/SLAM-Hive/slam_hive_results/mapping_results/3392/2220_vins-fusion-stereo+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/db3ad040-9d72-11ef-b2e1-0242ac110002/roslaunch-08d4adc86dfe-119.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] [1731030210.723164565]: init begins[0m
[31m[ERROR] [1731030210.723544397]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731030210.724308434]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://08d4adc86dfe:42117/[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 [156][0m
[0m[ INFO] [1731030211.584017896]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731030211.586264652]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://08d4adc86dfe:11311/[0m
]2;roscore http://08d4adc86dfe:11311/
[1msetting /run_id to db3ad040-9d72-11ef-b2e1-0242ac110002[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1731030211.623301213]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731030211.623659104]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731030211.623698545]: 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] [1731030211.624146966]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731030211.624490658]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731030211.624751400]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
[1mprocess[rosout-1]: started with pid [233][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_03_medium.bag  --clock 
[0m[ INFO] [1731030219.835613134]: 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: 327393089.55 
[0m[ INFO] [1731030221.310345065]: Initialization finish![0m
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time: 1403637131.688319, t: -0.000045 -0.000123 -0.000002 q: 1.000000 0.000299 -0.000150 0.000189 
time: 1403637131.788319, t: -0.000072 -0.000020 0.000010 q: 1.000000 0.000220 -0.000164 0.000023 
time: 1403637131.888319, t: -0.000051 0.000019 -0.000032 q: 1.000000 -0.000011 -0.000095 0.000081 
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time: 1403637149.288319, t: 0.013220 0.048559 0.012970 q: 0.998254 -0.056409 -0.005150 0.016742 
time: 1403637149.388319, t: 0.013236 0.048619 0.012900 q: 0.998304 -0.055570 -0.005557 0.016453 
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time: 1403637149.688319, t: 0.012680 0.049072 0.012009 q: 0.998891 -0.042793 -0.017815 0.008225 
time: 1403637149.788319, t: 0.012370 0.050503 0.011339 q: 0.998973 -0.038124 -0.023430 0.007047 
time: 1403637149.888319, t: 0.012721 0.053964 0.010333 q: 0.998623 -0.036103 -0.037215 0.008044 
time: 1403637149.988319, t: 0.015292 0.062263 0.007621 q: 0.997607 -0.038803 -0.057204 0.001142 
time: 1403637150.088319, t: 0.025890 0.075124 0.004238 q: 0.996002 -0.045578 -0.076032 -0.011040 
time: 1403637150.188319, t: 0.045789 0.091156 0.004729 q: 0.994970 -0.052468 -0.083256 -0.018708 
time: 1403637150.288319, t: 0.074054 0.107364 0.010787 q: 0.994996 -0.058253 -0.078396 -0.021046 
time: 1403637150.388319, t: 0.107490 0.123649 0.023985 q: 0.995798 -0.061689 -0.065129 -0.018387 
time: 1403637150.488319, t: 0.140654 0.139088 0.040188 q: 0.996294 -0.065044 -0.053685 -0.016905 
optimize pose graph 
time: 1403637150.588319, t: 0.174123 0.154719 0.056854 q: 0.996293 -0.068539 -0.049419 -0.016160 
time: 1403637150.688319, t: 0.206536 0.171543 0.078874 q: 0.996250 -0.070915 -0.047134 -0.015320 
time: 1403637150.888319, t: 0.266900 0.202811 0.120080 q: 0.996198 -0.074628 -0.041142 -0.018124 
time: 1403637150.988319, t: 0.294239 0.218695 0.143121 q: 0.996474 -0.074671 -0.033096 -0.019212 
time: 1403637151.088319, t: 0.318320 0.233232 0.166115 q: 0.996714 -0.073849 -0.026144 -0.020598 
time: 1403637151.188319, t: 0.338494 0.246020 0.186288 q: 0.996897 -0.072552 -0.021064 -0.022090 
time: 1403637151.288319, t: 0.358149 0.256653 0.204436 q: 0.996939 -0.070515 -0.027286 -0.019875 
time: 1403637151.388319, t: 0.385861 0.265957 0.216314 q: 0.997140 -0.066115 -0.035109 -0.010365 
time: 1403637151.488319, t: 0.421290 0.275419 0.222937 q: 0.997098 -0.064437 -0.039823 -0.007537 
time: 1403637151.588319, t: 0.453659 0.285747 0.232510 q: 0.997036 -0.064443 -0.040804 -0.010059 
time: 1403637151.688319, t: 0.482239 0.298930 0.239338 q: 0.996998 -0.064493 -0.040620 -0.013661 
time: 1403637151.788319, t: 0.505415 0.313267 0.251521 q: 0.996942 -0.064407 -0.041496 -0.015345 
