 -0.229844 0.571688 
time: 1403636987.901666, t: 10.097532 -6.535834 -1.363064 q: 0.167733 0.769314 -0.230812 0.571618 
time: 1403636988.001667, t: 10.127101 -6.491817 -1.345574 q: 0.158657 0.771499 -0.235145 0.569494 
time: 1403636988.101666, t: 10.153480 -6.445921 -1.329602 q: 0.149796 0.774019 -0.241168 0.565945 
optimize pose graph 
time: 1403636988.201667, t: 10.174445 -6.402424 -1.317832 q: 0.143980 0.774885 -0.245786 0.564281 
time: 1403636988.301666, t: 10.190395 -6.361969 -1.310435 q: 0.141181 0.771122 -0.248658 0.568865 
time: 1403636988.401666, t: 10.200129 -6.327620 -1.299455 q: 0.142289 0.764669 -0.248619 0.577255 
time: 1403636988.501667, t: 10.202530 -6.292849 -1.280911 q: 0.145839 0.760530 -0.246331 0.582792 
time: 1403636988.601666, t: 10.194006 -6.259475 -1.256440 q: 0.146454 0.758285 -0.245637 0.585848 
time: 1403636988.701667, t: 10.176795 -6.228844 -1.233147 q: 0.146171 0.757227 -0.245773 0.587228 
time: 1403636988.801666, t: 10.149722 -6.200014 -1.214769 q: 0.147396 0.755551 -0.244680 0.589533 
time: 1403636988.901666, t: 10.115006 -6.172040 -1.203008 q: 0.146866 0.753009 -0.244827 0.592848 
time: 1403636989.001667, t: 10.068305 -6.144448 -1.196251 q: 0.146100 0.750385 -0.245499 0.596077 
time: 1403636989.101666, t: 10.011198 -6.118393 -1.194161 q: 0.145562 0.748596 -0.246427 0.598072 
time: 1403636989.201667, t: 9.942041 -6.092930 -1.194769 q: 0.145588 0.748565 -0.247224 0.597774 
time: 1403636989.301666, t: 9.862389 -6.068786 -1.192545 q: 0.151345 0.754829 -0.245052 0.589303 
time: 1403636989.401666, t: 9.775435 -6.045149 -1.183068 q: 0.157792 0.764737 -0.242488 0.575742 
time: 1403636989.501667, t: 9.682325 -6.021908 -1.166923 q: 0.159483 0.772414 -0.242529 0.564909 
time: 1403636989.601666, t: 9.586062 -5.998370 -1.145328 q: 0.162294 0.776141 -0.241335 0.559485 
time: 1403636989.701667, t: 9.488626 -5.974664 -1.125849 q: 0.166758 0.779105 -0.238556 0.555228 
time: 1403636989.801666, t: 9.391722 -5.948541 -1.112190 q: 0.168631 0.780405 -0.237533 0.553272 
time: 1403636989.901666, t: 9.298573 -5.923100 -1.101393 q: 0.168170 0.778889 -0.237643 0.555497 
time: 1403636990.001667, t: 9.202268 -5.895204 -1.095737 q: 0.168164 0.774038 -0.237559 0.562273 
time: 1403636990.101666, t: 9.107658 -5.867652 -1.087552 q: 0.169250 0.770014 -0.236561 0.567865 
time: 1403636990.201667, t: 9.008287 -5.837099 -1.073485 q: 0.170609 0.769782 -0.235300 0.568298 
optimize pose graph 
time: 1403636990.301666, t: 8.909128 -5.805219 -1.053185 q: 0.170911 0.773280 -0.234035 0.563965 
time: 1403636990.401666, t: 8.806579 -5.768608 -1.028043 q: 0.171012 0.776678 -0.232669 0.559814 
time: 1403636990.501667, t: 8.706369 -5.731747 -1.005346 q: 0.167682 0.779566 -0.232915 0.556695 
time: 1403636990.601666, t: 8.606348 -5.692775 -0.989949 q: 0.166240 0.781272 -0.232143 0.555057 
