/SLAM-Hive/slam_hive_results/mapping_results/3431/2070_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/b799d82c-9d84-11ef-a809-0242ac110002/roslaunch-e1b43ce0d287-118.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
[0m[ INFO] [1731037881.590575967]: init begins[0m
[31m[ERROR] [1731037881.594933104]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731037881.595118053]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://e1b43ce0d287:37111/[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://e1b43ce0d287:11311/[0m
]2;roscore http://e1b43ce0d287:11311/
[1msetting /run_id to b799d82c-9d84-11ef-a809-0242ac110002[0m
[0m[ INFO] [1731037882.500007079]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731037882.500669146]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1731037882.515900660]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1731037882.518807376]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731037882.518845158]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1731037882.519029025]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
MULTIPLE_THREAD is 1
[33m[ WARN] [1731037882.534886541]: waiting for image and imu...[0m
[1mprocess[rosout-1]: started with pid [192][0m
started core service [/rosout]
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
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1731037891.327909989]: 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: 327400761.01 
init first imu pose
averge acc 9.410943 -0.689906 -2.446931
init R0 
 0.260797  0.261977  0.929168
        0 -0.962476  0.271368
 0.965394 -0.070772 -0.251011
[0m[ INFO] [1731037892.750522889]: IMU excitation not enouth![0m
[0m[ INFO] [1731037892.946842378]: IMU excitation not enouth![0m
[0m[ INFO] [1731037893.154880135]: IMU excitation not enouth![0m
[0m[ INFO] [1731037893.250082515]: IMU excitation not enouth![0m
[0m[ INFO] [1731037893.446998034]: IMU excitation not enouth![0m
[0m[ INFO] [1731037893.648402794]: IMU excitation not enouth![0m
[0m[ INFO] [1731037893.775115260]: IMU excitation not enouth![0m
[0m[ INFO] [1731037893.949286480]: IMU excitation not enouth![0m
[0m[ INFO] [1731037894.166111510]: IMU excitation not enouth![0m
[0m[ INFO] [1731037894.166694080]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731037894.250005580]: IMU excitation not enouth![0m
[0m[ INFO] [1731037894.450448829]: IMU excitation not enouth![0m
[0m[ INFO] [1731037894.450815530]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731037894.655094422]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1731037895.179824000]: gyroscope bias initial calibration -0.00288417    0.020813   0.0772461[0m
[0m[ INFO] [1731037895.297693141]: Initialization finish![0m
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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wait for imu ... 
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optimize pose graph 
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time: 1403637212.988319, t: 5.830137 -4.163465 -0.324545 q: 0.131504 0.805286 -0.188323 0.546586 
optimize pose graph 
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wait for imu ... 
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time: 1403637229.488319, t: -1.054135 -1.154826 0.075026 q: -0.010563 0.821356 0.005433 0.570293 
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time: 1403637231.288319, t: -1.139274 -1.220064 -0.001773 q: 0.224688 0.740225 -0.384446 0.503768 
time: 1403637231.388319, t: -1.144570 -1.244320 -0.034397 q: 0.247543 0.719231 -0.418218 0.496511 
time: 1403637231.488319, t: -1.154686 -1.272479 -0.082687 q: 0.267837 0.695860 -0.454182 0.487607 
time: 1403637231.588319, t: -1.166680 -1.305550 -0.146925 q: 0.284768 0.672620 -0.492295 0.473429 
time: 1403637231.688319, t: -1.184423 -1.343372 -0.217830 q: 0.307804 0.650490 -0.523585 0.456046 
time: 1403637231.788319, t: -1.204658 -1.389064 -0.282099 q: 0.329146 0.626426 -0.550734 0.442657 
time: 1403637231.888319, t: -1.227809 -1.442865 -0.338264 q: 0.345308 0.606251 -0.575171 0.427084 
time: 1403637231.988319, t: -1.255592 -1.501720 -0.384107 q: -0.357804 -0.585977 0.597003 -0.414965 
time: 1403637232.088319, t: -1.289881 -1.569025 -0.416047 q: -0.376949 -0.558123 0.611772 -0.414901 
time: 1403637232.188319, t: -1.331333 -1.637568 -0.440699 q: -0.394900 -0.530864 0.624998 -0.414265 
time: 1403637232.288319, t: -1.380762 -1.704687 -0.459171 q: -0.411027 -0.511608 0.636822 -0.404686 
time: 1403637232.388319, t: -1.437710 -1.769647 -0.470494 q: -0.430519 -0.494763 0.645246 -0.391817 
