/SLAM-Hive/slam_hive_results/mapping_results/3447/2370_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/12034a80-9d8c-11ef-b203-0242ac110002/roslaunch-a619b2b69d0e-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
[0m[ INFO] [1731041039.544070089]: init begins[0m
[31m[ERROR] [1731041039.544380846]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731041039.545796248]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://a619b2b69d0e:36537/[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
[1mROS_MASTER_URI=http://a619b2b69d0e:11311/[0m
]2;roscore http://a619b2b69d0e:11311/
[1msetting /run_id to 12034a80-9d8c-11ef-b203-0242ac110002[0m
[0m[ INFO] [1731041040.650185910]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731041040.650835351]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1731041040.657084970]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731041040.657295493]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731041040.657318294]: 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
config_file: /slamhive/mappingtask.yaml
[0m[ INFO] [1731041040.666332403]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731041040.668940527]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731041040.669118340]: waiting for image and imu...[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mprocess[rosout-1]: started with pid [191][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] [1731041049.534637214]: 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: 327403919.21 
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
[33m[ WARN] [1731041050.965972676]: gyroscope bias initial calibration -0.00214086   0.0203059   0.0776988[0m
[0m[ INFO] [1731041051.024905431]: Initialization finish![0m
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time: 1403637131.788319, t: -0.000052 0.000014 -0.000071 q: -0.102251 0.787028 0.078400 0.603312 
time: 1403637131.888319, t: -0.000059 -0.000061 -0.000035 q: -0.101908 0.787052 0.078070 0.603381 
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time: 1403637149.688319, t: 0.028357 -0.048956 -0.002991 q: -0.071329 0.802167 0.044914 0.591121 
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time: 1403637149.988319, t: 0.028651 -0.063412 -0.000593 q: -0.067756 0.823889 0.057581 0.559732 
optimize pose graph 
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time: 1403637150.188319, t: 0.040772 -0.092665 0.028102 q: -0.042818 0.837372 0.067568 0.540749 
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time: 1403637150.388319, t: 0.083427 -0.119895 0.082502 q: -0.037377 0.828043 0.060196 0.556169 
time: 1403637150.488319, t: 0.112231 -0.131966 0.111551 q: -0.036991 0.821968 0.056263 0.565540 
time: 1403637150.588319, t: 0.142696 -0.143939 0.138736 q: -0.035382 0.819837 0.053073 0.569034 
time: 1403637150.688319, t: 0.174900 -0.155027 0.164217 q: -0.033618 0.818855 0.050566 0.570780 
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time: 1403637150.988319, t: 0.270853 -0.184319 0.229052 q: -0.028597 0.810736 0.049072 0.582650 
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time: 1403637151.388319, t: 0.372880 -0.212304 0.295980 q: -0.040993 0.812231 0.047654 0.579940 
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time: 1403637151.688319, t: 0.429966 -0.236932 0.386588 q: -0.040797 0.815344 0.053082 0.575093 
time: 1403637151.788319, t: 0.448774 -0.248173 0.406757 q: -0.040228 0.815774 0.054905 0.574352 
time: 1403637151.888319, t: 0.469647 -0.259072 0.422172 q: -0.039227 0.815575 0.056438 0.574556 
time: 1403637151.988319, t: 0.489588 -0.270103 0.433068 q: -0.039282 0.815727 0.057414 0.574238 
time: 1403637152.088319, t: 0.508285 -0.281689 0.451624 q: -0.040690 0.816240 0.056969 0.573455 
optimize pose graph 
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time: 1403637152.388319, t: 0.567442 -0.316715 0.500737 q: -0.042127 0.818932 0.053977 0.569791 
time: 1403637152.488319, t: 0.591643 -0.330506 0.504583 q: -0.041347 0.819326 0.054294 0.569252 
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time: 1403637152.688319, t: 0.640717 -0.358666 0.498067 q: -0.040178 0.818547 0.053815 0.570500 