time: 1403636990.701667, t: 8.508762 -5.654142 -0.978868 q: 0.165418 0.783551 -0.230984 0.552568 
time: 1403636990.801666, t: 8.411732 -5.614297 -0.976487 q: 0.165442 0.784818 -0.229557 0.551356 
time: 1403636990.901666, t: 8.316415 -5.573564 -0.980201 q: 0.164546 0.785169 -0.229098 0.551316 
time: 1403636991.001667, t: 8.223595 -5.534280 -0.988593 q: 0.165064 0.785255 -0.228341 0.551352 
time: 1403636991.101666, t: 8.132360 -5.494169 -0.999944 q: 0.165916 0.784801 -0.228040 0.551866 
time: 1403636991.201667, t: 8.045325 -5.454487 -1.012280 q: 0.167118 0.784928 -0.228208 0.551254 
time: 1403636991.301666, t: 7.956379 -5.412285 -1.019914 q: 0.166926 0.785284 -0.229038 0.550460 
time: 1403636991.401666, t: 7.871946 -5.370229 -1.018248 q: 0.166938 0.785829 -0.230375 0.549119 
time: 1403636991.501667, t: 7.787464 -5.325158 -1.006019 q: 0.168159 0.786090 -0.231346 0.547964 
time: 1403636991.601666, t: 7.713168 -5.287038 -0.985253 q: 0.166006 0.785442 -0.234723 0.548112 
time: 1403636991.701667, t: 7.634063 -5.243056 -0.960868 q: 0.160083 0.783876 -0.241665 0.549099 
time: 1403636991.801666, t: 7.563190 -5.205380 -0.932503 q: 0.155330 0.782365 -0.248093 0.549753 
time: 1403636991.901666, t: 7.484829 -5.167567 -0.904869 q: 0.152640 0.781506 -0.253080 0.549455 
time: 1403636992.001667, t: 7.412362 -5.135139 -0.884990 q: 0.155319 0.781207 -0.254211 0.548606 
time: 1403636992.101666, t: 7.335672 -5.103897 -0.869156 q: 0.164720 0.779759 -0.250334 0.549705 
time: 1403636992.201667, t: 7.264143 -5.078624 -0.865880 q: 0.171521 0.776725 -0.247476 0.553204 
time: 1403636992.301666, t: 7.190241 -5.052392 -0.860848 q: 0.174980 0.775699 -0.246780 0.553870 
time: 1403636992.401666, t: 7.120155 -5.025650 -0.863265 q: 0.176607 0.777711 -0.247865 0.550036 
time: 1403636992.501667, t: 7.047020 -4.996287 -0.861897 q: 0.177132 0.780576 -0.249920 0.544853 
time: 1403636992.601666, t: 6.980927 -4.966238 -0.856123 q: 0.179037 0.782071 -0.251099 0.541535 
time: 1403636992.701667, t: 6.916476 -4.935838 -0.841617 q: 0.180511 0.782409 -0.252436 0.539933 
time: 1403636992.801666, t: 6.852193 -4.904730 -0.825678 q: 0.182358 0.782995 -0.253294 0.538058 
time: 1403636992.901666, t: 6.793145 -4.873318 -0.818886 q: 0.185499 0.782551 -0.253322 0.537617 
time: 1403636993.001667, t: 6.736970 -4.842139 -0.814677 q: 0.187386 0.780710 -0.253780 0.539420 
time: 1403636993.101666, t: 6.686257 -4.810518 -0.818126 q: 0.184809 0.776684 -0.255738 0.545166 
time: 1403636993.301666, t: 6.585748 -4.741294 -0.807875 q: 0.169184 0.776224 -0.244671 0.555867 
time: 1403636993.401666, t: 6.539778 -4.705712 -0.793668 q: 0.159181 0.779113 -0.231512 0.560398 
time: 1403636993.501667, t: 6.492621 -4.668072 -0.770599 q: 0.147492 0.783348 -0.215688 0.563995 
time: 1403636993.601666, t: 6.443492 -4.631163 -0.741028 q: 0.136097 0.788190 -0.198640 0.566372 