time: 1403637232.488319, t: -1.501128 -1.830452 -0.476709 q: -0.443861 -0.475879 0.657258 -0.380183 
time: 1403637232.588319, t: -1.569313 -1.885952 -0.479864 q: -0.441321 -0.454473 0.680011 -0.369154 
time: 1403637232.688319, t: -1.644891 -1.935889 -0.477083 q: -0.438206 -0.432567 0.702827 -0.356224 
time: 1403637232.788319, t: -1.730517 -1.978699 -0.468276 q: -0.434558 -0.412594 0.723995 -0.341696 
time: 1403637232.888319, t: -1.829071 -2.021642 -0.453776 q: -0.432963 -0.402520 0.739029 -0.323044 
time: 1403637232.988319, t: -1.940787 -2.065527 -0.431541 q: -0.432578 -0.399177 0.748478 -0.305475 
time: 1403637233.088319, t: -2.062845 -2.114645 -0.403132 q: -0.432901 -0.400450 0.753581 -0.290434 
optimize pose graph 
time: 1403637233.288319, t: -2.333493 -2.233138 -0.350109 q: -0.425609 -0.409183 0.760484 -0.270353 
time: 1403637233.388319, t: -2.480505 -2.305199 -0.332052 q: -0.419295 -0.414266 0.763101 -0.265053 
time: 1403637233.488319, t: -2.637247 -2.388650 -0.325760 q: -0.420662 -0.423728 0.760050 -0.256558 
time: 1403637233.588319, t: -2.801730 -2.483570 -0.330355 q: -0.444660 -0.441548 0.740908 -0.241594 
time: 1403637233.688319, t: -2.967999 -2.592743 -0.346666 q: -0.479966 -0.457888 0.712637 -0.228296 
time: 1403637233.788319, t: -3.124348 -2.715685 -0.373043 q: 0.509180 0.469014 -0.687816 0.218337 
time: 1403637233.888319, t: -3.264290 -2.850240 -0.405788 q: 0.526419 0.474710 -0.672723 0.212078 
time: 1403637233.988319, t: -3.380865 -2.994864 -0.443359 q: 0.534589 0.478711 -0.665221 0.206232 
time: 1403637234.088319, t: -3.476521 -3.151593 -0.483274 q: 0.544808 0.482686 -0.655692 0.200667 
time: 1403637234.188319, t: -3.546770 -3.316672 -0.526913 q: 0.556272 0.485939 -0.645629 0.193877 
time: 1403637234.288319, t: -3.590821 -3.491583 -0.575291 q: 0.561420 0.482801 -0.642713 0.196546 
time: 1403637234.388319, t: -3.608696 -3.676955 -0.627027 q: 0.560629 0.474721 -0.645243 0.209754 
time: 1403637234.488319, t: -3.600772 -3.869626 -0.680801 q: 0.554848 0.467676 -0.648060 0.231173 
time: 1403637234.588319, t: -3.568845 -4.064525 -0.737840 q: 0.547598 0.463330 -0.647718 0.256756 
time: 1403637234.688319, t: -3.516465 -4.257725 -0.799718 q: 0.539737 0.463998 -0.644107 0.280208 
time: 1403637234.788319, t: -3.447207 -4.447353 -0.866531 q: 0.526960 0.466830 -0.641383 0.304977 
time: 1403637234.888319, t: -3.364374 -4.629398 -0.934863 q: 0.511034 0.471191 -0.638805 0.329775 
time: 1403637234.988319, t: -3.271469 -4.802635 -0.997671 q: -0.496559 -0.479152 0.632845 -0.351213 
time: 1403637235.088319, t: -3.172825 -4.964376 -1.051345 q: -0.488349 -0.493690 0.621334 -0.362946 
time: 1403637235.188319, t: -3.068974 -5.117404 -1.095946 q: -0.480274 -0.509981 0.608344 -0.373061 
optimize pose graph 
time: 1403637235.288319, t: -2.960103 -5.257091 -1.131429 q: -0.471261 -0.524928 0.598692 -0.379384 
time: 1403637235.388319, t: -2.847756 -5.386125 -1.162387 q: -0.457529 -0.539808 0.597685 -0.376891 
time: 1403637235.488319, t: -2.731148 -5.506533 -1.189471 q: -0.439937 -0.553601 0.600537 -0.373278 
time: 1403637235.588319, t: -2.611239 -5.623639 -1.208722 q: -0.426998 -0.566461 0.598664 -0.372016 
time: 1403637235.688319, t: -2.487355 -5.739780 -1.219671 q: -0.420686 -0.576358 0.590484 -0.377046 
time: 1403637235.888319, t: -2.227311 -5.968899 -1.210724 q: 0.438830 0.596913 -0.545450 0.391927 
time: 1403637235.988319, t: -2.084699 -6.075854 -1.197252 q: 0.444383 0.612074 -0.522338 0.393767 
time: 1403637236.088319, t: -1.928701 -6.176635 -1.178495 q: 0.443064 0.626794 -0.502956 0.397313 
time: 1403637236.188319, t: -1.758887 -6.266601 -1.153470 q: 0.436837 0.641346 -0.486428 0.401543 
time: 1403637236.288319, t: -1.575065 -6.345393 -1.120401 q: 0.428558 0.653166 -0.470929 0.409802 
time: 1403637236.388319, t: -1.377348 -6.412445 -1.079919 q: 0.416305 0.663096 -0.457602 0.421419 
time: 1403637236.488319, t: -1.166875 -6.471601 -1.033889 q: 0.401618 0.669326 -0.448579 0.435296 
time: 1403637236.588319, t: -0.945213 -6.525782 -0.986828 q: 0.391272 0.672146 -0.442164 0.446785 
time: 1403637236.688319, t: -0.716243 -6.572532 -0.944467 q: 0.388204 0.672042 -0.434605 0.456919 
time: 1403637236.788319, t: -0.480224 -6.606691 -0.904827 q: 0.386213 0.670171 -0.423752 0.471322 
time: 1403637236.888319, t: -0.237777 -6.627868 -0.861845 q: 0.380088 0.667149 -0.411163 0.491315 
time: 1403637236.988319, t: 0.007398 -6.634327 -0.811258 q: 0.376391 0.660996 -0.395947 0.514432 
time: 1403637237.088319, t: 0.250072 -6.622034 -0.754502 q: 0.373958 0.651531 -0.382216 0.538121 
time: 1403637237.188319, t: 0.487991 -6.587234 -0.691183 q: 0.364716 0.644973 -0.371159 0.559673 