time: 1403637151.888319, t: 0.524791 0.326767 0.262120 q: 0.996910 -0.064486 -0.041410 -0.017247 
time: 1403637151.988319, t: 0.544000 0.340117 0.274407 q: 0.996875 -0.064451 -0.041973 -0.017997 
time: 1403637152.088319, t: 0.567453 0.355569 0.284115 q: 0.996930 -0.063378 -0.042802 -0.016781 
time: 1403637152.188319, t: 0.593489 0.368424 0.293771 q: 0.996899 -0.062993 -0.044614 -0.015298 
time: 1403637152.288319, t: 0.617204 0.383571 0.306164 q: 0.996882 -0.062484 -0.046217 -0.013666 
time: 1403637152.388319, t: 0.632970 0.400170 0.318981 q: 0.996891 -0.061928 -0.047019 -0.012725 
time: 1403637152.488319, t: 0.642998 0.419255 0.338297 q: 0.996860 -0.061854 -0.047595 -0.013410 
optimize pose graph 
time: 1403637152.588319, t: 0.647200 0.438013 0.357203 q: 0.996842 -0.061926 -0.047741 -0.013885 
time: 1403637152.688319, t: 0.651539 0.457875 0.377986 q: 0.996918 -0.061908 -0.046139 -0.013917 
time: 1403637152.788319, t: 0.657769 0.478556 0.397688 q: 0.997217 -0.060644 -0.041808 -0.011539 
time: 1403637152.888319, t: 0.669121 0.499217 0.417480 q: 0.997457 -0.059927 -0.037039 -0.010802 
time: 1403637152.988319, t: 0.689083 0.521657 0.434885 q: 0.997494 -0.059976 -0.035178 -0.013112 
time: 1403637153.188319, t: 0.722427 0.566230 0.467840 q: 0.997265 -0.061361 -0.037851 -0.016259 
time: 1403637153.288319, t: 0.732077 0.589453 0.483589 q: 0.997079 -0.062528 -0.039573 -0.018935 
time: 1403637153.388319, t: 0.737794 0.612026 0.499757 q: 0.996944 -0.063558 -0.040262 -0.021039 
time: 1403637153.488319, t: 0.746944 0.633191 0.517324 q: 0.996737 -0.064402 -0.043117 -0.022566 
time: 1403637153.588319, t: 0.762152 0.654272 0.532247 q: 0.996580 -0.064450 -0.046907 -0.021786 
time: 1403637153.688319, t: 0.784911 0.673473 0.546356 q: 0.996625 -0.064234 -0.046142 -0.022008 
time: 1403637153.788319, t: 0.812558 0.691552 0.561488 q: 0.996759 -0.064511 -0.042448 -0.022554 
time: 1403637153.888319, t: 0.834445 0.708397 0.576854 q: 0.996898 -0.064341 -0.039841 -0.021637 
time: 1403637153.988319, t: 0.850141 0.725675 0.595015 q: 0.997014 -0.064175 -0.037369 -0.021152 
time: 1403637154.088319, t: 0.856456 0.741946 0.613020 q: 0.996999 -0.063593 -0.039877 -0.018949 
time: 1403637154.188319, t: 0.853891 0.756850 0.633405 q: 0.996923 -0.060188 -0.049860 -0.005979 
time: 1403637154.288319, t: 0.848076 0.775442 0.656481 q: 0.996701 -0.056469 -0.057614 0.008878 
time: 1403637154.388319, t: 0.841130 0.799929 0.684712 q: 0.996610 -0.056950 -0.058578 0.009658 
time: 1403637154.488319, t: 0.834503 0.831259 0.713990 q: 0.996934 -0.060106 -0.050090 0.001034 
optimize pose graph 
time: 1403637154.588319, t: 0.827452 0.866988 0.741917 q: 0.996839 -0.064133 -0.046304 -0.007343 
time: 1403637154.688319, t: 0.824277 0.903763 0.771819 q: 0.995999 -0.070262 -0.052365 -0.017517 
time: 1403637154.788319, t: 0.824948 0.939493 0.803608 q: 0.994784 -0.079879 -0.059906 -0.020885 
time: 1403637154.888319, t: 0.825735 0.973519 0.837800 q: 0.993607 -0.091574 -0.064045 -0.016054 
time: 1403637154.988319, t: 0.834943 1.006827 0.875448 q: 0.992587 -0.101246 -0.066354 -0.010834 
time: 1403637155.088319, t: 0.851059 1.038146 0.916582 q: 0.991594 -0.113165 -0.062484 -0.005608 
time: 1403637155.188319, t: 0.877321 1.069444 0.961847 q: 0.990717 -0.125583 -0.052042 0.000384 
time: 1403637155.288319, t: 0.910059 1.098934 1.003465 q: 0.990096 -0.133264 -0.044108 0.002231 
time: 1403637155.388319, t: 0.944352 1.128418 1.044529 q: 0.989333 -0.141067 -0.035968 0.005124 
time: 1403637155.488319, t: 0.971853 1.155730 1.088431 q: 0.987450 -0.154780 -0.029500 0.010723 
time: 1403637155.588319, t: 0.991712 1.184279 1.135276 q: 0.985387 -0.167096 -0.026620 0.019581 
time: 1403637155.688319, t: 1.001932 1.213464 1.182855 q: 0.983578 -0.175949 -0.025608 0.031006 
time: 1403637155.788319, t: 1.008552 1.245541 1.225830 q: 0.981015 -0.187932 -0.024336 0.041227 
time: 1403637155.888319, t: 1.007739 1.281299 1.267831 q: 0.976993 -0.205570 -0.025039 0.050966 
time: 1403637155.988319, t: 1.005810 1.322614 1.300310 q: 0.971716 -0.227174 -0.027582 0.058300 
time: 1403637156.088319, t: 1.001173 1.367396 1.331752 q: 0.965878 -0.248693 -0.022279 0.068806 
time: 1403637156.188319, t: 0.995175 1.413822 1.371258 q: 0.958897 -0.271891 -0.016625 0.079465 
time: 1403637156.288319, t: 0.989187 1.470870 1.390873 q: 0.950847 -0.295936 -0.012260 0.090348 