time: 1403637152.788319, t: 0.667971 -0.374235 0.496719 q: -0.042464 0.816186 0.051632 0.573908 
time: 1403637152.888319, t: 0.693251 -0.390059 0.501316 q: -0.043258 0.813555 0.050695 0.577657 
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time: 1403637153.288319, t: 0.784114 -0.464647 0.542382 q: -0.034837 0.814498 0.054454 0.576554 
time: 1403637153.388319, t: 0.808737 -0.483748 0.543629 q: -0.031937 0.814758 0.055220 0.576281 
time: 1403637153.488319, t: 0.828156 -0.501968 0.548219 q: -0.030214 0.816381 0.056253 0.573973 
time: 1403637153.588319, t: 0.849519 -0.517960 0.558930 q: -0.030092 0.818670 0.055876 0.570746 
time: 1403637153.688319, t: 0.877094 -0.532491 0.575734 q: -0.029695 0.818179 0.055684 0.571489 
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time: 1403637153.888319, t: 0.927179 -0.557841 0.613396 q: -0.030718 0.814666 0.055259 0.576474 
time: 1403637153.988319, t: 0.954354 -0.569003 0.621408 q: -0.031524 0.813230 0.054999 0.578480 
optimize pose graph 
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time: 1403637154.988319, t: 1.284486 -0.773879 0.511778 q: -0.006017 0.831651 0.027136 0.554603 
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time: 1403637155.288319, t: 1.442925 -0.833362 0.549570 q: 0.010018 0.820704 -0.005021 0.571244 
time: 1403637155.388319, t: 1.499834 -0.850279 0.570098 q: 0.014168 0.816187 -0.013018 0.577468 
time: 1403637155.488319, t: 1.553874 -0.869036 0.584775 q: 0.021869 0.812603 -0.026674 0.581796 
time: 1403637155.588319, t: 1.606864 -0.887921 0.590409 q: 0.026405 0.810989 -0.041748 0.582972 
time: 1403637155.688319, t: 1.658831 -0.906516 0.588756 q: 0.026994 0.810748 -0.056233 0.582062 
time: 1403637155.788319, t: 1.706986 -0.927767 0.580670 q: 0.030383 0.809728 -0.071887 0.581592 
time: 1403637155.888319, t: 1.753744 -0.952854 0.566318 q: 0.038396 0.809516 -0.090072 0.578875 
time: 1403637155.988319, t: 1.798580 -0.982904 0.548043 q: 0.051421 0.809614 -0.108767 0.574500 
optimize pose graph 
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time: 1403637156.188319, t: 1.878682 -1.055855 0.514900 q: 0.074263 0.799036 -0.154148 0.576425 
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time: 1403637156.488319, t: 1.966819 -1.204948 0.472837 q: 0.115165 0.781854 -0.224587 0.570090 
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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: 1403637209.088319, t: 1.204265 -2.464743 0.243548 q: 0.186127 0.784103 -0.220818 0.549343 
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optimize pose graph 
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time: 1403637211.788319, t: 3.837230 -2.999548 -0.336294 q: 0.107982 0.803730 -0.208774 0.546600 
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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: 1403637238.688319, t: 1.800416 -3.997299 0.404582 q: -0.278023 -0.547500 0.615479 -0.494098 
time: 1403637238.788319, t: 1.739923 -3.836163 0.438177 q: -0.265092 -0.544907 0.642904 -0.468483 
optimize pose graph 
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time: 1403637238.988319, t: 1.528834 -3.565414 0.499510 q: -0.234907 -0.552411 0.682949 -0.416222 
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time: 1403637239.488319, t: 0.562501 -3.343530 0.676935 q: -0.337498 -0.535536 0.677387 -0.374758 
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time: 1403637239.688319, t: 0.090978 -3.367545 0.669667 q: -0.374813 -0.494939 0.697543 -0.357749 
time: 1403637239.788319, t: -0.156312 -3.393273 0.643288 q: -0.405353 -0.471942 0.700386 -0.349884 
time: 1403637239.888319, t: -0.408533 -3.425054 0.602239 q: -0.440887 -0.449310 0.699099 -0.339116 
time: 1403637239.988319, t: -0.662486 -3.453925 0.552976 q: -0.468832 -0.425409 0.701733 -0.326794 
time: 1403637240.088319, t: -0.915945 -3.481688 0.498071 q: -0.489186 -0.401427 0.708549 -0.312268 
time: 1403637240.188319, t: -1.165871 -3.505348 0.438679 q: 0.501805 0.377640 -0.719929 0.295435 
time: 1403637240.288319, t: -1.411007 -3.524933 0.374604 q: 0.504981 0.358281 -0.735245 0.275759 