time: 1403636993.701667, t: 6.394167 -4.594795 -0.712531 q: 0.125951 0.793188 -0.185351 0.566246 
time: 1403636993.901666, t: 6.293795 -4.520853 -0.675200 q: 0.117020 0.798913 -0.167140 0.565781 
time: 1403636994.001667, t: 6.242552 -4.484502 -0.664243 q: 0.114986 0.796960 -0.161902 0.570456 
time: 1403636994.101666, t: 6.190088 -4.446923 -0.658182 q: 0.117042 0.792284 -0.156842 0.577916 
time: 1403636994.201667, t: 6.135938 -4.408417 -0.655378 q: 0.118342 0.787363 -0.153532 0.585219 
time: 1403636994.301666, t: 6.077600 -4.367340 -0.657799 q: 0.118985 0.782828 -0.152276 0.591469 
time: 1403636994.401666, t: 6.015815 -4.322627 -0.662654 q: 0.120193 0.780309 -0.151342 0.594783 
optimize pose graph 
time: 1403636994.501667, t: 5.948149 -4.272461 -0.669506 q: 0.120314 0.780935 -0.152000 0.593769 
time: 1403636994.601666, t: 5.874758 -4.221122 -0.670599 q: 0.115982 0.784173 -0.155479 0.589447 
time: 1403636994.701667, t: 5.798578 -4.165436 -0.666234 q: 0.109095 0.789549 -0.161417 0.581940 
time: 1403636994.801666, t: 5.719540 -4.109893 -0.655630 q: 0.099450 0.794903 -0.169393 0.574060 
time: 1403636994.901666, t: 5.639239 -4.056539 -0.642708 q: 0.092277 0.796742 -0.175571 0.570842 
time: 1403636995.001667, t: 5.557218 -4.006489 -0.634613 q: 0.092305 0.795023 -0.176472 0.572954 
time: 1403636995.101666, t: 5.473366 -3.960099 -0.630959 q: 0.099414 0.791963 -0.171235 0.577573 
time: 1403636995.201667, t: 5.389206 -3.915100 -0.626724 q: 0.105567 0.789342 -0.166017 0.581578 
time: 1403636995.301666, t: 5.301443 -3.870928 -0.616264 q: 0.108950 0.787960 -0.162322 0.583867 
time: 1403636995.401666, t: 5.211109 -3.825582 -0.599394 q: 0.110743 0.790400 -0.159205 0.581083 
time: 1403636995.501667, t: 5.117950 -3.779223 -0.576201 q: 0.109772 0.795054 -0.158768 0.575007 
time: 1403636995.601666, t: 5.022316 -3.731449 -0.546259 q: 0.108862 0.796831 -0.158585 0.572765 
time: 1403636995.701667, t: 4.927946 -3.684753 -0.517203 q: 0.106526 0.796840 -0.160171 0.572751 
time: 1403636995.801666, t: 4.832594 -3.636292 -0.492937 q: 0.101858 0.796810 -0.163920 0.572581 
time: 1403636995.901666, t: 4.737905 -3.592474 -0.478114 q: 0.094389 0.797908 -0.169491 0.570706 
time: 1403636996.001667, t: 4.641897 -3.549648 -0.467046 q: 0.090774 0.798962 -0.172822 0.568817 
time: 1403636996.101666, t: 4.549248 -3.511997 -0.460520 q: 0.095880 0.800918 -0.169701 0.566161 
time: 1403636996.201667, t: 4.453355 -3.476011 -0.452993 q: 0.101264 0.802127 -0.166165 0.564560 
time: 1403636996.301666, t: 4.363244 -3.443569 -0.440624 q: 0.105077 0.802892 -0.162636 0.563802 
time: 1403636996.401666, t: 4.271927 -3.411699 -0.420249 q: 0.102772 0.803951 -0.158012 0.564032 
time: 1403636996.501667, t: 4.185977 -3.379572 -0.391415 q: 0.098488 0.805796 -0.148717 0.564691 