time: 1403637156.388319, t: 0.982599 1.532457 1.404412 q: 0.941725 -0.320694 -0.009849 0.101054 
time: 1403637156.488319, t: 0.972867 1.595044 1.419818 q: 0.931656 -0.346159 -0.007566 0.110150 
optimize pose graph 
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time: 1403637156.688319, t: 0.938130 1.730779 1.436376 q: 0.909976 -0.396682 -0.001936 0.120757 
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time: 1403637156.888319, t: 0.889565 1.880056 1.428145 q: 0.892276 -0.434305 -0.011593 0.122831 
time: 1403637156.988319, t: 0.860636 1.951192 1.422618 q: 0.887430 -0.444231 -0.020156 0.121329 
time: 1403637157.088319, t: 0.822455 2.029693 1.419887 q: 0.885290 -0.447436 -0.024545 0.124337 
time: 1403637157.188319, t: 0.790852 2.102713 1.421212 q: 0.884773 -0.447213 -0.024548 0.128744 
time: 1403637157.288319, t: 0.767849 2.183280 1.419675 q: 0.885350 -0.445226 -0.022591 0.131979 
time: 1403637157.388319, t: 0.749111 2.263545 1.417096 q: 0.886661 -0.441237 -0.019011 0.137046 
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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: 1403637208.588319, t: 0.738970 2.547755 0.391030 q: 0.913604 -0.392909 -0.020123 0.102691 
time: 1403637208.688319, t: 0.737835 2.535825 0.373047 q: 0.913314 -0.394696 -0.020952 0.098155 
time: 1403637208.788319, t: 0.732128 2.522614 0.355027 q: 0.913248 -0.395541 -0.019370 0.095663 
time: 1403637208.888319, t: 0.720569 2.508366 0.338429 q: 0.912995 -0.396672 -0.020770 0.093063 
time: 1403637208.988319, t: 0.704055 2.492456 0.322536 q: 0.912241 -0.400383 -0.026082 0.082646 
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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: 1403637233.188319, t: -0.682783 1.033766 -2.704104 q: -0.368744 0.863316 -0.017993 -0.344077 
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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: 1403637241.288319, t: -0.797016 2.883654 -4.571573 q: -0.313049 0.910354 0.010144 -0.270466 
time: 1403637241.388319, t: -0.887710 2.906407 -4.756059 q: -0.315639 0.910989 0.018205 -0.264840 
time: 1403637241.488319, t: -0.979565 2.930694 -4.935083 q: -0.317996 0.911740 0.026976 -0.258614 
time: 1403637241.588319, t: -1.061571 2.965137 -5.108651 q: -0.320179 0.913499 0.035045 -0.248551 
time: 1403637241.688319, t: -1.129559 3.011964 -5.266467 q: -0.322166 0.915617 0.034732 -0.238011 
time: 1403637241.788319, t: -1.191306 3.066162 -5.413095 q: -0.323708 0.918257 0.031840 -0.225839 
time: 1403637241.888319, t: -1.235356 3.127554 -5.545373 q: -0.325264 0.919874 0.019785 -0.218274 
time: 1403637241.988319, t: -1.273447 3.189996 -5.663493 q: -0.327502 0.920553 -0.002910 -0.212876 
time: 1403637242.088319, t: -1.303468 3.248652 -5.763718 q: -0.326749 0.921637 -0.008940 -0.209142 
optimize pose graph 
time: 1403637242.188319, t: -1.320444 3.300761 -5.850583 q: -0.324927 0.921774 0.000670 -0.211552 
time: 1403637242.288319, t: -1.327854 3.355607 -5.923332 q: -0.322923 0.922239 0.011044 -0.212307 
time: 1403637242.388319, t: -1.330933 3.413380 -5.981997 q: -0.320424 0.924061 0.024059 -0.207030 
time: 1403637242.488319, t: -1.341137 3.468665 -6.022621 q: -0.318392 0.926339 0.033322 -0.198527 
time: 1403637242.588319, t: -1.347678 3.535746 -6.041763 q: -0.321217 0.926520 0.033796 -0.192972 
time: 1403637242.688319, t: -1.344900 3.607320 -6.041844 q: -0.333043 0.922474 0.028630 -0.193144 
time: 1403637242.788319, t: -1.331898 3.682243 -6.023189 q: -0.350878 0.915635 0.016574 -0.195505 
time: 1403637242.888319, t: -1.305651 3.755185 -5.989107 q: -0.366392 0.910006 0.003517 -0.193995 
time: 1403637243.088319, t: -1.231892 3.875625 -5.877130 q: -0.384826 0.903850 0.005029 -0.186921 
time: 1403637243.188319, t: -1.199362 3.929791 -5.799301 q: -0.389260 0.900627 0.011481 -0.192912 
time: 1403637243.288319, t: -1.168113 3.983643 -5.707553 q: -0.392815 0.896361 0.010370 -0.205246 
time: 1403637243.388319, t: -1.140418 4.036873 -5.600358 q: -0.394692 0.893547 0.007450 -0.213860 
time: 1403637243.488319, t: -1.114676 4.092230 -5.484641 q: -0.394909 0.892612 0.004372 -0.217419 
time: 1403637243.588319, t: -1.079549 4.145684 -5.360458 q: -0.395010 0.890311 0.000515 -0.226527 
time: 1403637243.688319, t: -1.036841 4.199288 -5.234868 q: -0.394969 0.886696 -0.003449 -0.240331 