time: 1403637237.288319, t: 0.715755 -6.528488 -0.621890 q: 0.348522 0.648546 -0.362812 0.571217 
optimize pose graph 
time: 1403637237.488319, t: 1.129960 -6.341117 -0.465011 q: 0.323656 0.660501 -0.350784 0.579600 
time: 1403637237.588319, t: 1.313750 -6.214874 -0.377886 q: 0.313127 0.663700 -0.348685 0.582986 
time: 1403637237.688319, t: 1.476916 -6.067949 -0.285462 q: 0.302050 0.663039 -0.349214 0.589232 
time: 1403637237.788319, t: 1.625176 -5.906611 -0.193356 q: 0.290076 0.662814 -0.353870 0.592714 
time: 1403637237.888319, t: 1.756558 -5.733917 -0.110304 q: 0.280108 0.663984 -0.365279 0.589267 
time: 1403637237.988319, t: 1.866202 -5.548811 -0.037148 q: 0.273469 0.664215 -0.383032 0.580793 
time: 1403637238.088319, t: 1.963084 -5.359242 0.027019 q: 0.264414 0.661737 -0.409433 0.569697 
time: 1403637238.188319, t: 2.042103 -5.168271 0.086789 q: 0.257522 0.653456 -0.440644 0.559026 
time: 1403637238.288319, t: 2.100834 -4.977500 0.142905 q: 0.253704 0.638367 -0.475192 0.549831 
time: 1403637238.388319, t: 2.139291 -4.791134 0.193412 q: 0.254806 0.617969 -0.510491 0.540913 
time: 1403637238.488319, t: 2.153380 -4.609043 0.239491 q: 0.262073 0.594050 -0.543477 0.532029 
time: 1403637238.588319, t: 2.139236 -4.432432 0.280615 q: -0.271805 -0.572858 0.573171 -0.519068 
time: 1403637238.688319, t: 2.097653 -4.263325 0.316984 q: -0.268040 -0.560821 0.603586 -0.499317 
time: 1403637238.788319, t: 2.029387 -4.105891 0.350185 q: -0.255593 -0.559031 0.630847 -0.473485 
time: 1403637238.888319, t: 1.932843 -3.965592 0.382577 q: -0.239915 -0.561839 0.653838 -0.446401 
time: 1403637239.088319, t: 1.653414 -3.762430 0.449978 q: -0.232872 -0.576490 0.673370 -0.400004 
time: 1403637239.188319, t: 1.474148 -3.710555 0.491522 q: -0.262286 -0.581628 0.663927 -0.390020 
time: 1403637239.288319, t: 1.275888 -3.681976 0.533637 q: -0.294320 -0.577423 0.655010 -0.388483 
time: 1403637239.388319, t: 1.065486 -3.671029 0.569864 q: -0.314954 -0.566457 0.656308 -0.386251 
optimize pose graph 
time: 1403637239.488319, t: 0.845462 -3.676679 0.593529 q: -0.330509 -0.550624 0.665078 -0.381114 
time: 1403637239.588319, t: 0.615612 -3.693329 0.599942 q: -0.348578 -0.531463 0.675315 -0.374153 
time: 1403637239.688319, t: 0.378152 -3.721739 0.586826 q: -0.368049 -0.510634 0.685974 -0.365010 
time: 1403637239.788319, t: 0.132667 -3.758876 0.561474 q: -0.398659 -0.487756 0.689281 -0.357849 
time: 1403637239.888319, t: -0.116902 -3.801382 0.522604 q: -0.434412 -0.465091 0.688448 -0.347875 
time: 1403637239.988319, t: -0.368313 -3.842070 0.475797 q: -0.462544 -0.441252 0.691623 -0.336164 
time: 1403637240.088319, t: -0.619661 -3.881510 0.422853 q: -0.483136 -0.417392 0.699024 -0.322071 
time: 1403637240.188319, t: -0.867353 -3.917020 0.365040 q: -0.496062 -0.393791 0.710983 -0.305538 
time: 1403637240.288319, t: -1.109897 -3.947759 0.302393 q: -0.499754 -0.374671 0.726699 -0.285966 
time: 1403637240.388319, t: -1.347522 -3.978160 0.238955 q: -0.495404 -0.365474 0.742596 -0.263733 
time: 1403637240.488319, t: -1.582447 -4.009507 0.182285 q: -0.490179 -0.363810 0.754459 -0.241161 
time: 1403637240.588319, t: -1.815096 -4.049482 0.133479 q: -0.488561 -0.361714 0.760181 -0.229337 
time: 1403637240.688319, t: -2.045907 -4.094641 0.094030 q: -0.491460 -0.361625 0.760168 -0.223246 
time: 1403637240.788319, t: -2.275136 -4.150497 0.062884 q: -0.497184 -0.360729 0.756983 -0.222841 
time: 1403637240.888319, t: -2.502739 -4.214439 0.041417 q: 0.515405 0.360972 -0.743615 0.226037 
time: 1403637240.988319, t: -2.725480 -4.284021 0.023361 q: 0.528010 0.361678 -0.733229 0.229718 
time: 1403637241.088319, t: -2.942348 -4.356007 -0.002583 q: 0.525832 0.362493 -0.733144 0.233665 
time: 1403637241.188319, t: -3.151744 -4.429363 -0.037420 q: 0.522142 0.365881 -0.733658 0.235042 
time: 1403637241.288319, t: -3.355370 -4.506004 -0.076263 q: 0.523845 0.372737 -0.730237 0.231101 
time: 1403637241.388319, t: -3.549512 -4.584500 -0.118702 q: 0.527875 0.379208 -0.725236 0.227116 
time: 1403637241.488319, t: -3.730863 -4.664458 -0.160553 q: 0.532594 0.385875 -0.719872 0.221874 
optimize pose graph 
time: 1403637241.588319, t: -3.899054 -4.749543 -0.197044 q: 0.540663 0.391410 -0.711997 0.218043 
time: 1403637241.688319, t: -4.052818 -4.839195 -0.226770 q: 0.548428 0.392138 -0.704720 0.220961 
time: 1403637241.788319, t: -4.190289 -4.931663 -0.250747 q: 0.557304 0.391105 -0.696849 0.225502 
time: 1403637241.888319, t: -4.310004 -5.025118 -0.266815 q: 0.561953 0.384579 -0.692824 0.237282 