optimize pose graph 
time: 1403636996.601666, t: 4.099670 -3.345780 -0.356593 q: 0.091582 0.808578 -0.135812 0.565127 
time: 1403636996.701667, t: 4.017917 -3.312250 -0.324682 q: 0.081659 0.811956 -0.119716 0.565444 
time: 1403636996.901666, t: 3.856848 -3.245057 -0.305318 q: 0.053516 0.818217 -0.083712 0.566259 
time: 1403636997.001667, t: 3.780751 -3.211730 -0.307587 q: 0.038320 0.820583 -0.064167 0.566620 
time: 1403636997.101666, t: 3.707107 -3.178642 -0.314862 q: 0.024967 0.822574 -0.046234 0.566225 
time: 1403636997.201667, t: 3.637033 -3.148228 -0.326963 q: 0.014923 0.824049 -0.033205 0.565348 
time: 1403636997.301666, t: 3.570433 -3.120298 -0.341880 q: 0.009113 0.824896 -0.023332 0.564729 
time: 1403636997.401666, t: 3.506650 -3.094189 -0.351173 q: 0.006273 0.825642 -0.017108 0.563900 
time: 1403636997.501667, t: 3.448246 -3.070047 -0.352009 q: 0.005247 0.825393 -0.014178 0.564357 
time: 1403636997.601666, t: 3.395586 -3.045502 -0.345005 q: 0.005113 0.826186 -0.014009 0.563200 
time: 1403636997.701667, t: 3.344545 -3.021855 -0.330893 q: 0.006846 0.826570 -0.014242 0.562613 
time: 1403636997.801666, t: 3.298485 -2.998610 -0.309331 q: 0.009752 0.827661 -0.015061 0.560942 
time: 1403636997.901666, t: 3.261671 -2.975547 -0.281006 q: 0.011974 0.827910 -0.016690 0.560484 
time: 1403636998.001667, t: 3.223655 -2.953762 -0.245013 q: 0.012983 0.827817 -0.018839 0.560532 
time: 1403636998.101666, t: 3.191316 -2.930841 -0.204219 q: 0.013924 0.827967 -0.021003 0.560211 
time: 1403636998.201667, t: 3.166041 -2.909657 -0.163898 q: 0.013034 0.826665 -0.024094 0.562028 
time: 1403636998.301666, t: 3.141754 -2.888693 -0.130356 q: 0.014092 0.827155 -0.025540 0.561216 
time: 1403636998.401666, t: 3.121305 -2.867962 -0.103503 q: 0.013904 0.826794 -0.027130 0.561678 
time: 1403636998.501667, t: 3.104919 -2.848979 -0.079183 q: 0.013398 0.826517 -0.028987 0.562005 
time: 1403636998.601666, t: 3.089715 -2.831130 -0.048405 q: 0.014921 0.823282 -0.028751 0.566707 
optimize pose graph 
time: 1403636998.701667, t: 3.078732 -2.814242 -0.010364 q: 0.018287 0.815130 -0.027145 0.578353 
time: 1403636998.801666, t: 3.066309 -2.799104 0.032508 q: 0.021354 0.810016 -0.025917 0.585445 
time: 1403636998.901666, t: 3.052581 -2.782889 0.074005 q: 0.026853 0.808497 -0.022507 0.587457 
time: 1403636999.001667, t: 3.036233 -2.764653 0.106946 q: 0.030567 0.808882 -0.020650 0.586813 
time: 1403636999.101666, t: 3.016222 -2.743113 0.133419 q: 0.033363 0.809088 -0.019181 0.586427 
time: 1403636999.201667, t: 2.996005 -2.718362 0.153388 q: 0.034908 0.810767 -0.018889 0.584022 
time: 1403636999.301666, t: 2.975456 -2.690980 0.167865 q: 0.033643 0.812483 -0.020320 0.581658 
time: 1403636999.401666, t: 2.951487 -2.660505 0.176638 q: 0.028907 0.813038 -0.024093 0.580993 
