17:24:11.093 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 17:24:11.093 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 17:24:11.093171993 +01:00 17:24:11.093 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 17:24:11.093 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:24:11.093 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 17:24:11.093 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:24:11.093 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 17:24:11.093 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:24:11.098 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 17:24:11.760 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 17:24:11.760 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:24:13.379 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 17:24:13.379 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:24:13.829 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:24:13.829 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:24:13.829 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:24:13.829 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:24:13.829 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:24:13.829 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:24:13.829 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:24:13.830 WARN [robot_core/launch/src/lib.rs:305] Magnetometer not enabled 17:24:13.830 WARN [robot_core/launch/src/lib.rs:285] IMU not enabled 17:24:13.830 WARN [robot_core/launch/src/lib.rs:322] Can Magnetometer not enabled 17:24:13.830 WARN [robot_core/launch/src/lib.rs:339] Waterlinked DVL not enabled 17:24:13.830 WARN [robot_core/launch/src/lib.rs:364] Nortek DVL not enabled 17:24:13.830 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 17:24:13.830 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:24:13.830 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:24:13.832 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:24:13.832 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 17:24:13.832 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:24:13.832 DEBUG [robot_core/control/src/pid_storage.rs:33] Appdata directory did not exist. Creating new directory at Ok("/home/joris/Desktop/data_root/appdata") 17:24:13.832 DEBUG [robot_core/control/src/pid_storage.rs:41] PID file not found. Creating new file at Ok("/home/joris/Desktop/data_root/appdata/pid.json") 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:24:13.833 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 17:24:13.833 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:24:13.833 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:24:13.834 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 17:24:13.834 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 17:24:14.413 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:24:14.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:24:14.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 17:24:14.414 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 17:24:14.414 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T17:24:14.414406648+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:24:14.414 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 17:24:14.415 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 17:24:14.423 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 17:24:14.423 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 17:24:14.499 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 17:24:14.500 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 17:24:14.650 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 17:24:14.651 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 17:24:14.662 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 17:24:14.662 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 17:24:14.672 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 17:24:14.672 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 17:24:14.691 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 17:24:14.879 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'tokio-runtime-worker' panicked at 'called `Result::unwrap()` on an `Err` value: Status { code: InvalidArgument, message: "Task `id` field is not a string", source: None }': peripherals/communication/src/task_handler.rs:94 17:24:14.880 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 17:24:14.880 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 17:24:14.880 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 17:26:11.832 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 17:26:11.832 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 17:26:11.832710852 +01:00 17:26:11.832 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 17:26:11.832 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:26:11.832 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 17:26:11.832 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:26:11.832 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 17:26:11.833 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:26:11.834 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 17:26:12.353 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 17:26:12.353 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:26:13.481 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 17:26:13.481 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:26:13.966 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:26:13.966 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:26:13.966 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:26:13.966 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:26:13.966 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:26:13.966 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:26:13.966 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:26:13.966 WARN [robot_core/launch/src/lib.rs:305] Magnetometer not enabled 17:26:13.966 WARN [robot_core/launch/src/lib.rs:285] IMU not enabled 17:26:13.966 WARN [robot_core/launch/src/lib.rs:322] Can Magnetometer not enabled 17:26:13.966 WARN [robot_core/launch/src/lib.rs:339] Waterlinked DVL not enabled 17:26:13.966 WARN [robot_core/launch/src/lib.rs:364] Nortek DVL not enabled 17:26:13.966 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 17:26:13.966 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:26:13.966 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:26:13.968 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:26:13.968 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 17:26:13.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:26:13.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:26:13.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:26:13.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:26:13.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:26:13.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:26:13.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:26:13.969 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:26:13.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:26:13.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:26:13.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:26:13.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:26:13.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:26:13.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:26:13.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:26:13.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:26:13.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:26:13.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:26:13.970 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:26:13.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:26:13.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:26:13.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:26:13.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:26:13.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:26:13.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:26:13.971 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 17:26:13.971 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:26:13.971 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:26:13.973 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 17:26:13.973 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 17:26:14.668 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:26:14.669 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:26:14.669 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 17:26:14.670 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 17:26:14.671 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 17:26:14.671 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 17:26:14.672 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T17:26:14.670102974+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:26:14.672 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 17:26:14.672 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 17:26:14.747 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 17:26:14.749 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 17:26:14.855 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'tokio-runtime-worker' panicked at 'called `Result::unwrap()` on an `Err` value: Status { code: InvalidArgument, message: "Task is missing `type` field", source: None }': peripherals/communication/src/task_handler.rs:94 17:26:14.856 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 17:26:14.856 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 17:26:14.856 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 17:26:14.856 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 17:30:12.156 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 17:30:12.157 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 17:30:12.157017805 +01:00 17:30:12.157 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 17:30:12.157 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:30:12.157 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 17:30:12.157 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:30:12.157 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0]}) 17:30:12.157 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:30:12.158 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 17:30:12.623 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0]}) 17:30:12.623 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:30:14.175 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0]}) 17:30:14.175 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:30:14.