time: 1403637240.388319, t: -1.651724 -3.546146 0.309167 q: 0.500109 0.348845 -0.750923 0.253598 
time: 1403637240.488319, t: -1.889759 -3.566852 0.250898 q: -0.494406 -0.347062 0.762670 -0.231181 
time: 1403637240.588319, t: -2.126019 -3.596927 0.200762 q: -0.492574 -0.344882 0.768322 -0.219335 
time: 1403637240.688319, t: -2.360717 -3.633250 0.160202 q: -0.495305 -0.344748 0.768372 -0.213134 
time: 1403637240.788319, t: -2.595314 -3.681523 0.126557 q: 0.500977 0.343952 -0.765192 0.212603 
time: 1403637240.888319, t: -2.827211 -3.734103 0.103945 q: 0.519403 0.344251 -0.751900 0.215308 
optimize pose graph 
time: 1403637241.088319, t: -3.273737 -3.854211 0.057628 q: 0.530253 0.345625 -0.741574 0.222360 
time: 1403637241.188319, t: -3.484937 -3.916861 0.021856 q: 0.526790 0.348779 -0.742188 0.223614 
time: 1403637241.288319, t: -3.688672 -3.981896 -0.016927 q: 0.528685 0.355573 -0.738810 0.219591 
time: 1403637241.388319, t: -3.883852 -4.049333 -0.059631 q: 0.532859 0.362032 -0.733867 0.215482 
time: 1403637241.488319, t: -4.068457 -4.119582 -0.101838 q: 0.537630 0.368741 -0.728580 0.210130 
time: 1403637241.588319, t: -4.241094 -4.194690 -0.138309 q: 0.545707 0.374416 -0.720777 0.206149 
time: 1403637241.688319, t: -4.398393 -4.275010 -0.167485 q: 0.553672 0.375272 -0.713438 0.208864 
time: 1403637241.788319, t: -4.538699 -4.358549 -0.190264 q: 0.562826 0.374342 -0.705434 0.213211 
time: 1403637241.888319, t: -4.660092 -4.443993 -0.205224 q: 0.567890 0.367783 -0.701199 0.224849 
time: 1403637241.988319, t: -4.765085 -4.528019 -0.214439 q: 0.570037 0.355703 -0.699042 0.244692 
time: 1403637242.088319, t: -4.855890 -4.606355 -0.218091 q: 0.572708 0.351395 -0.697347 0.249466 
time: 1403637242.188319, t: -4.930119 -4.677960 -0.215681 q: 0.572408 0.355734 -0.698535 0.240524 
time: 1403637242.288319, t: -4.988061 -4.746042 -0.207272 q: 0.573433 0.360359 -0.698479 0.231177 
time: 1403637242.388319, t: -5.030045 -4.811415 -0.200522 q: 0.579489 0.365682 -0.694279 0.220104 
time: 1403637242.488319, t: -5.057026 -4.877061 -0.201055 q: 0.587204 0.369109 -0.688447 0.212110 
time: 1403637242.588319, t: -5.061482 -4.940692 -0.204467 q: 0.590543 0.371365 -0.683822 0.213859 
time: 1403637242.688319, t: -5.045608 -5.006282 -0.206350 q: 0.585749 0.377444 -0.681132 0.224706 
time: 1403637242.788319, t: -5.008031 -5.070841 -0.200751 q: 0.576279 0.383885 -0.678861 0.244300 
time: 1403637242.888319, t: -4.953095 -5.131148 -0.187675 q: 0.570316 0.387727 -0.674408 0.263782 
time: 1403637242.988319, t: -4.883744 -5.183649 -0.169920 q: 0.569988 0.393159 -0.667207 0.274544 
time: 1403637243.088319, t: -4.801941 -5.230667 -0.152250 q: 0.567945 0.402139 -0.663946 0.273676 
optimize pose graph 
time: 1403637243.288319, t: -4.598604 -5.302194 -0.139668 q: 0.550729 0.412435 -0.672783 0.271951 
time: 1403637243.388319, t: -4.479620 -5.329827 -0.144232 q: 0.543002 0.412565 -0.678001 0.274325 
time: 1403637243.488319, t: -4.351375 -5.355306 -0.151816 q: 0.539683 0.411025 -0.680691 0.276514 
time: 1403637243.588319, t: -4.213126 -5.378639 -0.155675 q: 0.532165 0.409041 -0.686831 0.278836 
time: 1403637243.688319, t: -4.069434 -5.402251 -0.152480 q: 0.520811 0.407235 -0.695951 0.280298 
time: 1403637243.788319, t: -3.923306 -5.424470 -0.140133 q: 0.509231 0.402169 -0.705469 0.285056 
time: 1403637243.888319, t: -3.777593 -5.443223 -0.119465 q: -0.495408 -0.395459 0.716305 -0.291702 
time: 1403637243.988319, t: -3.635372 -5.456551 -0.088607 q: -0.488702 -0.390865 0.721942 -0.295289 
time: 1403637244.088319, t: -3.499724 -5.469085 -0.047033 q: -0.488589 -0.388712 0.723415 -0.294710 
time: 1403637244.188319, t: -3.370570 -5.479930 0.001536 q: -0.491391 -0.387825 0.722933 -0.292395 
time: 1403637244.288319, t: -3.247555 -5.491023 0.056337 q: -0.491786 -0.386165 0.723868 -0.291612 
time: 1403637244.388319, t: -3.129786 -5.499092 0.115120 q: -0.487843 -0.386352 0.726930 -0.290370 
time: 1403637244.488319, t: -3.018310 -5.506809 0.178783 q: -0.484071 -0.393288 0.726472 -0.288510 
time: 1403637244.588319, t: -2.913043 -5.518396 0.244773 q: -0.484246 -0.408530 0.719928 -0.283396 