time: 1403636999.501667, t: 2.927627 -2.628652 0.180385 q: 0.025987 0.812696 -0.026391 0.581510 
time: 1403636999.601666, t: 2.903754 -2.596331 0.180700 q: 0.024346 0.810538 -0.027983 0.584510 
time: 1403636999.701667, t: 2.875462 -2.563072 0.177696 q: 0.023807 0.808643 -0.028966 0.587104 
time: 1403636999.901666, t: 2.810818 -2.496080 0.166022 q: 0.025431 0.808448 -0.029012 0.587301 
time: 1403637000.001667, t: 2.775773 -2.461183 0.159080 q: 0.029585 0.808365 -0.026503 0.587340 
time: 1403637000.101666, t: 2.736533 -2.424739 0.158797 q: 0.031738 0.809348 -0.024731 0.585950 
time: 1403637000.201667, t: 2.696376 -2.385920 0.167092 q: 0.030922 0.811086 -0.024860 0.583579 
time: 1403637000.301666, t: 2.656005 -2.344111 0.176143 q: 0.029698 0.812508 -0.025761 0.581623 
time: 1403637000.401666, t: 2.615067 -2.301512 0.184150 q: 0.027569 0.811969 -0.027130 0.582418 
time: 1403637000.501667, t: 2.571431 -2.257457 0.185872 q: 0.029641 0.811928 -0.025854 0.582431 
time: 1403637000.601666, t: 2.527841 -2.213266 0.188652 q: 0.030360 0.812099 -0.025486 0.582172 
wait for imu ... 
wait for imu ... 
time: 1403637000.701667, t: 2.481285 -2.166460 0.195557 q: 0.028238 0.811159 -0.027104 0.583515 
time: 1403637000.801666, t: 2.434650 -2.118263 0.211082 q: 0.028216 0.810544 -0.027703 0.584341 
time: 1403637000.901666, t: 2.387776 -2.068033 0.228294 q: 0.027776 0.810646 -0.028732 0.584171 
time: 1403637001.001667, t: 2.338543 -2.019110 0.237757 q: 0.028017 0.810336 -0.029623 0.584545 
time: 1403637001.101666, t: 2.286432 -1.969388 0.241731 q: 0.027732 0.810149 -0.030394 0.584778 
time: 1403637001.201667, t: 2.231873 -1.918966 0.244356 q: 0.026880 0.809494 -0.031636 0.585659 
time: 1403637001.301666, t: 2.174480 -1.869776 0.251145 q: 0.025971 0.809642 -0.032548 0.585445 
time: 1403637001.401666, t: 2.115119 -1.820403 0.266005 q: 0.023605 0.810951 -0.034602 0.583613 
time: 1403637001.501667, t: 2.052088 -1.773963 0.288102 q: 0.023601 0.813965 -0.035636 0.579340 
time: 1403637001.601666, t: 1.991289 -1.726648 0.307780 q: 0.023940 0.815436 -0.036707 0.577186 
time: 1403637001.701667, t: 1.926685 -1.681128 0.326220 q: 0.024315 0.815592 -0.037288 0.576912 
time: 1403637001.801666, t: 1.866095 -1.635734 0.336351 q: 0.023718 0.814715 -0.038672 0.578084 
time: 1403637001.901666, t: 1.804710 -1.591208 0.339672 q: 0.024708 0.816237 -0.038650 0.575893 
time: 1403637002.001667, t: 1.745173 -1.545809 0.337954 q: 0.025361 0.817142 -0.038551 0.574587 
time: 1403637002.101666, t: 1.685014 -1.502404 0.332631 q: 0.025737 0.817779 -0.038789 0.573647 
time: 1403637002.201667, t: 1.628280 -1.459593 0.321521 q: 0.025529 0.817968 -0.038848 0.573383 
time: 1403637002.301666, t: 1.570545 -1.417798 0.307563 q: 0.026933 0.817966 -0.038047 0.573375 
time: 1403637002.401666, t: 1.511909 -1.375680 0.298008 q: 0.028972 0.818452 -0.036333 0.572692 