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:30:14.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:30:14.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:30:14.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:30:14.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:30:14.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:30:14.711 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:30:14.711 WARN [robot_core/launch/src/lib.rs:305] Magnetometer not enabled 17:30:14.712 WARN [robot_core/launch/src/lib.rs:285] IMU not enabled 17:30:14.712 WARN [robot_core/launch/src/lib.rs:322] Can Magnetometer not enabled 17:30:14.712 WARN [robot_core/launch/src/lib.rs:339] Waterlinked DVL not enabled 17:30:14.712 WARN [robot_core/launch/src/lib.rs:364] Nortek DVL not enabled 17:30:14.712 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0]}) 17:30:14.712 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:30:14.712 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:30:14.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:30:14.714 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 17:30:14.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:30:14.714 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:30:14.715 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0]}) 17:30:14.715 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:30:14.715 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:30:14.717 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 17:30:14.717 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 17:30:15.348 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:30:15.348 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:30:15.349 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 17:30:15.349 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 17:30:15.349 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T17:30:15.349248394+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:30:15.350 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'task_scheduler' panicked at 'called `Option::unwrap()` on a `None` value': robot_core/task_scheduler/src/tasks/mod.rs:105 17:30:15.350 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 17:31:30.808 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 17:31:30.808 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 17:31:30.808980963 +01:00 17:31:30.809 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 17:31:30.809 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:31:30.809 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 17:31:30.809 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:31:30.809 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223]}) 17:31:30.809 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:31:30.810 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 17:31:31.210 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223]}) 17:31:31.210 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:31:32.056 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223]}) 17:31:32.056 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:31:32.512 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:31:32.512 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:31:32.512 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:31:32.512 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:31:32.512 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:31:32.512 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:31:32.512 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:31:32.512 WARN [robot_core/launch/src/lib.rs:305] Magnetometer not enabled 17:31:32.512 WARN [robot_core/launch/src/lib.rs:285] IMU not enabled 17:31:32.512 WARN [robot_core/launch/src/lib.rs:322] Can Magnetometer not enabled 17:31:32.512 WARN [robot_core/launch/src/lib.rs:339] Waterlinked DVL not enabled 17:31:32.512 WARN [robot_core/launch/src/lib.rs:364] Nortek DVL not enabled 17:31:32.513 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223]}) 17:31:32.513 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:31:32.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:31:32.514 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:31:32.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:31:32.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:31:32.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:31:32.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:31:32.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:31:32.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:31:32.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:31:32.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:31:32.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:31:32.515 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223]}) 17:31:32.515 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:31:32.515 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:31:32.517 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 17:31:32.517 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 17:31:32.983 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:31:32.983 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:31:32.984 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 17:31:32.984 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 17:31:32.984 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T17:31:32.984233190+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:31:32.984 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 17:31:32.985 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 17:31:32.986 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 17:31:32.986 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 17:31:33.064 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 17:31:33.066 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 17:31:33.206 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 17:31:33.208 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 17:31:33.218 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 17:31:33.219 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 17:31:33.229 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 17:31:33.229 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 17:31:33.248 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 17:31:33.254 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'tokio-runtime-worker' panicked at 'called `Result::unwrap()` on an `Err` value: Status { code: InvalidArgument, message: "Task is missing `type` field", source: None }': peripherals/communication/src/task_handler.rs:94 17:31:33.254 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 17:33:37.604 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 17:33:37.604 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 17:33:37.604501694 +01:00 17:33:37.604 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 17:33:37.604 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 17:33:37.604 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 17:33:37.604 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 17:33:37.604 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 17:33:37.605 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:33:37.608 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 17:33:38.317 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 17:33:38.318 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:33:39.891 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 17:33:39.891 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:33:40.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 17:33:40.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 17:33:40.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 17:33:40.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 17:33:40.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 17:33:40.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 17:33:40.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 17:33:40.475 WARN [robot_core/launch/src/lib.rs:305] Magnetometer not enabled 17:33:40.475 WARN [robot_core/launch/src/lib.rs:285] IMU not enabled 17:33:40.475 WARN [robot_core/launch/src/lib.rs:322] Can Magnetometer not enabled 17:33:40.475 WARN [robot_core/launch/src/lib.rs:339] Waterlinked DVL not enabled 17:33:40.475 WARN [robot_core/launch/src/lib.rs:364] Nortek DVL not enabled 17:33:40.475 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 17:33:40.476 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:33:40.