time: 1403637244.688319, t: -2.811141 -5.533595 0.304799 q: -0.482373 -0.426012 0.712252 -0.280227 
time: 1403637244.788319, t: -2.711550 -5.554372 0.358937 q: -0.478752 -0.440053 0.705562 -0.281659 
time: 1403637244.888319, t: -2.613315 -5.580931 0.407439 q: -0.475138 -0.449800 0.700637 -0.284661 
time: 1403637244.988319, t: -2.515894 -5.613676 0.449820 q: -0.468250 -0.455160 0.699959 -0.289185 
time: 1403637245.088319, t: -2.421255 -5.651396 0.484656 q: -0.452723 -0.453684 0.707708 -0.297257 
time: 1403637245.188319, t: -2.332107 -5.694068 0.512930 q: -0.437011 -0.452158 0.716579 -0.301810 
optimize pose graph 
time: 1403637245.288319, t: -2.252212 -5.743575 0.539922 q: -0.442274 -0.455892 0.712263 -0.298728 
time: 1403637245.388319, t: -2.179228 -5.799686 0.563294 q: -0.452741 -0.460043 0.704935 -0.294029 
time: 1403637245.488319, t: -2.108624 -5.860422 0.581147 q: -0.457957 -0.465437 0.698528 -0.292749 
time: 1403637245.588319, t: -2.038970 -5.928466 0.592852 q: -0.457370 -0.473479 0.692379 -0.295368 
time: 1403637245.688319, t: -1.969946 -6.002558 0.600563 q: -0.452089 -0.484197 0.685993 -0.300969 
time: 1403637245.788319, t: -1.900545 -6.083871 0.604494 q: -0.450065 -0.494813 0.673164 -0.315361 
time: 1403637245.888319, t: -1.830070 -6.170572 0.603855 q: -0.452011 -0.507717 0.651972 -0.335918 
time: 1403637245.988319, t: -1.758013 -6.257903 0.596827 q: -0.447170 -0.525533 0.629685 -0.356863 
time: 1403637246.088319, t: -1.683050 -6.345577 0.585129 q: -0.436891 -0.547930 0.605165 -0.377722 
time: 1403637246.188319, t: -1.606545 -6.428481 0.568290 q: -0.422121 -0.573487 0.577593 -0.399141 
time: 1403637246.288319, t: -1.527889 -6.510260 0.545401 q: 0.403405 0.600131 -0.548183 0.420242 
time: 1403637246.388319, t: -1.447308 -6.587451 0.519450 q: 0.386006 0.627853 -0.513458 0.439500 
time: 1403637246.488319, t: -1.363658 -6.660119 0.490466 q: 0.372354 0.654584 -0.474717 0.455539 
time: 1403637246.588319, t: -1.275904 -6.725314 0.458283 q: 0.359384 0.674347 -0.436988 0.474490 
time: 1403637246.688319, t: -1.185682 -6.780622 0.423583 q: 0.344679 0.688608 -0.401798 0.495554 
time: 1403637246.788319, t: -1.092743 -6.823344 0.388750 q: 0.328235 0.702603 -0.369150 0.512191 
time: 1403637246.888319, t: -0.998756 -6.853743 0.360137 q: 0.309231 0.717102 -0.340046 0.523937 
time: 1403637246.988319, t: -0.903326 -6.875703 0.336842 q: 0.286360 0.734720 -0.320146 0.525063 
time: 1403637247.088319, t: -0.807057 -6.883165 0.318907 q: 0.266036 0.749037 -0.309646 0.521812 
time: 1403637247.188319, t: -0.709275 -6.886162 0.299655 q: 0.249497 0.758712 -0.306470 0.517864 
time: 1403637247.288319, t: -0.607394 -6.883310 0.275672 q: 0.239415 0.761846 -0.306176 0.518197 
optimize pose graph 
time: 1403637247.388319, t: -0.503079 -6.876719 0.252126 q: 0.242442 0.752072 -0.301226 0.533735 
time: 1403637247.488319, t: -0.398520 -6.864721 0.225316 q: 0.248381 0.739356 -0.296939 0.550896 
time: 1403637247.588319, t: -0.296895 -6.844418 0.190660 q: 0.249360 0.738863 -0.293780 0.552806 
time: 1403637247.688319, t: -0.199127 -6.813643 0.153630 q: 0.251205 0.742071 -0.283654 0.552962 
time: 1403637247.788319, t: -0.106569 -6.771141 0.118085 q: 0.254258 0.747556 -0.267736 0.552115 
time: 1403637247.888319, t: -0.015554 -6.715393 0.089560 q: 0.250021 0.751373 -0.253324 0.555657 
time: 1403637247.988319, t: 0.074426 -6.646642 0.070740 q: 0.234329 0.751320 -0.243762 0.566735 
time: 1403637248.088319, t: 0.160147 -6.564933 0.056286 q: 0.215698 0.760142 -0.235846 0.565716 
time: 1403637248.188319, t: 0.240373 -6.474637 0.045256 q: 0.198171 0.771579 -0.227729 0.559941 
time: 1403637248.288319, t: 0.320941 -6.379367 0.030904 q: 0.185092 0.780027 -0.222152 0.554930 
time: 1403637248.388319, t: 0.400461 -6.279922 0.010342 q: 0.178379 0.783505 -0.217244 0.554172 
time: 1403637248.488319, t: 0.478799 -6.177490 -0.014023 q: 0.174815 0.782255 -0.214658 0.558067 
time: 1403637248.588319, t: 0.556357 -6.071644 -0.036827 q: 0.176213 0.776947 -0.211725 0.566104 
time: 1403637248.688319, t: 0.630261 -5.961091 -0.054822 q: 0.177710 0.778418 -0.212037 0.563493 