time: 1403637002.501667, t: 1.457170 -1.333739 0.296303 q: 0.030599 0.817913 -0.035124 0.573452 
time: 1403637002.601666, t: 1.402688 -1.291936 0.304031 q: 0.033238 0.817548 -0.033185 0.573942 
time: 1403637002.701667, t: 1.346234 -1.249009 0.318967 q: 0.034512 0.817847 -0.032985 0.573451 
time: 1403637002.801666, t: 1.292651 -1.204696 0.332005 q: 0.034677 0.817598 -0.033963 0.573739 
optimize pose graph 
time: 1403637002.901666, t: 1.238544 -1.159456 0.339562 q: 0.031627 0.817040 -0.037397 0.574496 
time: 1403637003.001667, t: 1.183612 -1.117938 0.339374 q: 0.031103 0.817254 -0.038734 0.574132 
time: 1403637003.101666, t: 1.132114 -1.072286 0.334336 q: 0.030992 0.817566 -0.040530 0.573571 
time: 1403637003.201667, t: 1.080453 -1.025822 0.324667 q: 0.031784 0.817113 -0.041656 0.574091 
time: 1403637003.301666, t: 1.030780 -0.983810 0.312877 q: 0.031733 0.816045 -0.042975 0.575514 
time: 1403637003.401666, t: 0.980637 -0.938714 0.305316 q: 0.031580 0.814722 -0.044047 0.577313 
time: 1403637003.501667, t: 0.932076 -0.894230 0.306713 q: 0.031063 0.813498 -0.045642 0.578942 
time: 1403637003.601666, t: 0.880913 -0.852072 0.315058 q: 0.030375 0.813798 -0.046602 0.578479 
time: 1403637003.701667, t: 0.829209 -0.808633 0.328021 q: 0.030219 0.813957 -0.047393 0.578199 
time: 1403637003.801666, t: 0.771956 -0.766970 0.337447 q: 0.028577 0.814405 -0.047506 0.577642 
time: 1403637003.901666, t: 0.723438 -0.725283 0.341742 q: 0.029990 0.816233 -0.045353 0.575159 
time: 1403637004.001667, t: 0.669843 -0.685533 0.339375 q: 0.030535 0.818879 -0.042617 0.571567 
time: 1403637004.101666, t: 0.622576 -0.649335 0.332351 q: 0.031102 0.821040 -0.040226 0.568602 
time: 1403637004.201667, t: 0.573054 -0.610747 0.320447 q: 0.031434 0.822279 -0.038215 0.566929 
time: 1403637004.301666, t: 0.529913 -0.571490 0.315380 q: 0.029187 0.822452 -0.037799 0.566826 
time: 1403637004.401666, t: 0.485015 -0.535676 0.317710 q: 0.026688 0.821295 -0.039337 0.568519 
time: 1403637004.501667, t: 0.446465 -0.496975 0.332007 q: 0.026601 0.816962 -0.040809 0.574631 
time: 1403637004.601666, t: 0.403233 -0.459984 0.356720 q: 0.026135 0.814519 -0.043790 0.577892 
time: 1403637004.701667, t: 0.363192 -0.422227 0.384064 q: 0.017972 0.813948 -0.052831 0.578251 
time: 1403637004.801666, t: 0.319780 -0.386444 0.404415 q: 0.011412 0.813465 -0.060725 0.578322 
time: 1403637004.901666, t: 0.278686 -0.354276 0.409462 q: 0.009977 0.816200 -0.064656 0.574053 
optimize pose graph 
time: 1403637005.001667, t: 0.237855 -0.327664 0.399150 q: 0.013500 0.820432 -0.064524 0.567932 
time: 1403637005.101666, t: 0.199324 -0.307238 0.382804 q: 0.021584 0.820343 -0.060545 0.568248 
time: 1403637005.201667, t: 0.164160 -0.288874 0.364949 q: 0.028610 0.819231 -0.056749 0.569931 