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:33:40.478 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 17:33:40.478 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 17:33:40.478 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 17:33:40.479 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 17:33:40.479 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 17:33:40.479 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 17:33:40.480 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:33:40.485 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 17:33:40.485 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 17:33:41.345 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:33:41.345 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 17:33:41.346 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 17:33:41.346 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 17:33:41.347 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 17:33:41.348 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 17:33:41.349 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 17:33:41.349 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 17:33:41.350 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 17:33:41.352 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T17:33:41.347090515+01:00_task_executor': Tried to start logging but no MongoDB client configured 17:33:41.357 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 17:33:41.478 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 1.0 } 17:33:41.478 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 17:33:41.483 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping... 17:33:41.483 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 17:33:41.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'state_estimator' stopped 17:33:41.483 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 17:33:41.483 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 17:33:41.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 17:33:41.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 17:33:41.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 17:33:41.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 17:33:41.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 17:33:41.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 17:33:41.483 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 17:33:41.484 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 17:33:41.484 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 17:33:41.492 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 17:33:41.492 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 17:33:41.492 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 17:33:41.494 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 17:33:41.494 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 17:33:41.494 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 17:33:41.494 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 17:33:41.494 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 17:33:41.494 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 17:33:41.494 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 17:33:41.494 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 17:33:41.494 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 17:33:41.494 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 17:33:41.494 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 17:33:41.494 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 17:33:41.494 WARN [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:22] Thread 'simulator' stopped before it started, because the StopRunningFlag 0 is 'true' 17:33:41.495 INFO [robot_core/launch/src/lib.rs:274] Joined thread 'state_estimator' 17:33:41.495 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'control' (when the code is still running, this can take a long time) 17:33:41.496 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'mock_task_manager' stopped 17:33:41.496 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 17:33:41.497 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 17:33:41.497 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 17:33:41.497 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'control' stopped 17:33:41.497 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send attitude goal request': utilities/python_bindings/src/rust_control_handle.rs:83 20:34:56.226 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 20:34:56.226 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 20:34:56.226355416 +01:00 20:34:56.226 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 20:34:56.226 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 20:34:56.226 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 20:34:56.226 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 20:34:56.226 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019]}) 20:34:56.226 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:34:56.227 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 20:34:56.563 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019]}) 20:34:56.563 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:34:57.931 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019]}) 20:34:57.931 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:34:58.250 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 20:34:58.250 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 20:34:58.250 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 20:34:58.250 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 20:34:58.250 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 20:34:58.251 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 20:34:58.251 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 20:34:58.251 WARN [robot_core/launch/src/lib.rs:305] Magnetometer not enabled 20:34:58.251 WARN [robot_core/launch/src/lib.rs:285] IMU not enabled 20:34:58.251 WARN [robot_core/launch/src/lib.rs:322] Can Magnetometer not enabled 20:34:58.251 WARN [robot_core/launch/src/lib.rs:339] Waterlinked DVL not enabled 20:34:58.251 WARN [robot_core/launch/src/lib.rs:364] Nortek DVL not enabled 20:34:58.251 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019]}) 20:34:58.251 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:34:58.251 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:34:58.255 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 20:34:58.255 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 20:34:58.255 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 20:34:58.258 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 20:34:58.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 20:34:58.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 20:34:58.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 20:34:58.259 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019]}) 20:34:58.259 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:34:58.259 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:34:58.260 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 20:34:58.260 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 20:34:58.709 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:34:58.709 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:34:58.709 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:34:58.710 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 20:34:58.710 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T20:34:58.709986549+01:00_task_executor': Tried to start logging but no MongoDB client configured 20:34:58.710 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 20:34:58.710 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:34:58.716 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 20:34:58.716 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 20:34:58.747 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 20:34:58.747 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 20:34:58.816 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 20:34:58.817 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 20:34:58.828 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 20:34:58.828 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 20:34:58.839 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 20:34:58.839 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 20:34:58.858 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 20:35:01.439 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20228, Enable control depth: 0.2, Depth control enabled: false 20:35:01.440 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 20:35:01.440 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 20:42:20.950 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 20:42:20.950 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 20:42:20.951 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 20:42:20.951 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 20:42:20.951 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 20:42:20.951 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 20:42:20.951 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 20:42:20.951 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 20:42:20.951 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 20:42:20.951 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 20:42:20.952 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 20:42:20.952 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:42:20.952 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'task_scheduler' stopped 20:42:20.953 INFO [robot_core/task_scheduler/src/executor.rs:318] Stopping logging to database '2025-02-14T20:34:58.709986549+01:00_task_executor' 20:42:20.954 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:42:20.954 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'control' stopped 20:42:20.958 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send position goal request': utilities/python_bindings/src/rust_control_handle.rs:59 20:42:22.684 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 20:42:22.685 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 20:42:22.684987783 +01:00 20:42:22.685 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 20:42:22.685 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 20:42:22.685 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 20:42:22.685 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 20:42:22.685 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "ps_location": [0.039, 0.0, -0.09865]}) 20:42:22.685 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:42:22.687 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 20:42:23.057 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "ps_location": [0.039, 0.0, -0.09865]}) 20:42:23.058 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:42:24.349 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "ps_location": [0.039, 0.0, -0.09865]}) 20:42:24.349 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:42:24.