time: 1403637241.988319, t: -4.412743 -5.115819 -0.276324 q: 0.563546 0.372621 -0.690956 0.257195 
time: 1403637242.088319, t: -4.500829 -5.199858 -0.279905 q: 0.566042 0.368419 -0.689337 0.262066 
time: 1403637242.188319, t: -4.572183 -5.275953 -0.277485 q: 0.565916 0.372862 -0.690391 0.253128 
time: 1403637242.288319, t: -4.625930 -5.346646 -0.268751 q: 0.567205 0.377486 -0.690172 0.243813 
time: 1403637242.388319, t: -4.662285 -5.412768 -0.261269 q: 0.573644 0.382589 -0.685779 0.232949 
time: 1403637242.488319, t: -4.685110 -5.480186 -0.262054 q: 0.581571 0.385853 -0.679858 0.225134 
time: 1403637242.588319, t: -4.682498 -5.540536 -0.265671 q: 0.585020 0.388002 -0.675046 0.226979 
time: 1403637242.688319, t: -4.663173 -5.605285 -0.267989 q: 0.580007 0.394090 -0.672135 0.237736 
time: 1403637242.788319, t: -4.620121 -5.664608 -0.262541 q: 0.570152 0.400531 -0.669580 0.257224 
time: 1403637242.888319, t: -4.562256 -5.720920 -0.249760 q: 0.563769 0.404319 -0.664905 0.276753 
time: 1403637242.988319, t: -4.490713 -5.769848 -0.232439 q: 0.563216 0.409559 -0.657541 0.287556 
time: 1403637243.088319, t: -4.407073 -5.813139 -0.215269 q: 0.561157 0.418443 -0.654088 0.286668 
time: 1403637243.188319, t: -4.309992 -5.848757 -0.205178 q: 0.555071 0.425995 -0.655905 0.283219 
time: 1403637243.288319, t: -4.199947 -5.877658 -0.202327 q: 0.544053 0.428742 -0.662858 0.284264 
time: 1403637243.388319, t: -4.079761 -5.902568 -0.206429 q: 0.536268 0.429037 -0.668101 0.286329 
time: 1403637243.488319, t: -3.950240 -5.922416 -0.214055 q: 0.532879 0.427638 -0.670778 0.288485 
time: 1403637243.588319, t: -3.811120 -5.940507 -0.218080 q: 0.525268 0.425831 -0.676954 0.290679 
time: 1403637243.688319, t: -3.665585 -5.957297 -0.215350 q: 0.513911 0.424232 -0.686119 0.291827 
optimize pose graph 
time: 1403637243.788319, t: -3.517368 -5.972164 -0.203048 q: 0.502243 0.419354 -0.695775 0.296297 
time: 1403637243.888319, t: -3.369944 -5.984208 -0.182164 q: -0.488256 -0.412902 0.706809 -0.302554 
time: 1403637243.988319, t: -3.226540 -5.991537 -0.150783 q: -0.481443 -0.408437 0.712602 -0.305925 
time: 1403637244.088319, t: -3.090784 -5.997034 -0.109099 q: -0.481305 -0.406426 0.714093 -0.305343 
time: 1403637244.188319, t: -2.962507 -6.001011 -0.059769 q: -0.484103 -0.405647 0.713592 -0.303120 
time: 1403637244.288319, t: -2.840640 -6.005332 -0.004336 q: -0.484441 -0.404209 0.714486 -0.302392 
time: 1403637244.388319, t: -2.724897 -6.006977 0.055141 q: -0.480439 -0.404592 0.717509 -0.301104 
time: 1403637244.488319, t: -2.615374 -6.008349 0.119177 q: -0.476566 -0.411657 0.716848 -0.299253 
time: 1403637244.588319, t: -2.513370 -6.012899 0.185268 q: -0.476639 -0.426959 0.709819 -0.294411 
time: 1403637244.688319, t: -2.414636 -6.021434 0.245257 q: -0.474657 -0.444379 0.701645 -0.291415 
time: 1403637244.788319, t: -2.318493 -6.036206 0.298435 q: -0.470813 -0.458298 0.694613 -0.292935 
time: 1403637244.888319, t: -2.222705 -6.056957 0.345775 q: -0.467055 -0.467845 0.689456 -0.296025 
time: 1403637244.988319, t: -2.127200 -6.083566 0.386823 q: -0.459981 -0.473198 0.688607 -0.300534 
time: 1403637245.088319, t: -2.033813 -6.115405 0.420332 q: -0.444206 -0.471855 0.696376 -0.308375 
time: 1403637245.188319, t: -1.944941 -6.153224 0.447666 q: -0.428388 -0.470540 0.705251 -0.312565 
time: 1403637245.288319, t: -1.864547 -6.198822 0.474514 q: -0.433759 -0.474053 0.700894 -0.309635 
time: 1403637245.388319, t: -1.789222 -6.251560 0.498173 q: -0.444436 -0.478007 0.693440 -0.305168 
time: 1403637245.488319, t: -1.715131 -6.309222 0.516409 q: -0.449765 -0.483164 0.686905 -0.304017 
time: 1403637245.588319, t: -1.640860 -6.373196 0.528410 q: -0.449222 -0.490942 0.680537 -0.306668 
time: 1403637245.688319, t: -1.568173 -6.442664 0.535276 q: -0.443802 -0.501488 0.673850 -0.312212 
time: 1403637245.788319, t: -1.494304 -6.519431 0.538281 q: -0.441497 -0.511706 0.660736 -0.326595 
optimize pose graph 
time: 1403637245.888319, t: -1.419741 -6.601378 0.537284 q: -0.442895 -0.524066 0.639212 -0.347287 
time: 1403637245.988319, t: -1.345026 -6.683772 0.528629 q: -0.437562 -0.541323 0.616406 -0.368173 
time: 1403637246.088319, t: -1.267635 -6.765910 0.515764 q: -0.426697 -0.563155 0.591250 -0.388858 
time: 1403637246.188319, t: -1.186793 -6.844995 0.497973 q: 0.411474 0.588010 -0.563047 0.409770 
time: 1403637246.288319, t: -1.104784 -6.921769 0.474658 q: 0.392297 0.613994 -0.532818 0.430370 
time: 1403637246.388319, t: -1.020872 -6.994919 0.449205 q: 0.374401 0.640911 -0.497389 0.449066 
time: 1403637246.488319, t: -0.934188 -7.063362 0.421719 q: 0.360317 0.666701 -0.457948 0.464721 