time: 1403637243.888319, t: -0.927791 4.298699 -4.978934 q: -0.393222 0.878648 -0.023436 -0.269826 
time: 1403637243.988319, t: -0.861067 4.341712 -4.855981 q: -0.391766 0.876641 -0.030116 -0.277691 
time: 1403637244.088319, t: -0.786171 4.379678 -4.743034 q: -0.389812 0.877145 -0.031168 -0.278734 
time: 1403637244.188319, t: -0.706834 4.414065 -4.638141 q: -0.387656 0.878815 -0.029695 -0.276632 
optimize pose graph 
time: 1403637244.288319, t: -0.620694 4.447753 -4.539094 q: -0.385825 0.879452 -0.030263 -0.277104 
time: 1403637244.388319, t: -0.531451 4.479248 -4.446407 q: -0.385397 0.878099 -0.029574 -0.282021 
time: 1403637244.488319, t: -0.435511 4.511820 -4.358478 q: -0.389792 0.875417 -0.023792 -0.284854 
time: 1403637244.588319, t: -0.337534 4.548035 -4.276648 q: -0.398798 0.872730 -0.009488 -0.281447 
time: 1403637244.688319, t: -0.246489 4.584933 -4.201982 q: -0.411452 0.867840 0.004360 -0.278464 
time: 1403637244.788319, t: -0.167479 4.627660 -4.125732 q: -0.424047 0.862459 0.012174 -0.276043 
time: 1403637244.888319, t: -0.093709 4.670263 -4.054119 q: -0.434501 0.857573 0.016002 -0.274811 
time: 1403637244.988319, t: -0.026911 4.721445 -3.976555 q: -0.441842 0.852733 0.015063 -0.278200 
time: 1403637245.088319, t: 0.030404 4.773767 -3.906541 q: -0.446746 0.845453 0.006027 -0.292558 
time: 1403637245.188319, t: 0.077515 4.828916 -3.841816 q: -0.449300 0.838480 -0.000957 -0.308351 
time: 1403637245.288319, t: 0.121009 4.889873 -3.783356 q: -0.450302 0.840225 0.004271 -0.302045 
time: 1403637245.388319, t: 0.157400 4.954494 -3.734055 q: -0.450577 0.844128 0.011482 -0.290340 
time: 1403637245.488319, t: 0.193361 5.026910 -3.688157 q: -0.454015 0.844754 0.016776 -0.282807 
time: 1403637245.588319, t: 0.225484 5.108807 -3.642590 q: -0.462340 0.841480 0.020347 -0.278816 
time: 1403637245.688319, t: 0.246781 5.197029 -3.591007 q: -0.474859 0.835223 0.022664 -0.276400 
time: 1403637245.788319, t: 0.270093 5.288814 -3.550002 q: -0.493210 0.827651 0.018600 -0.267192 
time: 1403637245.888319, t: 0.288465 5.394670 -3.495274 q: 0.516313 -0.819551 -0.012388 0.248199 
time: 1403637245.988319, t: 0.300309 5.501929 -3.445030 q: 0.544794 -0.805520 -0.008247 0.232959 
time: 1403637246.088319, t: 0.311557 5.610029 -3.384070 q: 0.577094 -0.786668 -0.007125 0.219236 
time: 1403637246.188319, t: 0.321626 5.704598 -3.336270 q: 0.613686 -0.761822 -0.006762 0.207295 
time: 1403637246.288319, t: 0.321455 5.806339 -3.278280 q: 0.651435 -0.733083 -0.007433 0.195362 
time: 1403637246.388319, t: 0.320266 5.893913 -3.216703 q: 0.689142 -0.702156 -0.010711 0.178730 
optimize pose graph 
time: 1403637246.488319, t: 0.317256 5.982095 -3.143840 q: 0.723793 -0.671786 -0.016802 0.156670 
time: 1403637246.588319, t: 0.321538 6.071282 -3.061417 q: 0.754060 -0.642451 -0.016506 0.135564 
time: 1403637246.688319, t: 0.313154 6.148238 -2.983941 q: 0.782080 -0.612245 -0.010680 0.115729 
time: 1403637246.788319, t: 0.299196 6.214842 -2.900589 q: 0.807422 -0.581608 -0.007824 0.098696 
time: 1403637246.888319, t: 0.311253 6.262738 -2.791322 q: 0.828747 -0.552677 -0.009627 0.087377 
time: 1403637246.988319, t: 0.294733 6.314739 -2.720714 q: 0.847921 -0.522838 -0.018156 0.085681 
time: 1403637247.088319, t: 0.304314 6.341485 -2.613281 q: 0.859183 -0.502678 -0.029094 0.090955 
time: 1403637247.188319, t: 0.318213 6.368764 -2.513717 q: 0.865948 -0.488640 -0.037633 0.099742 
time: 1403637247.288319, t: 0.343799 6.385541 -2.388326 q: 0.868775 -0.482021 -0.040432 0.106074 
time: 1403637247.388319, t: 0.354380 6.402134 -2.276976 q: 0.870324 -0.482045 -0.023059 0.098168 
time: 1403637247.488319, t: 0.361985 6.408409 -2.161641 q: 0.869996 -0.485027 -0.003286 0.088579 
time: 1403637247.588319, t: 0.350218 6.411359 -2.057899 q: 0.871020 -0.483838 -0.001293 0.084993 
time: 1403637247.688319, t: 0.342640 6.402479 -1.952344 q: 0.874266 -0.479424 -0.004094 0.076131 
time: 1403637247.788319, t: 0.331728 6.388010 -1.854988 q: 0.879260 -0.472157 -0.009746 0.062249 
time: 1403637247.888319, t: 0.318237 6.352600 -1.754859 q: 0.885937 -0.460668 -0.009467 0.053008 
time: 1403637247.988319, t: 0.327953 6.310244 -1.658753 q: 0.894953 -0.442885 -0.000974 0.053956 
time: 1403637248.088319, t: 0.336299 6.251495 -1.561057 q: 0.903672 -0.423992 -0.006314 0.059725 