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 20:42:24.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 20:42:24.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 20:42:24.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 20:42:24.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 20:42:24.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 20:42:24.727 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 20:42:24.727 WARN [robot_core/launch/src/lib.rs:305] Magnetometer not enabled 20:42:24.728 WARN [robot_core/launch/src/lib.rs:285] IMU not enabled 20:42:24.728 WARN [robot_core/launch/src/lib.rs:322] Can Magnetometer not enabled 20:42:24.728 WARN [robot_core/launch/src/lib.rs:339] Waterlinked DVL not enabled 20:42:24.728 WARN [robot_core/launch/src/lib.rs:364] Nortek DVL not enabled 20:42:24.728 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "ps_location": [0.039, 0.0, -0.09865]}) 20:42:24.728 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:42:24.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:42:24.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 20:42:24.728 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 20:42:24.728 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 20:42:24.729 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "ps_location": [0.039, 0.0, -0.09865]}) 20:42:24.729 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:42:24.729 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:42:24.729 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 20:42:24.729 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 20:42:25.096 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:42:25.096 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:42:25.096 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:42:25.096 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 20:42:25.096 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T20:42:25.096540715+01:00_task_executor': Tried to start logging but no MongoDB client configured 20:42:25.096 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 20:42:25.097 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:42:25.105 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 20:42:25.105 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 20:42:25.149 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 20:42:25.150 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 20:42:25.232 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 20:42:25.234 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 20:42:25.244 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 20:42:25.244 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 20:42:25.253 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 20:42:25.253 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 20:42:25.274 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 20:42:27.819 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20027999999999999, Enable control depth: 0.2, Depth control enabled: false 20:42:27.819 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 20:42:27.821 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 20:43:18.607 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 20:43:18.607 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 20:43:18.607 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:43:18.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'task_scheduler' stopped 20:43:18.607 INFO [robot_core/task_scheduler/src/executor.rs:318] Stopping logging to database '2025-02-14T20:42:25.096540715+01:00_task_executor' 20:43:18.608 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:43:18.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'control' stopped 20:43:18.608 ERROR [robot_core/path_planning/src/lib.rs:227] Cannot reach control, stopping path planner... 20:43:18.608 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:43:18.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'path_planner' stopped 20:43:18.617 INFO [utilities/simulator/src/simulator.rs:202] Simulator dropped: Simulator() 20:43:18.656 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'simulator' stopped 20:43:19.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'mock_task_manager' stopped 20:43:19.598 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping... 20:43:19.598 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:43:19.598 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'state_estimator' stopped 20:43:19.598 INFO [robot_core/launch/src/lib.rs:274] Joined thread 'state_estimator' 20:43:19.598 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'control' (when the code is still running, this can take a long time) 20:43:19.599 INFO [robot_core/launch/src/lib.rs:274] Joined thread 'control' 20:43:19.599 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'path_planner' (when the code is still running, this can take a long time) 20:43:19.599 INFO [robot_core/launch/src/lib.rs:274] Joined thread 'path_planner' 20:43:19.599 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'task_scheduler' (when the code is still running, this can take a long time) 20:43:19.599 INFO [robot_core/launch/src/lib.rs:274] Joined thread 'task_scheduler' 20:43:19.599 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'mock_task_manager' (when the code is still running, this can take a long time) 20:43:19.599 INFO [robot_core/launch/src/lib.rs:274] Joined thread 'mock_task_manager' 20:43:19.599 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'grpc_server' (when the code is still running, this can take a long time) 20:43:19.599 INFO [robot_core/launch/src/lib.rs:274] Joined thread 'grpc_server' 20:43:19.599 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'simulator' (when the code is still running, this can take a long time) 20:43:19.599 INFO [robot_core/launch/src/lib.rs:274] Joined thread 'simulator' 20:43:19.599 INFO [robot_core/launch/src/lib.rs:276] All threads have stopped 20:43:30.944 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 20:43:30.944 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 20:43:30.944419831 +01:00 20:43:30.944 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 20:43:30.944 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 20:43:30.944 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 20:43:30.944 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 20:43:30.944 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223]}) 20:43:30.944 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:43:30.946 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 20:43:31.259 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223]}) 20:43:31.259 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:43:32.616 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223]}) 20:43:32.616 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:43:32.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 20:43:32.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 20:43:32.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 20:43:32.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 20:43:32.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 20:43:32.