time: 1403637246.588319, t: -0.845110 -7.124810 0.390020 q: 0.346822 0.685614 -0.419572 0.483329 
time: 1403637246.688319, t: -0.753194 -7.176549 0.354677 q: 0.331540 0.699023 -0.383933 0.504027 
time: 1403637246.788319, t: -0.658639 -7.215960 0.320899 q: 0.314560 0.712172 -0.350995 0.520256 
time: 1403637246.888319, t: -0.564138 -7.241660 0.292484 q: 0.295184 0.725912 -0.321416 0.531611 
time: 1403637246.988319, t: -0.468000 -7.257692 0.268406 q: 0.272319 0.742949 -0.300891 0.532291 
time: 1403637247.088319, t: -0.373499 -7.259123 0.249642 q: 0.252035 0.756907 -0.289922 0.528692 
time: 1403637247.188319, t: -0.276253 -7.256525 0.228565 q: 0.235705 0.766383 -0.286344 0.524507 
time: 1403637247.388319, t: -0.074956 -7.237246 0.175446 q: 0.228148 0.759431 -0.280936 0.540638 
time: 1403637247.488319, t: 0.027403 -7.221296 0.147198 q: 0.233487 0.746515 -0.276932 0.558129 
time: 1403637247.588319, t: 0.127808 -7.196685 0.111100 q: 0.234489 0.745808 -0.273855 0.560169 
time: 1403637247.688319, t: 0.224097 -7.161811 0.072513 q: 0.236361 0.748675 -0.263647 0.560455 
time: 1403637247.788319, t: 0.317210 -7.115957 0.035204 q: 0.239499 0.753715 -0.247702 0.559641 
time: 1403637247.888319, t: 0.408270 -7.055980 0.005734 q: 0.235289 0.757110 -0.233399 0.562981 
time: 1403637247.988319, t: 0.497287 -6.981913 -0.014745 q: 0.219532 0.756711 -0.223983 0.573607 
optimize pose graph 
time: 1403637248.088319, t: 0.580709 -6.895118 -0.030560 q: 0.201071 0.765328 -0.215891 0.572044 
time: 1403637248.188319, t: 0.657706 -6.800086 -0.041199 q: 0.183823 0.776660 -0.207508 0.565640 
time: 1403637248.288319, t: 0.733407 -6.700291 -0.055881 q: 0.170987 0.784998 -0.201608 0.560264 
time: 1403637248.388319, t: 0.808146 -6.596549 -0.077122 q: 0.164278 0.788397 -0.196486 0.559317 
time: 1403637248.488319, t: 0.881789 -6.490073 -0.101066 q: 0.160581 0.787158 -0.193877 0.563034 
time: 1403637248.588319, t: 0.953268 -6.381022 -0.122919 q: 0.161613 0.781829 -0.190967 0.571101 
time: 1403637248.788319, t: 1.083978 -6.149896 -0.148487 q: 0.164135 0.788574 -0.193959 0.559991 
time: 1403637248.888319, t: 1.145233 -6.028138 -0.148080 q: 0.164150 0.791244 -0.198701 0.554532 
time: 1403637248.988319, t: 1.207845 -5.904289 -0.140239 q: 0.163293 0.791686 -0.203954 0.552242 
time: 1403637249.088319, t: 1.272031 -5.778945 -0.126473 q: 0.165744 0.791163 -0.206361 0.551366 
time: 1403637249.188319, t: 1.336560 -5.654261 -0.104590 q: 0.167270 0.790571 -0.208303 0.551024 
time: 1403637249.288319, t: 1.401943 -5.529171 -0.076372 q: 0.167580 0.789062 -0.210524 0.552248 
time: 1403637249.388319, t: 1.467536 -5.401924 -0.049069 q: 0.169270 0.787751 -0.211493 0.553233 
time: 1403637249.488319, t: 1.532740 -5.271980 -0.036012 q: 0.168908 0.787057 -0.212670 0.553880 
time: 1403637249.588319, t: 1.598510 -5.141770 -0.041083 q: 0.167787 0.786955 -0.213182 0.554168 
time: 1403637249.688319, t: 1.663617 -5.007877 -0.060198 q: 0.168062 0.785476 -0.212224 0.556546 
time: 1403637249.788319, t: 1.727643 -4.872893 -0.079142 q: 0.168681 0.780465 -0.209009 0.564567 
time: 1403637249.888319, t: 1.790233 -4.734526 -0.092912 q: 0.165577 0.778087 -0.203115 0.570884 
time: 1403637249.988319, t: 1.848608 -4.590907 -0.100915 q: 0.155455 0.781557 -0.195632 0.571604 
time: 1403637250.088319, t: 1.902381 -4.446556 -0.102251 q: 0.138730 0.786395 -0.192762 0.570245 
optimize pose graph 
time: 1403637250.188319, t: 1.952054 -4.301602 -0.098320 q: 0.125742 0.791470 -0.186445 0.568333 
time: 1403637250.288319, t: 1.998239 -4.157904 -0.097695 q: 0.111642 0.793857 -0.180552 0.569850 
time: 1403637250.388319, t: 2.041662 -4.017645 -0.102876 q: 0.099851 0.794969 -0.177053 0.571583 
time: 1403637250.488319, t: 2.081583 -3.881424 -0.113828 q: 0.088556 0.796495 -0.177090 0.571308 
time: 1403637250.588319, t: 2.117544 -3.751908 -0.126258 q: 0.081667 0.799489 -0.177109 0.568137 
time: 1403637250.688319, t: 2.150596 -3.628377 -0.132395 q: 0.078832 0.802650 -0.171857 0.565688 
time: 1403637250.788319, t: 2.182289 -3.512435 -0.130408 q: 0.078511 0.804847 -0.166628 0.564174 
time: 1403637250.888319, t: 2.213977 -3.404991 -0.119832 q: 0.077105 0.803632 -0.164544 0.566706 
time: 1403637250.988319, t: 2.246725 -3.305318 -0.104496 q: 0.073704 0.803342 -0.165351 0.567335 
time: 1403637251.088319, t: 2.277466 -3.213227 -0.081632 q: 0.067870 0.804416 -0.163909 0.566958 
time: 1403637251.188319, t: 2.307763 -3.127166 -0.053308 q: 0.058200 0.806981 -0.162057 0.564918 
time: 1403637251.288319, t: 2.334991 -3.050110 -0.016815 q: 0.051564 0.808485 -0.158271 0.564485 