time: 1403637248.788319, t: 0.701505 -5.845363 -0.064398 q: 0.178755 0.783414 -0.215118 0.555007 
time: 1403637248.888319, t: 0.770710 -5.725100 -0.065432 q: 0.178786 0.785857 -0.220065 0.549578 
time: 1403637248.988319, t: 0.840546 -5.602680 -0.058830 q: 0.177974 0.786068 -0.225403 0.547372 
time: 1403637249.088319, t: 0.911757 -5.481206 -0.045268 q: 0.180295 0.785516 -0.227691 0.546457 
time: 1403637249.188319, t: 0.985280 -5.358399 -0.023354 q: 0.181902 0.784850 -0.229738 0.546024 
time: 1403637249.288319, t: 1.059232 -5.233974 0.004292 q: 0.182373 0.783201 -0.232000 0.547277 
time: 1403637249.388319, t: 1.134072 -5.106803 0.031615 q: 0.184322 0.781797 -0.233058 0.548182 
optimize pose graph 
time: 1403637249.488319, t: 1.209224 -4.976471 0.045150 q: 0.184238 0.781039 -0.234408 0.548714 
time: 1403637249.588319, t: 1.285032 -4.845139 0.040919 q: 0.183380 0.780873 -0.235171 0.548911 
time: 1403637249.688319, t: 1.359324 -4.711329 0.022484 q: 0.183934 0.779385 -0.234381 0.551174 
time: 1403637249.788319, t: 1.433374 -4.575193 0.004986 q: 0.184886 0.774507 -0.231152 0.559039 
time: 1403637249.888319, t: 1.505864 -4.436495 -0.007780 q: 0.182070 0.772316 -0.225341 0.565332 
time: 1403637249.988319, t: 1.574385 -4.292619 -0.015148 q: 0.172037 0.775998 -0.218045 0.566292 
time: 1403637250.088319, t: 1.638293 -4.146241 -0.016087 q: 0.155358 0.780916 -0.215383 0.565371 
time: 1403637250.188319, t: 1.698304 -3.999745 -0.011748 q: 0.142290 0.786191 -0.209236 0.563806 
time: 1403637250.288319, t: 1.753492 -3.854084 -0.011311 q: 0.128177 0.788720 -0.203324 0.565818 
time: 1403637250.388319, t: 1.807118 -3.711362 -0.017030 q: 0.116509 0.789858 -0.199901 0.567969 
time: 1403637250.488319, t: 1.855402 -3.573127 -0.028992 q: 0.105135 0.791352 -0.199872 0.568119 
time: 1403637250.588319, t: 1.900150 -3.441619 -0.041850 q: 0.098154 0.794329 -0.199944 0.565181 
time: 1403637250.688319, t: 1.941086 -3.317152 -0.048424 q: 0.095123 0.797694 -0.194707 0.562784 
time: 1403637250.788319, t: 1.980530 -3.200272 -0.046132 q: 0.094675 0.800066 -0.189530 0.561256 
time: 1403637250.888319, t: 2.020502 -3.091332 -0.035243 q: 0.093370 0.798938 -0.187460 0.563772 
time: 1403637250.988319, t: 2.060379 -2.990944 -0.019013 q: 0.089976 0.798657 -0.188345 0.564427 
time: 1403637251.088319, t: 2.098824 -2.897578 0.004962 q: 0.084083 0.799802 -0.187019 0.564154 
time: 1403637251.188319, t: 2.135491 -2.811976 0.034085 q: 0.074307 0.802428 -0.185315 0.562358 
time: 1403637251.288319, t: 2.167092 -2.736956 0.071160 q: 0.067483 0.804066 -0.181570 0.562100 
time: 1403637251.388319, t: 2.197421 -2.671003 0.117815 q: 0.071462 0.803843 -0.167912 0.566158 
time: 1403637251.488319, t: 2.228159 -2.613417 0.166731 q: 0.071744 0.803833 -0.152734 0.570419 
time: 1403637251.588319, t: 2.257194 -2.560923 0.209227 q: 0.067410 0.804662 -0.137468 0.573652 
time: 1403637251.688319, t: 2.283662 -2.513247 0.244119 q: 0.060744 0.805546 -0.125808 0.575829 
time: 1403637251.788319, t: 2.306984 -2.469665 0.272153 q: 0.054267 0.806099 -0.117624 0.577429 
time: 1403637251.888319, t: 2.327724 -2.431146 0.296837 q: 0.053639 0.805038 -0.109990 0.580464 
time: 1403637251.988319, t: 2.345592 -2.396611 0.318787 q: 0.060574 0.801644 -0.099391 0.586361 
time: 1403637252.088319, t: 2.358984 -2.362461 0.336382 q: 0.064690 0.797936 -0.093050 0.591992 
time: 1403637252.188319, t: 2.366313 -2.327345 0.349548 q: 0.062574 0.794086 -0.092144 0.597513 
time: 1403637252.288319, t: 2.367300 -2.291458 0.356052 q: 0.057987 0.793846 -0.094105 0.597988 
time: 1403637252.388319, t: 2.364151 -2.256636 0.354448 q: 0.054038 0.796945 -0.096580 0.593828 
time: 1403637252.488319, t: 2.352101 -2.221226 0.346189 q: 0.051160 0.801957 -0.099102 0.586879 
time: 1403637252.588319, t: 2.338449 -2.187896 0.332496 q: 0.049791 0.805065 -0.100849 0.582427 
time: 1403637252.688319, t: 2.320544 -2.156170 0.313819 q: 0.045811 0.809413 -0.104182 0.576106 
time: 1403637252.788319, t: 2.303919 -2.129160 0.294345 q: 0.038442 0.815286 -0.110005 0.567212 
time: 1403637252.988319, t: 2.271347 -2.089341 0.279349 q: 0.049937 0.812171 -0.104123 0.571877 
time: 1403637253.088319, t: 2.254838 -2.076660 0.284618 q: 0.055006 0.808958 -0.101462 0.576426 