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 20:43:32.913 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 20:43:32.913 WARN [robot_core/launch/src/lib.rs:305] Magnetometer not enabled 20:43:32.913 WARN [robot_core/launch/src/lib.rs:285] IMU not enabled 20:43:32.913 WARN [robot_core/launch/src/lib.rs:322] Can Magnetometer not enabled 20:43:32.913 WARN [robot_core/launch/src/lib.rs:339] Waterlinked DVL not enabled 20:43:32.913 WARN [robot_core/launch/src/lib.rs:364] Nortek DVL not enabled 20:43:32.913 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223]}) 20:43:32.913 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:43:32.914 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:43:32.914 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 20:43:32.914 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 20:43:32.914 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 20:43:32.914 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 20:43:32.914 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 20:43:32.915 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223]}) 20:43:32.915 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:43:32.915 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:43:32.915 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 20:43:32.915 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 20:43:33.143 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:43:33.143 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:43:33.143 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:43:33.144 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 20:43:33.144 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T20:43:33.144074622+01:00_task_executor': Tried to start logging but no MongoDB client configured 20:43:33.144 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 20:43:33.144 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:43:33.148 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 20:43:33.148 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 20:43:33.177 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 20:43:33.178 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 20:43:33.267 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 20:43:33.268 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 20:43:33.278 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 20:43:33.279 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 20:43:33.289 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 20:43:33.289 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 20:43:33.309 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 20:43:35.882 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20023999999999997, Enable control depth: 0.2, Depth control enabled: false 20:43:35.882 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 20:43:35.882 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 20:44:04.916 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 20:44:04.916 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 20:44:04.916 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 20:44:04.916 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 20:44:04.917 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 20:44:04.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 20:44:04.918 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:44:04.918 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 20:44:04.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'control' stopped 20:44:04.918 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:44:04.918 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'task_scheduler' stopped 20:44:04.918 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send position goal request': utilities/python_bindings/src/rust_control_handle.rs:59 20:44:04.918 INFO [robot_core/task_scheduler/src/executor.rs:318] Stopping logging to database '2025-02-14T20:43:33.144074622+01:00_task_executor' 20:44:48.135 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 20:44:48.135 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 20:44:48.135573860 +01:00 20:44:48.135 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 20:44:48.135 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 20:44:48.135 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 20:44:48.135 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 20:44:48.135 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 20:44:48.135 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:44:48.137 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 20:44:48.451 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 20:44:48.451 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:44:49.742 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 20:44:49.742 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:44:50.051 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 20:44:50.051 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 20:44:50.051 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 20:44:50.051 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 20:44:50.051 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 20:44:50.051 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 20:44:50.051 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 20:44:50.051 WARN [robot_core/launch/src/lib.rs:305] Magnetometer not enabled 20:44:50.051 WARN [robot_core/launch/src/lib.rs:285] IMU not enabled 20:44:50.051 WARN [robot_core/launch/src/lib.rs:322] Can Magnetometer not enabled 20:44:50.051 WARN [robot_core/launch/src/lib.rs:339] Waterlinked DVL not enabled 20:44:50.051 WARN [robot_core/launch/src/lib.rs:364] Nortek DVL not enabled 20:44:50.051 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 20:44:50.051 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:44:50.051 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 20:44:50.052 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 20:44:50.052 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 20:44:50.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 20:44:50.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 20:44:50.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 20:44:50.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 20:44:50.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 20:44:50.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 20:44:50.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 20:44:50.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 20:44:50.053 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 20:44:50.053 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:44:50.053 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:44:50.053 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 20:44:50.053 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 20:44:50.271 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:44:50.271 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:44:50.271 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:44:50.271 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 20:44:50.272 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T20:44:50.271750741+01:00_task_executor': Tried to start logging but no MongoDB client configured 20:44:50.272 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 20:44:50.272 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:44:50.276 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 20:44:50.276 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 20:44:50.303 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 20:44:50.303 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 20:44:50.392 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 20:44:50.393 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 20:44:50.403 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 20:44:50.403 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 20:44:50.413 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 20:44:50.413 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 20:44:50.434 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 20:44:52.997 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20035999999999995, Enable control depth: 0.2, Depth control enabled: false 20:44:52.998 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 20:44:52.998 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 20:45:07.205 INFO [peripherals/payload/src/lib.rs:63] Mocked payload is starting 20:45:07.207 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T20:45:07.206009140+01:00_surveyPolygon/surveyPolygon_rust.log" 20:45:07.219 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 91.43364770874854, y: 70.25300883825764 }, Coord { x: 91.43397045446576, y: 90.29472397867112 }, Coord { x: 71.44317068329107, y: 90.29508609528649 }, Coord { x: 71.44284793632603, y: 70.25329057985653 }, Coord { x: 91.43364770874854, y: 70.25300883825764 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })] 20:45:07.219 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 20:45:07.219 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 20:45:07.220 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 91.43364770874854, y: 70.25300883825764 }, Coord { x: 91.43397045446576, y: 90.29472397867112 }, Coord { x: 71.44317068329107, y: 90.29508609528649 }, Coord { x: 71.44284793632603, y: 70.25329057985653 }, Coord { x: 91.43364770874854, y: 70.25300883825764 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 20:45:07.221 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 91.43364770874854, y: 70.25300883825764 }, Coord { x: 91.43397045446576, y: 90.29472397867112 }, Coord { x: 71.44317068329107, y: 90.29508609528649 }, Coord { x: 71.44284793632603, y: 70.25329057985653 }, Coord { x: 91.43364770874854, y: 70.25300883825764 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (91.43367822632672 m^1, 71.25300883825764 m^1), end: (71.44284875855328 m^1, 71.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (71.4428792761314 m^1, 73.25300883825764 m^1), end: (91.43371065125348 m^1, 73.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (91.43374307618024 m^1, 75.25300883825764 m^1), end: (71.44291170105816 m^1, 75.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (71.44294412598492 m^1, 77.25300883825764 m^1), end: (91.433775501107 m^1, 77.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (91.43380792603375 m^1, 79.25300883825764 m^1), end: (71.44297655091168 m^1, 79.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (71.44300897583844 m^1, 81.25300883825764 m^1), end: (91.43384035096051 m^1, 81.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (91.43387277588727 m^1, 83.25300883825764 m^1), end: (71.4430414007652 m^1, 83.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (71.44307382569195 m^1, 85.25300883825764 m^1), end: (91.43390329346539 m^1, 85.