time: 1403637251.488319, t: 2.386996 -2.921951 0.077781 q: 0.055715 0.807385 -0.129331 0.572973 
time: 1403637251.588319, t: 2.412599 -2.866267 0.119822 q: 0.051402 0.807766 -0.114132 0.576061 
time: 1403637251.688319, t: 2.436397 -2.816207 0.155024 q: 0.044782 0.808327 -0.102572 0.577997 
time: 1403637251.788319, t: 2.457267 -2.769591 0.183556 q: 0.038429 0.808619 -0.094642 0.579397 
time: 1403637251.888319, t: 2.475513 -2.729164 0.208598 q: 0.037754 0.807373 -0.087169 0.582345 
time: 1403637251.988319, t: 2.492271 -2.692570 0.230299 q: 0.044651 0.803721 -0.076800 0.588337 
time: 1403637252.088319, t: 2.505173 -2.657802 0.247813 q: 0.048624 0.799899 -0.070665 0.593972 
time: 1403637252.188319, t: 2.511857 -2.623234 0.260775 q: 0.046380 0.796055 -0.070019 0.599369 
time: 1403637252.288319, t: 2.511663 -2.588846 0.266631 q: 0.041804 0.795864 -0.072030 0.599721 
optimize pose graph 
time: 1403637252.388319, t: 2.505927 -2.554434 0.265288 q: 0.038052 0.799016 -0.074400 0.595474 
time: 1403637252.488319, t: 2.492264 -2.522620 0.256445 q: 0.035329 0.804116 -0.076849 0.588424 
time: 1403637252.588319, t: 2.477605 -2.491274 0.242807 q: 0.034078 0.807263 -0.078510 0.583954 
time: 1403637252.688319, t: 2.457786 -2.462647 0.223024 q: 0.030267 0.811687 -0.081732 0.577553 
time: 1403637252.788319, t: 2.440306 -2.438066 0.202826 q: 0.023105 0.817688 -0.087339 0.568529 
time: 1403637252.888319, t: 2.420604 -2.417730 0.190303 q: 0.026109 0.819019 -0.086014 0.566681 
time: 1403637252.988319, t: 2.403313 -2.403021 0.188702 q: 0.034322 0.814410 -0.081405 0.573525 
time: 1403637253.088319, t: 2.385964 -2.390110 0.193511 q: 0.039378 0.811098 -0.078910 0.578224 
time: 1403637253.188319, t: 2.368355 -2.378419 0.201767 q: 0.042012 0.809370 -0.078127 0.580561 
time: 1403637253.288319, t: 2.350849 -2.366963 0.206611 q: 0.043285 0.808569 -0.078503 0.581533 
time: 1403637253.388319, t: 2.330724 -2.358851 0.204668 q: 0.043601 0.808482 -0.079041 0.581557 
time: 1403637253.488319, t: 2.309557 -2.351825 0.196444 q: 0.042769 0.807685 -0.080268 0.582558 
time: 1403637253.588319, t: 2.286584 -2.345983 0.184004 q: 0.043974 0.808694 -0.079981 0.581106 
time: 1403637253.688319, t: 2.262370 -2.341029 0.175789 q: 0.047858 0.808375 -0.077305 0.581604 
time: 1403637253.788319, t: 2.236197 -2.336399 0.175251 q: 0.052440 0.807065 -0.074138 0.583438 
time: 1403637253.888319, t: 2.208695 -2.330195 0.179983 q: 0.054204 0.806594 -0.073134 0.584054 
time: 1403637253.988319, t: 2.181269 -2.322175 0.191622 q: 0.054945 0.806470 -0.073241 0.584143 
time: 1403637254.088319, t: 2.147888 -2.312137 0.208799 q: 0.056072 0.805578 -0.071811 0.585442 
time: 1403637254.188319, t: 2.112705 -2.299196 0.230683 q: 0.052934 0.805624 -0.067080 0.586232 
time: 1403637254.288319, t: 2.075547 -2.283225 0.257518 q: 0.048735 0.809056 -0.058368 0.582792 
optimize pose graph 
time: 1403637254.488319, t: 1.999678 -2.244774 0.312764 q: 0.039360 0.816702 -0.043998 0.574032 
time: 1403637254.588319, t: 1.962968 -2.223618 0.334088 q: 0.035486 0.817786 -0.039173 0.573091 
time: 1403637254.688319, t: 1.925724 -2.201364 0.349807 q: 0.033313 0.816616 -0.035755 0.575108 
time: 1403637254.788319, t: 1.888480 -2.178403 0.359474 q: 0.031342 0.813646 -0.033965 0.579521 
time: 1403637254.888319, t: 1.851416 -2.154529 0.363544 q: 0.028130 0.810970 -0.034051 0.583419 
time: 1403637254.988319, t: 1.813302 -2.129396 0.360927 q: 0.026954 0.808677 -0.034017 0.586650 
time: 1403637255.088319, t: 1.775925 -2.103375 0.355250 q: 0.025024 0.808124 -0.031622 0.587631 
time: 1403637255.188319, t: 1.734163 -2.075158 0.351170 q: 0.019344 0.808625 -0.025247 0.587465 
time: 1403637255.288319, t: 1.690806 -2.046449 0.353992 q: 0.012227 0.808296 -0.018160 0.588369 
time: 1403637255.388319, t: 1.647350 -2.017850 0.363269 q: 0.004316 0.808634 -0.011648 0.588181 
time: 1403637255.488319, t: 1.599600 -1.986774 0.369311 q: -0.002462 0.809668 -0.001413 0.586882 
time: 1403637255.588319, t: 1.550024 -1.954603 0.368651 q: -0.008558 0.810148 0.012861 0.586022 
time: 1403637255.688319, t: 1.500644 -1.922086 0.363439 q: -0.016267 0.810557 0.029167 0.584707 
time: 1403637255.788319, t: 1.448855 -1.888979 0.357953 q: -0.025405 0.812182 0.047870 0.580881 
time: 1403637255.888319, t: 1.396487 -1.855183 0.359309 q: -0.036951 0.813990 0.066606 0.575863 
time: 1403637255.988319, t: 1.344834 -1.821712 0.370483 q: -0.048650 0.813773 0.082843 0.573188 
time: 1403637256.088319, t: 1.290446 -1.787092 0.391417 q: -0.055383 0.813196 0.095861 0.571362 
time: 1403637256.188319, t: 1.236522 -1.751171 0.414012 q: -0.059856 0.810479 0.103678 0.573403 