time: 1403637253.188319, t: 2.238136 -2.065731 0.293389 q: 0.057609 0.807254 -0.100571 0.578712 
time: 1403637253.288319, t: 2.221415 -2.054933 0.297922 q: 0.058871 0.806436 -0.100877 0.579671 
time: 1403637253.388319, t: 2.202207 -2.046139 0.296225 q: 0.059135 0.806339 -0.101411 0.579686 
time: 1403637253.488319, t: 2.181474 -2.038550 0.288080 q: 0.058307 0.805508 -0.102604 0.580714 
time: 1403637253.588319, t: 2.158941 -2.031809 0.275310 q: 0.059502 0.806500 -0.102335 0.579263 
time: 1403637253.688319, t: 2.134942 -2.025497 0.266943 q: 0.063430 0.806243 -0.099649 0.579671 
optimize pose graph 
time: 1403637253.788319, t: 2.108987 -2.019619 0.265999 q: 0.068079 0.805040 -0.096420 0.581359 
time: 1403637253.888319, t: 2.081961 -2.012293 0.271293 q: 0.069848 0.804644 -0.095384 0.581868 
time: 1403637253.988319, t: 2.053674 -2.004531 0.282471 q: 0.070433 0.804542 -0.095398 0.581937 
time: 1403637254.088319, t: 2.021325 -1.992532 0.299807 q: 0.071684 0.803688 -0.093920 0.583203 
time: 1403637254.188319, t: 1.987220 -1.978103 0.321869 q: 0.068582 0.803882 -0.089201 0.584049 
time: 1403637254.288319, t: 1.951527 -1.960663 0.349223 q: 0.064288 0.807572 -0.080592 0.580688 
time: 1403637254.388319, t: 1.914339 -1.940589 0.379371 q: 0.058967 0.812237 -0.072564 0.575785 
time: 1403637254.488319, t: 1.878297 -1.919458 0.404837 q: 0.054673 0.815586 -0.066432 0.572204 
time: 1403637254.588319, t: 1.843402 -1.897286 0.425849 q: 0.050815 0.816771 -0.061667 0.571402 
time: 1403637254.688319, t: 1.809713 -1.873823 0.440730 q: 0.048781 0.815685 -0.058342 0.573477 
time: 1403637254.788319, t: 1.774307 -1.849696 0.450953 q: 0.046911 0.812821 -0.056404 0.577875 
time: 1403637254.888319, t: 1.741248 -1.824171 0.454365 q: 0.043914 0.810177 -0.056443 0.581807 
time: 1403637255.088319, t: 1.671457 -1.769146 0.445859 q: 0.041081 0.807459 -0.053967 0.586012 
time: 1403637255.188319, t: 1.632157 -1.738504 0.441772 q: 0.035462 0.808140 -0.047588 0.585993 
time: 1403637255.288319, t: 1.591222 -1.706677 0.444740 q: 0.028443 0.808010 -0.040505 0.587086 
time: 1403637255.388319, t: 1.549200 -1.674160 0.453869 q: 0.020640 0.808466 -0.034058 0.587193 
time: 1403637255.488319, t: 1.504400 -1.641146 0.459355 q: 0.013805 0.809754 -0.023869 0.586122 
time: 1403637255.588319, t: 1.457369 -1.606434 0.458372 q: 0.007722 0.810606 -0.009678 0.585461 
time: 1403637255.688319, t: 1.410405 -1.571825 0.453350 q: -0.000043 0.811475 0.006619 0.584350 
time: 1403637255.788319, t: 1.361283 -1.536891 0.448179 q: -0.009265 0.813622 0.025231 0.580772 
time: 1403637255.888319, t: 1.311381 -1.500587 0.450008 q: -0.020910 0.815941 0.043859 0.576090 
time: 1403637255.988319, t: 1.260055 -1.463733 0.461965 q: -0.032693 0.816145 0.060066 0.573786 
time: 1403637256.088319, t: 1.208411 -1.426603 0.482791 q: -0.039475 0.815927 0.073103 0.572155 
time: 1403637256.188319, t: 1.156235 -1.388778 0.505151 q: -0.043990 0.813407 0.081086 0.574334 
time: 1403637256.288319, t: 1.104562 -1.349624 0.522286 q: -0.047631 0.809470 0.085061 0.579011 
time: 1403637256.388319, t: 1.052895 -1.308398 0.531536 q: -0.048283 0.807255 0.087312 0.581709 
time: 1403637256.488319, t: 0.998803 -1.265518 0.534721 q: -0.046422 0.806163 0.088310 0.583222 
time: 1403637256.588319, t: 0.944263 -1.220978 0.533047 q: -0.046739 0.805702 0.086522 0.584101 
time: 1403637256.688319, t: 0.887214 -1.174704 0.523452 q: -0.050376 0.810836 0.080991 0.577450 
time: 1403637256.788319, t: 0.829925 -1.126086 0.510546 q: -0.059160 0.818053 0.071558 0.567599 
time: 1403637256.888319, t: 0.774410 -1.079969 0.496833 q: -0.064839 0.819697 0.065924 0.565285 
time: 1403637256.988319, t: 0.720824 -1.035136 0.485034 q: -0.064523 0.816189 0.071293 0.569728 
time: 1403637257.088319, t: 0.667880 -0.991095 0.478795 q: -0.064642 0.812239 0.082144 0.573883 
time: 1403637257.188319, t: 0.615607 -0.946202 0.481257 q: -0.065604 0.810238 0.091087 0.575252 
time: 1403637257.288319, t: 0.566714 -0.901314 0.489299 q: -0.067426 0.810605 0.098265 0.573339 
time: 1403637257.388319, t: 0.515589 -0.858926 0.503470 q: -0.067977 0.811279 0.105366 0.571055 