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (91.43393571839215 m^1, 87.25300883825764 m^1), end: (71.44310434327008 m^1, 87.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (71.44313676819684 m^1, 89.25300883825764 m^1), end: (91.4339681433189 m^1, 89.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (91.43397005066754 m^1, 91.25300883825764 m^1), end: (71.4431691931236 m^1, 91.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }] 20:45:07.222 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 91.43364770874854, y: 70.25300883825764 }, Coord { x: 91.43397045446576, y: 90.29472397867112 }, Coord { x: 71.44317068329107, y: 90.29508609528649 }, Coord { x: 71.44284793632603, y: 70.25329057985653 }, Coord { x: 91.43364770874854, y: 70.25300883825764 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 20:49:18.453 INFO [peripherals/payload/src/lib.rs:78] Dropping payload: payload is stopping 20:49:18.453 INFO [utilities/simulator/src/simulator.rs:202] Simulator dropped: Simulator() 20:49:18.453 INFO [peripherals/payload/src/lib.rs:68] Mocked payload is stopping 20:49:18.453 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 20:49:18.453 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 20:49:18.454 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 20:49:18.454 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'task_scheduler' stopped 20:49:18.454 INFO [robot_core/task_scheduler/src/executor.rs:318] Stopping logging to database '2025-02-14T20:44:50.271750741+01:00_task_executor' 20:49:18.454 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'control' stopped 20:49:18.454 ERROR [robot_core/path_planning/src/lib.rs:227] Cannot reach control, stopping path planner... 20:49:18.454 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:49:18.454 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'path_planner' stopped 20:49:18.494 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'simulator' stopped 20:49:19.434 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:62] State estimator error on recv: Timeout, stopping... 20:49:19.434 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:49:19.434 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'state_estimator' stopped 20:49:19.434 INFO [robot_core/launch/src/lib.rs:274] Joined thread 'state_estimator' 20:49:19.434 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'control' (when the code is still running, this can take a long time) 20:49:19.434 INFO [robot_core/launch/src/lib.rs:274] Joined thread 'control' 20:49:19.434 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'path_planner' (when the code is still running, this can take a long time) 20:49:19.434 INFO [robot_core/launch/src/lib.rs:274] Joined thread 'path_planner' 20:49:19.434 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'task_scheduler' (when the code is still running, this can take a long time) 20:49:19.434 INFO [robot_core/launch/src/lib.rs:274] Joined thread 'task_scheduler' 20:49:19.434 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'mock_task_manager' (when the code is still running, this can take a long time) 20:49:43.075 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 20:49:43.075 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 20:49:43.075907967 +01:00 20:49:43.075 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 20:49:43.076 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 20:49:43.076 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 20:49:43.076 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 20:49:43.076 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 20:49:43.076 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:49:43.077 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 20:49:43.395 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 20:49:43.395 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:49:44.709 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 20:49:44.709 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:49:44.999 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 20:49:45.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 20:49:45.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 20:49:45.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 20:49:45.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 20:49:45.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 20:49:45.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 20:49:45.000 WARN [robot_core/launch/src/lib.rs:305] Magnetometer not enabled 20:49:45.000 WARN [robot_core/launch/src/lib.rs:285] IMU not enabled 20:49:45.000 WARN [robot_core/launch/src/lib.rs:322] Can Magnetometer not enabled 20:49:45.000 WARN [robot_core/launch/src/lib.rs:339] Waterlinked DVL not enabled 20:49:45.000 WARN [robot_core/launch/src/lib.rs:364] Nortek DVL not enabled 20:49:45.000 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 20:49:45.000 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:49:45.001 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 20:49:45.002 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 20:49:45.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 20:49:45.002 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 20:49:45.003 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:49:45.003 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:49:45.003 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 20:49:45.003 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 20:49:45.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:49:45.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:49:45.240 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:49:45.240 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 20:49:45.241 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T20:49:45.240842885+01:00_task_executor': Tried to start logging but no MongoDB client configured 20:49:45.241 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 20:49:45.241 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:49:45.248 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 20:49:45.248 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 20:49:45.277 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 20:49:45.279 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 20:49:45.376 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 20:49:45.377 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 20:49:45.388 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 20:49:45.388 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 20:49:45.398 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 20:49:45.398 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 20:49:45.417 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 20:49:47.990 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 20:49:47.991 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20023999999999997, Enable control depth: 0.2, Depth control enabled: false 20:49:47.991 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 20:49:55.849 INFO [peripherals/payload/src/lib.rs:63] Mocked payload is starting 20:49:55.850 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T20:49:55.849440788+01:00_surveyPolygon/surveyPolygon_rust.log" 20:49:55.885 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 91.43364770874854, y: 70.25300883825764 }, Coord { x: 91.43397045446576, y: 90.29472397867112 }, Coord { x: 71.44317068329107, y: 90.29508609528649 }, Coord { x: 71.44284793632603, y: 70.25329057985653 }, Coord { x: 91.43364770874854, y: 70.25300883825764 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })] 20:49:55.886 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 20:49:55.886 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 20:49:55.886 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 91.43364770874854, y: 70.25300883825764 }, Coord { x: 91.43397045446576, y: 90.29472397867112 }, Coord { x: 71.44317068329107, y: 90.29508609528649 }, Coord { x: 71.44284793632603, y: 70.25329057985653 }, Coord { x: 91.43364770874854, y: 70.25300883825764 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 20:49:55.888 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 91.43364770874854, y: 70.25300883825764 }, Coord { x: 91.43397045446576, y: 90.29472397867112 }, Coord { x: 71.44317068329107, y: 90.29508609528649 }, Coord { x: 71.44284793632603, y: 70.25329057985653 }, Coord { x: 91.43364770874854, y: 70.25300883825764 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (91.43367822632672 m^1, 71.25300883825764 m^1), end: (71.44284875855328 m^1, 71.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (71.4428792761314 m^1, 73.25300883825764 m^1), end: (91.43371065125348 m^1, 73.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (91.43374307618024 m^1, 75.25300883825764 m^1), end: (71.44291170105816 m^1, 75.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (71.44294412598492 m^1, 77.25300883825764 m^1), end: (91.433775501107 m^1, 77.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (91.43380792603375 m^1, 79.25300883825764 m^1), end: (71.44297655091168 m^1, 79.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (71.44300897583844 m^1, 81.25300883825764 m^1), end: (91.43384035096051 m^1, 81.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (91.43387277588727 m^1, 83.25300883825764 m^1), end: (71.4430414007652 m^1, 83.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (71.44307382569195 m^1, 85.25300883825764 m^1), end: (91.43390329346539 m^1, 85.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (91.43393571839215 m^1, 87.25300883825764 m^1), end: (71.44310434327008 m^1, 87.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (71.44313676819684 m^1, 89.25300883825764 m^1), end: (91.4339681433189 m^1, 89.