time: 1403637256.288319, t: 1.182565 -1.713802 0.431712 q: -0.063554 0.806468 0.107486 0.577942 
time: 1403637256.388319, t: 1.128047 -1.674565 0.441520 q: -0.064259 0.804263 0.109675 0.580519 
time: 1403637256.488319, t: 1.071606 -1.633261 0.445142 q: -0.062379 0.803199 0.110618 0.582017 
time: 1403637256.588319, t: 1.014003 -1.590396 0.443205 q: -0.062625 0.802791 0.108742 0.582907 
time: 1403637256.688319, t: 0.953324 -1.545528 0.433913 q: -0.066080 0.808067 0.103322 0.576182 
time: 1403637256.788319, t: 0.891206 -1.499912 0.420466 q: -0.074580 0.815543 0.094032 0.566114 
time: 1403637256.888319, t: 0.830138 -1.454203 0.406033 q: -0.080134 0.817306 0.088428 0.563710 
time: 1403637256.988319, t: 0.772268 -1.410884 0.393450 q: -0.079937 0.813603 0.093706 0.568225 
time: 1403637257.088319, t: 0.713593 -1.369793 0.386662 q: -0.080185 0.809317 0.104443 0.572423 
time: 1403637257.188319, t: 0.655731 -1.327489 0.387795 q: -0.081271 0.807022 0.113417 0.573800 
time: 1403637257.288319, t: 0.601446 -1.284766 0.395167 q: -0.083152 0.807156 0.120653 0.571863 
time: 1403637257.388319, t: 0.547805 -1.243726 0.408840 q: -0.083615 0.807647 0.127862 0.569531 
time: 1403637257.488319, t: 0.496742 -1.202553 0.423176 q: -0.084526 0.807684 0.132470 0.568291 
time: 1403637257.588319, t: 0.444530 -1.160625 0.431638 q: -0.084092 0.808677 0.136447 0.565997 
time: 1403637257.688319, t: 0.391374 -1.117554 0.431319 q: -0.086787 0.812611 0.136771 0.559844 
time: 1403637257.788319, t: 0.342013 -1.073136 0.428248 q: -0.090698 0.815626 0.139319 0.554182 
time: 1403637257.888319, t: 0.300092 -1.024538 0.421149 q: -0.095912 0.817876 0.144771 0.548563 
time: 1403637257.988319, t: 0.260724 -0.972689 0.410276 q: -0.104018 0.817893 0.152719 0.544892 
time: 1403637258.088319, t: 0.223012 -0.918799 0.398964 q: -0.115567 0.815949 0.164183 0.542140 
time: 1403637258.188319, t: 0.191600 -0.862730 0.395554 q: -0.126745 0.808541 0.181064 0.545356 
time: 1403637258.288319, t: 0.162387 -0.805824 0.397197 q: -0.134306 0.799132 0.197302 0.551744 
time: 1403637258.388319, t: 0.134619 -0.748597 0.395579 q: -0.142281 0.792535 0.208366 0.555183 
time: 1403637258.488319, t: 0.107395 -0.690729 0.386193 q: -0.153679 0.791602 0.212135 0.552040 
time: 1403637258.588319, t: 0.083405 -0.634350 0.370006 q: -0.162878 0.793179 0.212860 0.546834 
time: 1403637258.688319, t: 0.059934 -0.581139 0.349832 q: -0.165764 0.789930 0.214324 0.550090 
time: 1403637258.788319, t: 0.041637 -0.530325 0.328126 q: -0.166990 0.787429 0.214921 0.553063 
time: 1403637258.888319, t: 0.022646 -0.481205 0.305998 q: -0.168679 0.785548 0.213833 0.555641 
time: 1403637258.988319, t: 0.004783 -0.434379 0.289575 q: -0.170281 0.785998 0.211637 0.555357 
time: 1403637259.088319, t: -0.010110 -0.392638 0.284437 q: -0.170049 0.786757 0.209895 0.555014 
time: 1403637259.288319, t: -0.036913 -0.323095 0.309058 q: -0.171218 0.786099 0.206793 0.556749 
time: 1403637259.388319, t: -0.050352 -0.293842 0.323549 q: -0.171889 0.786838 0.204717 0.556265 
time: 1403637259.488319, t: -0.063703 -0.271633 0.335388 q: -0.179350 0.786927 0.198329 0.556098 
time: 1403637259.588319, t: -0.075915 -0.254162 0.343284 q: -0.183294 0.787098 0.194985 0.555752 
time: 1403637259.688319, t: -0.087064 -0.240919 0.348742 q: -0.179834 0.786941 0.196550 0.556554 
time: 1403637259.788319, t: -0.097034 -0.230726 0.348850 q: -0.172684 0.789692 0.201056 0.553302 
time: 1403637259.888319, t: -0.105636 -0.225053 0.347059 q: -0.171348 0.789868 0.201748 0.553215 
time: 1403637259.988319, t: -0.112303 -0.222435 0.340300 q: -0.175286 0.788016 0.198949 0.555631 
time: 1403637260.088319, t: -0.118155 -0.224425 0.329688 q: -0.171739 0.785733 0.201820 0.558925 
time: 1403637260.188319, t: -0.123453 -0.228991 0.313973 q: -0.165699 0.785885 0.206411 0.558859 
time: 1403637260.288319, t: -0.129426 -0.235866 0.295905 q: -0.158242 0.785870 0.212375 0.558806 
time: 1403637260.388319, t: -0.136526 -0.243660 0.277013 q: -0.149354 0.783841 0.219389 0.561387 
time: 1403637260.588319, t: -0.154484 -0.252362 0.232520 q: -0.143105 0.790453 0.224905 0.551473 
time: 1403637260.688319, t: -0.164566 -0.250892 0.209280 q: -0.144197 0.795042 0.223824 0.544995 
time: 1403637260.788319, t: -0.174287 -0.246068 0.187066 q: -0.147575 0.792663 0.221887 0.548337 
time: 1403637260.888319, t: -0.183028 -0.238537 0.164609 q: -0.151682 0.787892 0.220202 0.554734 
optimize pose graph 
time: 1403637260.988319, t: -0.191466 -0.229602 0.142135 q: -0.153724 0.783320 0.219432 0.560917 
time: 1403637261.088319, t: -0.201330 -0.220277 0.118750 q: -0.154457 0.785057 0.219196 0.558374 