time: 1403637005.301666, t: 0.130192 -0.272242 0.343508 q: 0.032165 0.821179 -0.054442 0.567157 
time: 1403637005.401666, t: 0.096045 -0.257967 0.318772 q: 0.032907 0.822140 -0.052611 0.565893 
time: 1403637005.501667, t: 0.058198 -0.242034 0.297180 q: 0.034205 0.819147 -0.048652 0.570493 
time: 1403637005.601666, t: 0.029328 -0.224001 0.281593 q: 0.032202 0.818345 -0.047535 0.571852 
time: 1403637005.701667, t: -0.003605 -0.207900 0.275461 q: 0.025579 0.822507 -0.049834 0.565990 
time: 1403637005.801666, t: -0.030389 -0.191979 0.281299 q: 0.022426 0.824158 -0.050771 0.563633 
time: 1403637005.901666, t: -0.054090 -0.176684 0.294165 q: 0.025797 0.822560 -0.047363 0.566116 
time: 1403637006.001667, t: -0.075422 -0.162440 0.304010 q: 0.028347 0.820099 -0.045324 0.569720 
time: 1403637006.101666, t: -0.095766 -0.147432 0.310144 q: 0.026553 0.818183 -0.046482 0.572460 
time: 1403637006.201667, t: -0.114690 -0.133419 0.314103 q: 0.025587 0.818194 -0.046794 0.572463 
time: 1403637006.301666, t: -0.134459 -0.118518 0.316132 q: 0.023016 0.822413 -0.048603 0.566343 
time: 1403637006.401666, t: -0.150929 -0.105934 0.314913 q: 0.020655 0.828860 -0.049923 0.556842 
time: 1403637006.501667, t: -0.163097 -0.095214 0.313031 q: 0.014518 0.831514 -0.053945 0.552687 
time: 1403637006.601666, t: -0.170151 -0.087845 0.311336 q: 0.010745 0.827098 -0.051774 0.559566 
time: 1403637006.701667, t: -0.175091 -0.082270 0.308782 q: 0.008882 0.822355 -0.041272 0.567406 
time: 1403637006.801666, t: -0.178012 -0.078465 0.302721 q: 0.003032 0.818328 -0.027344 0.574092 
time: 1403637006.901666, t: -0.180541 -0.075755 0.293884 q: -0.008700 0.818485 -0.011409 0.574349 
time: 1403637007.001667, t: -0.182997 -0.074113 0.284529 q: -0.018549 0.819783 0.010642 0.572275 
optimize pose graph 
time: 1403637007.101666, t: -0.185600 -0.073938 0.275402 q: -0.026446 0.818438 0.029675 0.573218 
time: 1403637007.201667, t: -0.187850 -0.074783 0.265531 q: -0.033127 0.816240 0.044035 0.575079 
time: 1403637007.301666, t: -0.190078 -0.076165 0.256595 q: -0.034537 0.811031 0.055785 0.581312 
time: 1403637007.401666, t: -0.195610 -0.076406 0.247129 q: -0.035521 0.807585 0.062619 0.585340 
time: 1403637007.501667, t: -0.204572 -0.075229 0.235989 q: -0.037500 0.808951 0.065306 0.583032 
time: 1403637007.601666, t: -0.215511 -0.072862 0.223177 q: -0.038760 0.813520 0.065748 0.576507 
time: 1403637007.701667, t: -0.228129 -0.068854 0.208772 q: -0.038491 0.821738 0.065148 0.564819 
time: 1403637007.801666, t: -0.238863 -0.063307 0.196410 q: -0.036497 0.825380 0.064815 0.559656 
time: 1403637007.901666, t: -0.246712 -0.055438 0.187292 q: -0.040077 0.820579 0.060235 0.566935 
time: 1403637008.001667, t: -0.253195 -0.046680 0.179511 q: -0.046171 0.814173 0.053416 0.576313 
time: 1403637008.101666, t: -0.261910 -0.039411 0.171686 q: -0.042752 0.815938 0.052565 0.574156 