time: 1403637257.488319, t: 0.468016 -0.813576 0.517686 q: -0.068773 0.811458 0.109887 0.569852 
time: 1403637257.588319, t: 0.420690 -0.768644 0.525592 q: -0.068273 0.812579 0.113712 0.567560 
time: 1403637257.688319, t: 0.372278 -0.723706 0.525638 q: -0.071111 0.816524 0.113968 0.561465 
time: 1403637257.788319, t: 0.327394 -0.675419 0.521624 q: -0.075035 0.819599 0.116273 0.555974 
time: 1403637257.888319, t: 0.289539 -0.623965 0.513905 q: -0.080358 0.822015 0.121596 0.550499 
optimize pose graph 
time: 1403637257.988319, t: 0.254785 -0.570546 0.502551 q: -0.088650 0.822203 0.129516 0.547127 
time: 1403637258.088319, t: 0.223394 -0.516404 0.490323 q: -0.100378 0.820525 0.141040 0.544767 
time: 1403637258.188319, t: 0.197708 -0.462442 0.485253 q: -0.111654 0.813507 0.158115 0.548397 
time: 1403637258.288319, t: 0.175305 -0.407784 0.486016 q: -0.119130 0.804552 0.174638 0.554982 
time: 1403637258.388319, t: 0.153815 -0.352303 0.483189 q: -0.127112 0.798214 0.185839 0.558714 
time: 1403637258.488319, t: 0.131361 -0.297225 0.472980 q: -0.138680 0.797326 0.189744 0.555910 
time: 1403637258.588319, t: 0.112190 -0.242211 0.456000 q: -0.147982 0.798892 0.190481 0.550990 
time: 1403637258.688319, t: 0.093616 -0.189849 0.436129 q: -0.150746 0.795672 0.191993 0.554365 
time: 1403637258.788319, t: 0.078064 -0.139988 0.415901 q: -0.151829 0.793160 0.192699 0.557416 
time: 1403637258.888319, t: 0.062138 -0.092716 0.395238 q: -0.153443 0.791235 0.191711 0.560045 
time: 1403637258.988319, t: 0.047326 -0.048234 0.380952 q: -0.155055 0.791609 0.189540 0.559811 
time: 1403637259.088319, t: 0.033987 -0.007001 0.376698 q: -0.154859 0.792275 0.187806 0.559507 
time: 1403637259.188319, t: 0.021588 0.031156 0.384609 q: -0.155447 0.792044 0.186487 0.560111 
time: 1403637259.288319, t: 0.007765 0.064347 0.400619 q: -0.155931 0.791511 0.184714 0.561317 
time: 1403637259.388319, t: -0.006276 0.093885 0.416111 q: -0.156546 0.792236 0.182670 0.560791 
time: 1403637259.488319, t: -0.018345 0.119583 0.426881 q: -0.163875 0.792222 0.176272 0.560765 
time: 1403637259.588319, t: -0.029936 0.139692 0.434887 q: -0.167702 0.792415 0.172849 0.560426 
time: 1403637259.688319, t: -0.039795 0.154140 0.439896 q: -0.164213 0.792336 0.174408 0.561088 
time: 1403637259.788319, t: -0.048791 0.164015 0.439951 q: -0.157159 0.795210 0.178864 0.557629 
time: 1403637259.888319, t: -0.056571 0.169945 0.437809 q: -0.155846 0.795448 0.179554 0.557436 
time: 1403637259.988319, t: -0.063220 0.172902 0.431300 q: -0.159676 0.793517 0.176836 0.559968 
time: 1403637260.088319, t: -0.068808 0.171628 0.420288 q: -0.156040 0.791338 0.179685 0.563160 
optimize pose graph 
time: 1403637260.188319, t: -0.074464 0.167165 0.405068 q: -0.150004 0.791619 0.184272 0.562923 
time: 1403637260.288319, t: -0.080449 0.160727 0.387126 q: -0.142540 0.791759 0.190233 0.562683 
time: 1403637260.388319, t: -0.087767 0.153484 0.368432 q: -0.133514 0.789967 0.197168 0.565023 
time: 1403637260.488319, t: -0.096050 0.148352 0.347592 q: -0.128386 0.790155 0.201496 0.564421 
time: 1403637260.588319, t: -0.105682 0.146494 0.324670 q: -0.127485 0.796790 0.202336 0.554917 
time: 1403637260.688319, t: -0.115675 0.148453 0.301926 q: -0.128763 0.801326 0.201158 0.548481 
time: 1403637260.788319, t: -0.124490 0.153908 0.279918 q: -0.132073 0.798908 0.199260 0.551904 
time: 1403637260.888319, t: -0.132318 0.161775 0.257783 q: -0.136008 0.794121 0.197636 0.558403 
time: 1403637260.988319, t: -0.139947 0.171274 0.235774 q: -0.137853 0.789590 0.196978 0.564573 
time: 1403637261.088319, t: -0.149254 0.180807 0.212716 q: -0.138663 0.791350 0.196651 0.562020 
time: 1403637261.188319, t: -0.159549 0.191510 0.189936 q: -0.136217 0.798292 0.198031 0.552230 
time: 1403637261.288319, t: -0.169002 0.203714 0.170849 q: -0.133806 0.803771 0.199447 0.544306 
time: 1403637261.388319, t: -0.175546 0.218097 0.159296 q: -0.135672 0.800282 0.197914 0.549520 
time: 1403637261.488319, t: -0.180642 0.233907 0.152273 q: -0.142578 0.796256 0.193067 0.555313 
time: 1403637261.588319, t: -0.184396 0.249020 0.145833 q: -0.141699 0.801296 0.193287 0.548166 