time: 1403637248.188319, t: 0.308124 6.170876 -1.461799 q: 0.911110 -0.406916 -0.013042 0.064243 
time: 1403637248.288319, t: 0.330821 6.105040 -1.365077 q: 0.916706 -0.392828 -0.023354 0.069212 
time: 1403637248.388319, t: 0.332723 6.021589 -1.254061 q: 0.919510 -0.385987 -0.025951 0.069576 
time: 1403637248.488319, t: 0.319867 5.938613 -1.149374 q: 0.921358 -0.382018 -0.020986 0.068705 
time: 1403637248.588319, t: 0.340024 5.856953 -1.046128 q: 0.922121 -0.381152 -0.014392 0.064869 
optimize pose graph 
time: 1403637248.688319, t: 0.330411 5.759780 -0.941859 q: 0.921298 -0.383201 -0.015930 0.064136 
time: 1403637248.788319, t: 0.335015 5.662898 -0.846330 q: 0.919891 -0.385605 -0.024891 0.067010 
time: 1403637248.888319, t: 0.341962 5.560998 -0.752569 q: 0.918287 -0.388365 -0.029137 0.071230 
time: 1403637248.988319, t: 0.369797 5.461725 -0.666426 q: 0.917138 -0.390005 -0.030823 0.076182 
time: 1403637249.088319, t: 0.397951 5.356630 -0.575234 q: 0.915718 -0.393291 -0.030774 0.076387 
time: 1403637249.188319, t: 0.444980 5.252476 -0.485842 q: 0.914679 -0.395483 -0.031169 0.077358 
time: 1403637249.288319, t: 0.493585 5.147067 -0.398516 q: 0.914046 -0.396803 -0.029244 0.078820 
time: 1403637249.388319, t: 0.541967 5.037549 -0.308968 q: 0.913338 -0.398583 -0.027969 0.078513 
time: 1403637249.488319, t: 0.580130 4.927822 -0.216961 q: 0.913139 -0.398769 -0.027731 0.079946 
time: 1403637249.588319, t: 0.603816 4.819305 -0.119436 q: 0.913310 -0.398011 -0.028195 0.081592 
time: 1403637249.688319, t: 0.606224 4.706457 -0.015168 q: 0.913541 -0.397884 -0.025909 0.080379 
time: 1403637249.788319, t: 0.606936 4.591746 0.085439 q: 0.914716 -0.396500 -0.017244 0.076062 
time: 1403637249.888319, t: 0.612462 4.473612 0.186244 q: 0.917529 -0.390868 -0.011537 0.072315 
time: 1403637249.988319, t: 0.624609 4.348052 0.284604 q: 0.922401 -0.379065 -0.013296 0.072863 
time: 1403637250.088319, t: 0.637563 4.214148 0.381019 q: 0.927283 -0.365095 -0.016118 0.081196 
time: 1403637250.188319, t: 0.659833 4.084810 0.469660 q: 0.932176 -0.351301 -0.020443 0.084956 
time: 1403637250.288319, t: 0.676676 3.955589 0.556226 q: 0.937077 -0.336967 -0.020038 0.089101 
time: 1403637250.388319, t: 0.687375 3.826692 0.645789 q: 0.940477 -0.326250 -0.018700 0.093351 
time: 1403637250.488319, t: 0.689276 3.707815 0.726323 q: 0.942863 -0.317165 -0.018916 0.100285 
time: 1403637250.588319, t: 0.693918 3.590265 0.806139 q: 0.944005 -0.311856 -0.022862 0.105255 
time: 1403637250.688319, t: 0.699501 3.475355 0.878603 q: 0.945754 -0.306687 -0.027301 0.103672 
time: 1403637250.788319, t: 0.712902 3.367769 0.944631 q: 0.947050 -0.303550 -0.030236 0.100194 
optimize pose graph 
time: 1403637250.888319, t: 0.734643 3.266438 1.007477 q: 0.947901 -0.301553 -0.027784 0.098878 
time: 1403637250.988319, t: 0.763759 3.178239 1.063910 q: 0.948360 -0.299285 -0.026944 0.101568 
time: 1403637251.088319, t: 0.797013 3.092887 1.114840 q: 0.949714 -0.293945 -0.027505 0.104328 
time: 1403637251.188319, t: 0.833364 3.015622 1.161542 q: 0.951719 -0.285299 -0.029862 0.109287 
time: 1403637251.288319, t: 0.878548 2.949220 1.198096 q: 0.953805 -0.277595 -0.030965 0.110627 
time: 1403637251.388319, t: 0.932303 2.888977 1.233189 q: 0.956707 -0.272829 -0.029283 0.097053 
time: 1403637251.488319, t: 0.984854 2.840842 1.262569 q: 0.960485 -0.263859 -0.027057 0.084349 
time: 1403637251.588319, t: 1.032287 2.795222 1.289491 q: 0.964656 -0.251382 -0.025929 0.074654 
time: 1403637251.688319, t: 1.071456 2.757325 1.314847 q: 0.968216 -0.239013 -0.025264 0.069220 
time: 1403637251.788319, t: 1.103169 2.721140 1.338233 q: 0.970815 -0.229126 -0.024584 0.066449 
time: 1403637251.888319, t: 1.131173 2.686073 1.358817 q: 0.972428 -0.224225 -0.022099 0.060158 
time: 1403637251.988319, t: 1.157281 2.658036 1.374917 q: 0.973475 -0.223284 -0.016838 0.046977 
time: 1403637252.088319, t: 1.177973 2.627281 1.388526 q: 0.974033 -0.222792 -0.011089 0.038733 
time: 1403637252.188319, t: 1.193490 2.594223 1.398477 q: 0.974551 -0.220774 -0.004480 0.038599 
time: 1403637252.288319, t: 1.202372 2.559276 1.404641 q: 0.974894 -0.218439 -0.003673 0.043050 
time: 1403637252.388319, t: 1.200137 2.524475 1.409351 q: 0.974998 -0.216798 -0.008279 0.048045 
time: 1403637252.488319, t: 1.189867 2.483390 1.413318 q: 0.974715 -0.216522 -0.016486 0.052701 