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (91.43397005066754 m^1, 91.25300883825764 m^1), end: (71.4431691931236 m^1, 91.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }] 20:49:55.889 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 91.43364770874854, y: 70.25300883825764 }, Coord { x: 91.43397045446576, y: 90.29472397867112 }, Coord { x: 71.44317068329107, y: 90.29508609528649 }, Coord { x: 71.44284793632603, y: 70.25329057985653 }, Coord { x: 91.43364770874854, y: 70.25300883825764 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 20:54:17.419 INFO [peripherals/payload/src/lib.rs:78] Dropping payload: payload is stopping 20:54:17.419 INFO [peripherals/payload/src/lib.rs:68] Mocked payload is stopping 20:54:17.419 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 20:54:17.419 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 20:54:17.419 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 20:54:17.419 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 20:54:17.420 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 20:54:17.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 20:54:17.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 20:54:17.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 20:54:17.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 20:54:17.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 20:54:17.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 20:54:17.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 20:54:17.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 20:54:17.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 20:54:17.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 20:54:17.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 20:54:17.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 20:54:17.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 20:54:17.421 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 20:54:17.421 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:54:17.421 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'task_scheduler' stopped 20:54:17.422 INFO [robot_core/task_scheduler/src/executor.rs:318] Stopping logging to database '2025-02-14T20:49:45.240842885+01:00_task_executor' 20:54:17.424 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:54:17.424 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'control' stopped 20:54:17.424 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send attitude goal request': utilities/python_bindings/src/rust_control_handle.rs:83 20:54:22.645 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 20:54:22.645 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 20:54:22.645897940 +01:00 20:54:22.645 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 20:54:22.645 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 20:54:22.646 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 20:54:22.646 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 20:54:22.646 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 20:54:22.646 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:54:22.649 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 20:54:23.302 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 20:54:23.302 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:54:24.655 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 20:54:24.655 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:54:24.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 20:54:24.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 20:54:24.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 20:54:24.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 20:54:24.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 20:54:24.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 20:54:24.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 20:54:24.932 WARN [robot_core/launch/src/lib.rs:305] Magnetometer not enabled 20:54:24.932 WARN [robot_core/launch/src/lib.rs:285] IMU not enabled 20:54:24.932 WARN [robot_core/launch/src/lib.rs:322] Can Magnetometer not enabled 20:54:24.932 WARN [robot_core/launch/src/lib.rs:339] Waterlinked DVL not enabled 20:54:24.932 WARN [robot_core/launch/src/lib.rs:364] Nortek DVL not enabled 20:54:24.932 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 20:54:24.932 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:54:24.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:54:24.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 20:54:24.934 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 20:54:24.934 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 20:54:24.934 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:54:24.934 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:54:24.935 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 20:54:24.935 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 20:54:25.520 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:54:25.521 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:54:25.521 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:54:25.521 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T20:54:25.521710556+01:00_task_executor': Tried to start logging but no MongoDB client configured 20:54:25.521 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 20:54:25.522 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 20:54:25.522 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:54:25.527 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 20:54:25.527 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 20:54:25.551 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 20:54:25.552 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 20:54:25.640 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 20:54:25.642 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 20:54:25.651 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 20:54:25.651 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 20:54:25.661 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 20:54:25.661 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 20:54:25.681 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 20:54:28.253 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 20:54:28.253 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 20:54:28.253 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20027999999999999, Enable control depth: 0.2, Depth control enabled: false 20:54:47.308 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 20:54:47.308 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 20:54:47.308470231 +01:00 20:54:47.308 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 20:54:47.308 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 20:54:47.308 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 20:54:47.308 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 20:54:47.308 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223]}) 20:54:47.308 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:54:47.312 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 20:54:47.864 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223]}) 20:54:47.864 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:54:49.192 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223]}) 20:54:49.192 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:54:49.471 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 20:54:49.471 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 20:54:49.471 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 20:54:49.471 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 20:54:49.471 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 20:54:49.471 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 20:54:49.471 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 20:54:49.471 WARN [robot_core/launch/src/lib.rs:305] Magnetometer not enabled 20:54:49.471 WARN [robot_core/launch/src/lib.rs:285] IMU not enabled 20:54:49.472 WARN [robot_core/launch/src/lib.rs:322] Can Magnetometer not enabled 20:54:49.472 WARN [robot_core/launch/src/lib.rs:339] Waterlinked DVL not enabled 20:54:49.472 WARN [robot_core/launch/src/lib.rs:364] Nortek DVL not enabled 20:54:49.472 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223]}) 20:54:49.472 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:54:49.472 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 20:54:49.473 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 20:54:49.