time: 1403637261.688319, t: -0.185688 0.264334 0.143718 q: -0.137530 0.807007 0.195788 0.539900 
time: 1403637261.788319, t: -0.182305 0.281315 0.148783 q: -0.136323 0.804719 0.196330 0.543413 
time: 1403637261.888319, t: -0.176077 0.299727 0.156684 q: -0.138314 0.797626 0.194498 0.553925 
time: 1403637261.988319, t: -0.169973 0.317210 0.157756 q: -0.139485 0.793020 0.192635 0.560851 
time: 1403637262.088319, t: -0.163658 0.334796 0.148922 q: -0.142891 0.790411 0.188849 0.564950 
time: 1403637262.188319, t: -0.158526 0.351056 0.131146 q: -0.146639 0.790583 0.184980 0.565029 
optimize pose graph 
time: 1403637262.288319, t: -0.154225 0.364355 0.106246 q: -0.149426 0.791021 0.181584 0.564788 
time: 1403637262.388319, t: -0.158238 0.357977 0.104379 q: -0.151823 0.777632 0.180047 0.582942 
time: 1403637262.488319, t: -0.159982 0.348896 0.096452 q: -0.140560 0.794277 0.149817 0.571771 
time: 1403637262.588319, t: -0.165277 0.344327 0.102213 q: -0.151198 0.777292 0.139559 0.594541 
time: 1403637262.688319, t: -0.163459 0.344244 0.101187 q: -0.146821 0.787554 0.141407 0.581556 
time: 1403637262.788319, t: -0.165894 0.343199 0.102058 q: -0.147949 0.785688 0.138781 0.584419 
time: 1403637262.888319, t: -0.165396 0.344831 0.102048 q: -0.148540 0.786746 0.139549 0.582660 
time: 1403637262.988319, t: -0.165605 0.344340 0.102135 q: -0.148302 0.786368 0.139374 0.583273 
time: 1403637263.088319, t: -0.165602 0.344179 0.102115 q: -0.147720 0.786360 0.139622 0.583371 
time: 1403637263.188319, t: -0.165706 0.343925 0.102186 q: -0.147311 0.786237 0.139719 0.583617 
time: 1403637263.288319, t: -0.165751 0.344010 0.102137 q: -0.147543 0.786420 0.139587 0.583344 
time: 1403637263.388319, t: -0.165750 0.344078 0.102144 q: -0.147812 0.786410 0.139512 0.583307 
time: 1403637263.488319, t: -0.165794 0.343961 0.102123 q: -0.147469 0.786417 0.139626 0.583358 
time: 1403637263.588319, t: -0.165784 0.343986 0.102122 q: -0.147650 0.786444 0.139521 0.583300 
time: 1403637263.688319, t: -0.165804 0.343995 0.102116 q: -0.147684 0.786493 0.139518 0.583227 
time: 1403637263.788319, t: -0.165828 0.344102 0.102106 q: -0.148016 0.786486 0.139251 0.583215 
time: 1403637263.888319, t: -0.165852 0.344068 0.102122 q: -0.148028 0.786496 0.139271 0.583195 
time: 1403637263.988319, t: -0.165826 0.343953 0.102116 q: -0.147692 0.786514 0.139439 0.583215 
time: 1403637264.088319, t: -0.165821 0.343969 0.102096 q: -0.147634 0.786540 0.139515 0.583177 
time: 1403637264.188319, t: -0.165797 0.343915 0.102085 q: -0.147568 0.786492 0.139501 0.583261 
time: 1403637264.288319, t: -0.165785 0.343984 0.102078 q: -0.147739 0.786517 0.139418 0.583204 
time: 1403637264.388319, t: -0.165818 0.343971 0.102062 q: -0.147701 0.786547 0.139476 0.583159 
time: 1403637264.488319, t: -0.165733 0.343979 0.102035 q: -0.147593 0.786510 0.139470 0.583238 
time: 1403637264.588319, t: -0.165744 0.344013 0.102035 q: -0.147638 0.786534 0.139445 0.583201 
time: 1403637264.688319, t: -0.165791 0.343991 0.102065 q: -0.147653 0.786540 0.139425 0.583193 
time: 1403637264.788319, t: -0.165757 0.344001 0.102077 q: -0.147719 0.786561 0.139400 0.583154 
time: 1403637264.888319, t: -0.165747 0.344001 0.102091 q: -0.147659 0.786562 0.139418 0.583163 
time: 1403637264.988319, t: -0.165706 0.343989 0.102099 q: -0.147499 0.786578 0.139500 0.583163 
time: 1403637265.088319, t: -0.165720 0.344008 0.102114 q: -0.147514 0.786618 0.139533 0.583097 
time: 1403637265.188319, t: -0.165753 0.343991 0.102115 q: -0.147472 0.786583 0.139508 0.583161 
time: 1403637265.288319, t: -0.165759 0.343977 0.102102 q: -0.147492 0.786611 0.139527 0.583114 
time: 1403637265.388319, t: -0.165667 0.343997 0.102130 q: -0.147471 0.786616 0.139544 0.583108 
time: 1403637265.488319, t: -0.165592 0.343967 0.102148 q: -0.147498 0.786610 0.139521 0.583115 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731041186.439423178]: Shutdown request received.[0m
[33m[ WARN] [1731041186.439462536]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731041186.440336519]: Shutdown request received.[0m
[33m[ WARN] [1731041186.440357009]: Reason given for shutdown: [user request][0m
killed