time: 1403637252.588319, t: 1.173881 2.446648 1.411871 q: 0.974446 -0.216553 -0.021747 0.055559 
time: 1403637252.688319, t: 1.152632 2.411405 1.410169 q: 0.974107 -0.215663 -0.028914 0.061395 
time: 1403637252.788319, t: 1.130271 2.381508 1.406469 q: 0.973586 -0.213307 -0.038485 0.071753 
time: 1403637252.888319, t: 1.115007 2.354469 1.402743 q: 0.973264 -0.215095 -0.041214 0.069222 
time: 1403637252.988319, t: 1.108967 2.335118 1.392717 q: 0.973357 -0.218793 -0.034353 0.059379 
time: 1403637253.088319, t: 1.112057 2.320529 1.378857 q: 0.973353 -0.220986 -0.029561 0.053629 
optimize pose graph 
time: 1403637253.188319, t: 1.116998 2.306783 1.363534 q: 0.973246 -0.222415 -0.026953 0.050967 
time: 1403637253.288319, t: 1.116478 2.292553 1.348920 q: 0.973061 -0.223524 -0.025714 0.050270 
time: 1403637253.488319, t: 1.095672 2.268289 1.317935 q: 0.972909 -0.224022 -0.024059 0.051802 
time: 1403637253.588319, t: 1.076549 2.256562 1.302104 q: 0.972726 -0.224806 -0.025797 0.051008 
time: 1403637253.688319, t: 1.061636 2.245512 1.282890 q: 0.972631 -0.226188 -0.025834 0.046475 
time: 1403637253.788319, t: 1.054092 2.234118 1.260101 q: 0.972536 -0.227826 -0.024443 0.040888 
time: 1403637253.888319, t: 1.050864 2.220417 1.235229 q: 0.972463 -0.228534 -0.023969 0.038910 
time: 1403637253.988319, t: 1.052868 2.205806 1.206575 q: 0.972414 -0.228830 -0.023797 0.038500 
time: 1403637254.088319, t: 1.060836 2.185746 1.175391 q: 0.972496 -0.228955 -0.022455 0.036440 
time: 1403637254.188319, t: 1.073725 2.162874 1.142088 q: 0.973787 -0.223738 -0.022172 0.034479 
time: 1403637254.288319, t: 1.091930 2.136473 1.105763 q: 0.975696 -0.215187 -0.027519 0.030913 
time: 1403637254.388319, t: 1.111698 2.107227 1.067862 q: 0.977495 -0.206144 -0.034511 0.028584 
time: 1403637254.488319, t: 1.126563 2.076009 1.032814 q: 0.978805 -0.199123 -0.039560 0.026939 
time: 1403637254.588319, t: 1.136497 2.045768 1.000051 q: 0.979972 -0.193188 -0.040920 0.025661 
time: 1403637254.688319, t: 1.141065 2.016245 0.968765 q: 0.980834 -0.189438 -0.038710 0.024055 
time: 1403637254.788319, t: 1.142016 1.984436 0.937792 q: 0.981536 -0.186891 -0.033655 0.022934 
time: 1403637254.888319, t: 1.136159 1.952633 0.911623 q: 0.982095 -0.184600 -0.028766 0.024198 
time: 1403637254.988319, t: 1.124940 1.917990 0.884706 q: 0.982354 -0.183773 -0.024854 0.024301 
time: 1403637255.088319, t: 1.109707 1.882457 0.860185 q: 0.982919 -0.180998 -0.023773 0.023354 
time: 1403637255.188319, t: 1.096945 1.842070 0.831462 q: 0.984399 -0.172889 -0.024411 0.021730 
optimize pose graph 
time: 1403637255.388319, t: 1.088053 1.760166 0.761263 q: 0.987732 -0.153022 -0.023854 0.020005 
time: 1403637255.488319, t: 1.082564 1.718373 0.724235 q: 0.989473 -0.141415 -0.025985 0.016407 
time: 1403637255.588319, t: 1.069417 1.674990 0.685143 q: 0.991351 -0.127924 -0.027844 0.009104 
time: 1403637255.688319, t: 1.052526 1.630986 0.654052 q: 0.993255 -0.111963 -0.030142 0.001068 
time: 1403637255.788319, t: 1.034933 1.587613 0.613851 q: 0.994978 -0.093363 -0.035306 -0.007491 
time: 1403637255.888319, t: 1.024728 1.541315 0.575541 q: 0.996388 -0.072794 -0.041252 -0.014488 
time: 1403637255.988319, t: 1.021394 1.494913 0.527859 q: 0.997417 -0.053517 -0.043643 -0.019739 
time: 1403637256.088319, t: 1.027116 1.446053 0.486569 q: 0.997828 -0.040078 -0.045450 -0.025835 
time: 1403637256.188319, t: 1.032363 1.399589 0.440943 q: 0.998172 -0.031429 -0.042347 -0.029519 
time: 1403637256.288319, t: 1.037990 1.347954 0.399012 q: 0.998497 -0.026249 -0.036533 -0.031311 
time: 1403637256.388319, t: 1.035364 1.295053 0.358254 q: 0.998599 -0.024414 -0.033238 -0.033169 
time: 1403637256.488319, t: 1.027147 1.242084 0.316706 q: 0.998548 -0.025206 -0.031873 -0.035358 
time: 1403637256.588319, t: 1.012233 1.188060 0.274129 q: 0.998615 -0.025960 -0.030770 -0.033887 
time: 1403637256.688319, t: 0.990173 1.128314 0.235562 q: 0.998552 -0.026518 -0.038561 -0.026529 
time: 1403637256.788319, t: 0.965677 1.068716 0.197150 q: 0.998392 -0.025188 -0.049254 -0.012360 
time: 1403637256.888319, t: 0.938637 1.010853 0.161622 q: 0.998388 -0.024119 -0.051206 -0.004087 
time: 1403637256.988319, t: 0.915341 0.956030 0.122642 q: 0.998661 -0.021022 -0.046336 -0.009354 
time: 1403637257.088319, t: 0.898020 0.900195 0.087571 q: 0.998850 -0.014320 -0.041810 -0.018572 