time: 1403637008.201667, t: -0.271011 -0.032465 0.163929 q: -0.038068 0.825107 0.052493 0.561243 
time: 1403637008.301666, t: -0.277488 -0.024994 0.159845 q: -0.032862 0.831300 0.053169 0.552298 
time: 1403637008.401666, t: -0.279638 -0.016167 0.160357 q: -0.030167 0.831543 0.052427 0.552158 
time: 1403637008.501667, t: -0.277256 -0.005570 0.165617 q: -0.033447 0.824208 0.047961 0.563260 
time: 1403637008.601666, t: -0.272942 0.005427 0.171244 q: -0.036292 0.818121 0.043593 0.572242 
time: 1403637008.701667, t: -0.268969 0.016160 0.172645 q: -0.041115 0.816096 0.038150 0.575189 
time: 1403637008.801666, t: -0.265013 0.025265 0.168675 q: -0.053225 0.819791 0.027951 0.569499 
time: 1403637008.901666, t: -0.259803 0.030231 0.160128 q: -0.060956 0.824040 0.021492 0.562833 
time: 1403637009.001667, t: -0.252234 0.028492 0.148487 q: -0.057538 0.824452 0.022345 0.562556 
time: 1403637009.101666, t: -0.242154 0.020956 0.134259 q: -0.045484 0.823165 0.029397 0.565214 
time: 1403637009.201667, t: -0.231385 0.010309 0.118542 q: -0.033727 0.822068 0.036738 0.567201 
optimize pose graph 
time: 1403637009.301666, t: -0.218735 -0.001234 0.100570 q: -0.017687 0.821942 0.047319 0.567327 
time: 1403637009.401666, t: -0.206460 -0.009961 0.086576 q: -0.031701 0.817808 0.048539 0.572564 
time: 1403637009.501667, t: -0.203807 -0.018475 0.082761 q: -0.045526 0.808183 0.062602 0.583822 
time: 1403637009.601666, t: -0.204066 -0.023508 0.075384 q: -0.087945 0.786097 0.051604 0.609635 
time: 1403637009.701667, t: -0.212897 -0.030178 0.073176 q: -0.076826 0.791855 0.038531 0.604631 
time: 1403637009.801666, t: -0.214225 -0.029687 0.072546 q: -0.076525 0.791292 0.035267 0.605604 
time: 1403637009.901666, t: -0.216374 -0.030508 0.072485 q: -0.076994 0.791290 0.036000 0.605505 
time: 1403637010.001667, t: -0.216579 -0.030503 0.072223 q: -0.077338 0.791290 0.035885 0.605467 
time: 1403637010.101666, t: -0.216438 -0.029505 0.072116 q: -0.078016 0.791413 0.035505 0.605243 
time: 1403637010.201667, t: -0.216859 -0.030278 0.072145 q: -0.078313 0.791350 0.035431 0.605291 
time: 1403637010.301666, t: -0.217122 -0.030751 0.072239 q: -0.078686 0.791561 0.035320 0.604973 
time: 1403637010.401666, t: -0.217388 -0.031219 0.072372 q: -0.078645 0.791494 0.035321 0.605066 
time: 1403637010.501667, t: -0.217561 -0.031580 0.072348 q: -0.078650 0.791564 0.035276 0.604976 

Done.
time: 1403637010.601666, t: -0.217735 -0.031756 0.072357 q: -0.078739 0.791589 0.035217 0.604935 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731030167.600212445]: Shutdown request received.[0m
[33m[ WARN] [1731030167.600256004]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731030167.601186881]: Shutdown request received.[0m
[33m[ WARN] [1731030167.601211273]: Reason given for shutdown: [user request][0m
killed