time: 1403637261.188319, t: -0.211903 -0.209784 0.095533 q: -0.151758 0.791951 0.220756 0.548679 
time: 1403637261.288319, t: -0.222132 -0.197845 0.075937 q: -0.149121 0.797401 0.222313 0.540825 
time: 1403637261.388319, t: -0.229602 -0.183471 0.064356 q: -0.151097 0.793980 0.220654 0.545964 
time: 1403637261.488319, t: -0.235596 -0.167739 0.057566 q: -0.158145 0.790111 0.215668 0.551545 
time: 1403637261.588319, t: -0.240207 -0.152588 0.051094 q: -0.157046 0.795167 0.215917 0.544451 
time: 1403637261.688319, t: -0.242446 -0.137002 0.048845 q: -0.152639 0.800844 0.218540 0.536275 
time: 1403637261.788319, t: -0.240118 -0.119342 0.053697 q: -0.151500 0.798554 0.219009 0.539810 
time: 1403637261.888319, t: -0.235073 -0.099342 0.061219 q: -0.153700 0.791500 0.216921 0.550318 
time: 1403637261.988319, t: -0.229845 -0.080633 0.062301 q: -0.155005 0.786916 0.214888 0.557279 
time: 1403637262.088319, t: -0.224470 -0.062637 0.053442 q: -0.158526 0.784400 0.211075 0.561278 
time: 1403637262.188319, t: -0.220238 -0.046480 0.035586 q: -0.162234 0.784673 0.207212 0.561277 
time: 1403637262.288319, t: -0.216578 -0.033076 0.010343 q: -0.165055 0.785290 0.203736 0.560863 
time: 1403637262.388319, t: -0.220363 -0.039685 0.007992 q: -0.167962 0.772027 0.201811 0.578823 
time: 1403637262.488319, t: -0.221748 -0.049547 -0.000849 q: -0.156424 0.789618 0.172044 0.567834 
time: 1403637262.588319, t: -0.227623 -0.056734 0.003081 q: -0.167737 0.772956 0.161432 0.590206 
time: 1403637262.688319, t: -0.224841 -0.059765 0.003107 q: -0.163087 0.783126 0.163707 0.577336 
time: 1403637262.788319, t: -0.227654 -0.058647 0.005886 q: -0.163899 0.781279 0.160942 0.580377 
time: 1403637262.888319, t: -0.227420 -0.057231 0.005993 q: -0.164478 0.782238 0.161927 0.578646 
time: 1403637262.988319, t: -0.227563 -0.057726 0.006073 q: -0.164310 0.781849 0.161750 0.579267 
optimize pose graph 
time: 1403637263.088319, t: -0.227553 -0.057894 0.006063 q: -0.163749 0.781816 0.162018 0.579397 
time: 1403637263.188319, t: -0.227675 -0.058190 0.006147 q: -0.163368 0.781686 0.162146 0.579643 
time: 1403637263.288319, t: -0.227741 -0.058129 0.006114 q: -0.163607 0.781887 0.162034 0.579337 
time: 1403637263.388319, t: -0.227723 -0.058051 0.006125 q: -0.163906 0.781886 0.161948 0.579278 
time: 1403637263.488319, t: -0.227765 -0.058201 0.006103 q: -0.163599 0.781894 0.162053 0.579324 
time: 1403637263.588319, t: -0.227753 -0.058184 0.006092 q: -0.163810 0.781931 0.161932 0.579248 
time: 1403637263.688319, t: -0.227761 -0.058193 0.006078 q: -0.163883 0.781982 0.161896 0.579169 
time: 1403637263.788319, t: -0.227784 -0.058075 0.006061 q: -0.164225 0.781985 0.161599 0.579151 
time: 1403637263.888319, t: -0.227819 -0.058133 0.006072 q: -0.164262 0.782002 0.161576 0.579124 
time: 1403637263.988319, t: -0.227776 -0.058272 0.006058 q: -0.163963 0.782035 0.161707 0.579127 
time: 1403637264.088319, t: -0.227758 -0.058264 0.006033 q: -0.163930 0.782074 0.161755 0.579070 
time: 1403637264.188319, t: -0.227755 -0.058327 0.006011 q: -0.163881 0.782035 0.161718 0.579147 
time: 1403637264.288319, t: -0.227710 -0.058245 0.006003 q: -0.164064 0.782080 0.161623 0.579061 
time: 1403637264.388319, t: -0.227712 -0.058282 0.005995 q: -0.164041 0.782124 0.161675 0.578994 
time: 1403637264.488319, t: -0.227592 -0.058250 0.005958 q: -0.163935 0.782088 0.161652 0.579079 
time: 1403637264.688319, t: -0.227641 -0.058279 0.005983 q: -0.164021 0.782133 0.161556 0.579020 
time: 1403637264.788319, t: -0.227596 -0.058282 0.005993 q: -0.164094 0.782164 0.161517 0.578969 
time: 1403637264.888319, t: -0.227561 -0.058295 0.006010 q: -0.164059 0.782169 0.161510 0.578974 
time: 1403637264.988319, t: -0.227536 -0.058312 0.006004 q: -0.163905 0.782188 0.161579 0.578972 
time: 1403637265.088319, t: -0.227531 -0.058292 0.006027 q: -0.163923 0.782237 0.161607 0.578894 
time: 1403637265.188319, t: -0.227547 -0.058312 0.006040 q: -0.163873 0.782213 0.161572 0.578949 
time: 1403637265.288319, t: -0.227557 -0.058331 0.006031 q: -0.163892 0.782247 0.161590 0.578893 
time: 1403637265.388319, t: -0.227482 -0.058311 0.006052 q: -0.163873 0.782260 0.161605 0.578878 
time: 1403637265.488319, t: -0.227376 -0.058338 0.006047 q: -0.163899 0.782259 0.161593 0.578875 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731038031.177330104]: Shutdown request received.[0m
[33m[ WARN] [1731038031.187065179]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731038031.188221178]: Shutdown request received.[0m
[33m[ WARN] [1731038031.188243248]: Reason given for shutdown: [user request][0m
killed