time: 1403637257.188319, t: 0.886510 0.845553 0.048122 q: 0.998848 -0.007938 -0.040057 -0.025186 
time: 1403637257.288319, t: 0.880193 0.791099 0.011975 q: 0.998675 -0.002042 -0.042118 -0.029484 
time: 1403637257.388319, t: 0.877371 0.740819 -0.033122 q: 0.998406 0.002939 -0.044650 -0.034391 
time: 1403637257.488319, t: 0.876319 0.684517 -0.069746 q: 0.998240 0.006359 -0.045760 -0.037184 
optimize pose graph 
time: 1403637257.588319, t: 0.871450 0.629676 -0.106714 q: 0.997980 0.008392 -0.048548 -0.040097 
time: 1403637257.688319, t: 0.860833 0.577273 -0.144313 q: 0.997672 0.010929 -0.055671 -0.037844 
time: 1403637257.788319, t: 0.843497 0.523370 -0.178110 q: 0.997318 0.015796 -0.061534 -0.036352 
time: 1403637257.888319, t: 0.832503 0.460513 -0.194570 q: 0.996746 0.023247 -0.067791 -0.036907 
time: 1403637257.988319, t: 0.815394 0.400789 -0.212215 q: 0.996161 0.034872 -0.070791 -0.037902 
time: 1403637258.088319, t: 0.795899 0.344043 -0.232130 q: 0.995306 0.051466 -0.071735 -0.039643 
time: 1403637258.188319, t: 0.782213 0.284980 -0.238886 q: 0.994237 0.070976 -0.065226 -0.046906 
time: 1403637258.288319, t: 0.780115 0.226884 -0.250666 q: 0.992982 0.087133 -0.056038 -0.057051 
time: 1403637258.388319, t: 0.773861 0.171587 -0.261398 q: 0.991748 0.100781 -0.049649 -0.061762 
time: 1403637258.488319, t: 0.758492 0.109261 -0.264055 q: 0.990699 0.112128 -0.051021 -0.057796 
time: 1403637258.588319, t: 0.735818 0.050116 -0.261036 q: 0.989874 0.119940 -0.055063 -0.052267 
time: 1403637258.688319, t: 0.714737 -0.001731 -0.261123 q: 0.989710 0.123129 -0.050637 -0.052426 
time: 1403637258.788319, t: 0.691623 -0.052891 -0.258775 q: 0.989726 0.124389 -0.046675 -0.052826 
time: 1403637258.888319, t: 0.666269 -0.099314 -0.260796 q: 0.989845 0.125266 -0.043257 -0.051414 
time: 1403637258.988319, t: 0.649176 -0.145791 -0.259511 q: 0.989992 0.125154 -0.043398 -0.048670 
time: 1403637259.088319, t: 0.642750 -0.187909 -0.263592 q: 0.990195 0.123855 -0.043956 -0.047336 
time: 1403637259.188319, t: 0.648460 -0.226819 -0.270889 q: 0.990339 0.123337 -0.043464 -0.046130 
time: 1403637259.288319, t: 0.661738 -0.262016 -0.281071 q: 0.990549 0.122611 -0.042252 -0.044654 
time: 1403637259.388319, t: 0.673642 -0.294987 -0.290663 q: 0.990715 0.121760 -0.042992 -0.042548 
time: 1403637259.488319, t: 0.681848 -0.323048 -0.298886 q: 0.990897 0.123486 -0.042077 -0.033216 
time: 1403637259.588319, t: 0.686713 -0.346137 -0.307361 q: 0.990941 0.124460 -0.041932 -0.028078 
time: 1403637259.688319, t: 0.688516 -0.362298 -0.314842 q: 0.991062 0.122760 -0.041628 -0.031508 
optimize pose graph 
time: 1403637259.788319, t: 0.685821 -0.373715 -0.320956 q: 0.990907 0.119980 -0.047024 -0.038691 
time: 1403637259.888319, t: 0.681356 -0.380945 -0.326528 q: 0.990908 0.119360 -0.047478 -0.039994 
time: 1403637259.988319, t: 0.673386 -0.384902 -0.330301 q: 0.991071 0.120716 -0.043757 -0.035935 
time: 1403637260.088319, t: 0.661494 -0.384369 -0.332966 q: 0.991157 0.119607 -0.040516 -0.040737 
time: 1403637260.188319, t: 0.645429 -0.380613 -0.335397 q: 0.991018 0.117636 -0.041685 -0.048028 
time: 1403637260.288319, t: 0.626652 -0.374539 -0.337885 q: 0.990740 0.115362 -0.043022 -0.057230 
time: 1403637260.388319, t: 0.606720 -0.368287 -0.341400 q: 0.990425 0.112478 -0.041481 -0.068451 
time: 1403637260.488319, t: 0.584553 -0.364100 -0.345679 q: 0.990054 0.111218 -0.042838 -0.074750 
time: 1403637260.588319, t: 0.559698 -0.363262 -0.350223 q: 0.989501 0.111032 -0.054483 -0.074771 
time: 1403637260.688319, t: 0.534863 -0.366327 -0.353618 q: 0.989208 0.111372 -0.062023 -0.072233 
time: 1403637260.788319, t: 0.511365 -0.371968 -0.354942 q: 0.989526 0.112868 -0.057568 -0.069180 
time: 1403637260.888319, t: 0.488157 -0.380076 -0.354669 q: 0.989917 0.115018 -0.049208 -0.066440 
time: 1403637260.988319, t: 0.465203 -0.389982 -0.354009 q: 0.990187 0.116090 -0.041576 -0.065757 
time: 1403637261.088319, t: 0.440905 -0.400058 -0.355367 q: 0.990077 0.116574 -0.044484 -0.064643 
time: 1403637261.188319, t: 0.415823 -0.411687 -0.356568 q: 0.989493 0.115716 -0.056565 -0.065676 
time: 1403637261.288319, t: 0.395043 -0.424493 -0.357927 q: 0.988889 0.114898 -0.066301 -0.067098 
time: 1403637261.388319, t: 0.382273 -0.438977 -0.358068 q: 0.989340 0.115494 -0.059833 -0.065473 
time: 1403637261.488319, t: 0.374343 -0.454932 -0.357386 q: 0.989941 0.118023 -0.051917 -0.058247 
time: 1403637261.588319, t: 0.367164 -0.470378 -0.355626 q: 0.989529 0.117497 -0.060600 -0.057922 
time: 1403637261.688319, t: 0.364818 -0.485391 -0.353092 q: 0.988836 0.115751 -0.070994 -0.061357 
time: 1403637261.788319, t: 0.370663 -0.501240 -0.347705 q: 0.989079 0.115151 -0.067061 -0.062975 
time: 1403637261.888319, t: 0.379874 -0.517647 -0.340177 q: 0.989891 0.115625 -0.054301 -0.061635 
time: 1403637261.988319, t: 0.382543 -0.533619 -0.329743 q: 0.990423 0.115358 -0.045876 -0.060413 
optimize pose graph 
time: 1403637262.088319, t: 0.375875 -0.549114 -0.317580 q: 0.990891 0.115728 -0.040390 -0.055778 
time: 1403637262.188319, t: 0.359911 -0.562979 -0.304416 q: 0.991136 0.116326 -0.039785 -0.050340 
time: 1403637262.288319, t: 0.337438 -0.573725 -0.291557 q: 0.991331 0.116009 -0.039558 -0.047319 
time: 1403637262.388319, t: 0.338156 -0.569257 -0.297605 q: 0.991931 0.117122 -0.016783 -0.045542 
time: 1403637262.488319, t: 0.333938 -0.559892 -0.301626 q: 0.995031 0.089877 -0.033830 -0.026284 
time: 1403637262.588319, t: 0.336410 -0.556557 -0.310440 q: 0.995665 0.091635 -0.004234 -0.015358 
time: 1403637262.688319, t: 0.331268 -0.556063 -0.306166 q: 0.995607 0.089588 -0.021035 -0.017289 
time: 1403637262.788319, t: 0.332019 -0.555625 -0.306817 q: 0.995762 0.089036 -0.017749 -0.014664 
time: 1403637262.888319, t: 0.332082 -0.556926 -0.306136 q: 0.995645 0.089864 -0.019767 -0.014988 
time: 1403637262.988319, t: 0.332088 -0.556557 -0.306409 q: 0.995682 0.089582 -0.019064 -0.015152 
time: 1403637263.088319, t: 0.332106 -0.556341 -0.306529 q: 0.995702 0.089258 -0.019074 -0.015738 
time: 1403637263.188319, t: 0.332087 -0.556159 -0.306586 q: 0.995727 0.088976 -0.018774 -0.016066 
time: 1403637263.288319, t: 0.332064 -0.556241 -0.306579 q: 0.995714 0.089090 -0.019068 -0.015877 
time: 1403637263.388319, t: 0.332075 -0.556314 -0.306591 q: 0.995707 0.089208 -0.019072 -0.015703 
time: 1403637263.488319, t: 0.332022 -0.556233 -0.306590 q: 0.995717 0.089053 -0.019036 -0.015955 
time: 1403637263.588319, t: 0.332065 -0.556266 -0.306604 q: 0.995713 0.089108 -0.019103 -0.015856 
time: 1403637263.688319, t: 0.332019 -0.556294 -0.306609 q: 0.995708 0.089162 -0.019177 -0.015777 
time: 1403637263.788319, t: 0.332007 -0.556384 -0.306621 q: 0.995701 0.089302 -0.019164 -0.015384 
time: 1403637263.888319, t: 0.332016 -0.556382 -0.306631 q: 0.995700 0.089314 -0.019164 -0.015428 
time: 1403637263.988319, t: 0.332006 -0.556286 -0.306631 q: 0.995709 0.089151 -0.019164 -0.015757 
time: 1403637264.088319, t: 0.332010 -0.556294 -0.306616 q: 0.995704 0.089169 -0.019235 -0.015872 
time: 1403637264.188319, t: 0.331976 -0.556252 -0.306572 q: 0.995711 0.089113 -0.019132 -0.015889 
time: 1403637264.288319, t: 0.332001 -0.556306 -0.306626 q: 0.995706 0.089190 -0.019170 -0.015729 
time: 1403637264.388319, t: 0.331970 -0.556296 -0.306642 q: 0.995703 0.089217 -0.019216 -0.015732 
time: 1403637264.588319, t: 0.331971 -0.556307 -0.306621 q: 0.995704 0.089190 -0.019227 -0.015776 
time: 1403637264.688319, t: 0.331958 -0.556307 -0.306634 q: 0.995704 0.089198 -0.019218 -0.015735 
time: 1403637264.788319, t: 0.331945 -0.556303 -0.306620 q: 0.995700 0.089249 -0.019234 -0.015665 
time: 1403637264.888319, t: 0.331966 -0.556305 -0.306659 q: 0.995703 0.089204 -0.019232 -0.015735 
time: 1403637264.988319, t: 0.331972 -0.556279 -0.306587 q: 0.995705 0.089152 -0.019265 -0.015868 
time: 1403637265.088319, t: 0.331978 -0.556302 -0.306594 q: 0.995701 0.089193 -0.019321 -0.015865 
time: 1403637265.188319, t: 0.331971 -0.556277 -0.306608 q: 0.995704 0.089181 -0.019247 -0.015833 
time: 1403637265.288319, t: 0.331947 -0.556274 -0.306601 q: 0.995702 0.089189 -0.019292 -0.015853 
time: 1403637265.388319, t: 0.331990 -0.556285 -0.306511 q: 0.995702 0.089179 -0.019296 -0.015904 
time: 1403637265.488319, t: 0.331967 -0.556219 -0.306455 q: 0.995699 0.089227 -0.019269 -0.015814 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731030356.741063423]: Shutdown request received.[0m
[33m[ WARN] [1731030356.741211235]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731030356.745261064]: Shutdown request received.[0m
[33m[ WARN] [1731030356.745346644]: Reason given for shutdown: [user request][0m
killed