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 20:54:49.473 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223]}) 20:54:49.474 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:54:49.474 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:54:49.474 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 20:54:49.474 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 20:54:50.037 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:54:50.038 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:54:50.038 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:54:50.038 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T20:54:50.038498495+01:00_task_executor': Tried to start logging but no MongoDB client configured 20:54:50.038 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 20:54:50.039 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 20:54:50.039 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 20:54:50.039 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 20:54:50.039 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 20:54:50.039 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:54:50.040 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 20:54:50.074 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 20:54:50.159 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 20:54:50.160 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 20:54:50.160 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 1.0 } 20:54:50.160 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 20:54:50.160 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 20:54:50.180 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 20:54:52.742 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20027999999999996, Enable control depth: 0.2, Depth control enabled: false 20:54:52.742 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 20:54:52.742 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 20:55:01.500 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 20:55:01.500 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 20:55:01.500234003 +01:00 20:55:01.500 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 20:55:01.500 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 20:55:01.500 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 20:55:01.500 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 20:55:01.500 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019]}) 20:55:01.500 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:55:01.505 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 20:55:02.127 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019]}) 20:55:02.127 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:55:03.503 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019]}) 20:55:03.503 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:55:03.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 20:55:03.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 20:55:03.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 20:55:03.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 20:55:03.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 20:55:03.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 20:55:03.837 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 20:55:03.837 WARN [robot_core/launch/src/lib.rs:305] Magnetometer not enabled 20:55:03.837 WARN [robot_core/launch/src/lib.rs:285] IMU not enabled 20:55:03.837 WARN [robot_core/launch/src/lib.rs:322] Can Magnetometer not enabled 20:55:03.837 WARN [robot_core/launch/src/lib.rs:339] Waterlinked DVL not enabled 20:55:03.837 WARN [robot_core/launch/src/lib.rs:364] Nortek DVL not enabled 20:55:03.838 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019]}) 20:55:03.838 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:55:03.838 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:55:03.840 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 20:55:03.840 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 20:55:03.840 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 20:55:03.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 20:55:03.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 20:55:03.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 20:55:03.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 20:55:03.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 20:55:03.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 20:55:03.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 20:55:03.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 20:55:03.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 20:55:03.842 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "dvl_location": [0.24675, 0.0, 0.10174], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019]}) 20:55:03.842 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:55:03.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:55:03.845 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 20:55:03.845 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 20:55:04.507 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:55:04.508 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:55:04.508 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:55:04.509 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T20:55:04.508869028+01:00_task_executor': Tried to start logging but no MongoDB client configured 20:55:04.509 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 20:55:04.509 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 20:55:04.510 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:55:04.511 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 20:55:04.511 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 20:55:04.559 INFO [robot_core/launch/src/lib.rs:270] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 20:55:04.562 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 20:55:04.654 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 20:55:04.655 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 20:55:04.666 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 20:55:04.666 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 20:55:04.675 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 20:55:04.675 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 20:55:04.695 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 20:55:07.257 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20039999999999994, Enable control depth: 0.2, Depth control enabled: false 20:55:07.258 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 20:55:07.258 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 20:56:45.572 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 20:56:45.572 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 20:56:45.572677291 +01:00 20:56:45.572 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 20:56:45.572 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 20:56:45.572 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 20:56:45.572 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 20:56:45.573 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 20:56:45.573 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:56:45.574 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 20:56:45.872 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 20:56:45.872 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:56:47.205 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 20:56:47.205 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:56:47.523 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 20:56:47.523 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 20:56:47.523 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 20:56:47.523 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 20:56:47.523 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 20:56:47.523 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 20:56:47.523 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 20:56:47.523 WARN [robot_core/launch/src/lib.rs:308] Magnetometer not enabled 20:56:47.523 WARN [robot_core/launch/src/lib.rs:288] IMU not enabled 20:56:47.523 WARN [robot_core/launch/src/lib.rs:325] Can Magnetometer not enabled 20:56:47.523 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 20:56:47.523 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 20:56:47.523 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 20:56:47.523 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:56:47.523 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:56:47.525 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 20:56:47.525 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 20:56:47.525 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 20:56:47.525 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 20:56:47.525 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 20:56:47.526 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 20:56:47.527 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 20:56:47.527 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:56:47.527 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:56:47.529 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 20:56:47.529 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 20:56:47.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:56:47.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:56:47.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:56:47.855 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 20:56:47.856 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T20:56:47.855638807+01:00_task_executor': Tried to start logging but no MongoDB client configured 20:56:47.856 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 20:56:47.856 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:56:47.864 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 20:56:47.864 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 20:56:47.890 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 20:56:47.891 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 20:56:47.973 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 20:56:47.976 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 20:56:47.985 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 20:56:47.985 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 20:56:47.996 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 20:56:47.996 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 20:56:48.015 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 20:56:50.597 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20223999999999998, Enable control depth: 0.2, Depth control enabled: false 20:56:50.597 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 20:56:50.597 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 20:58:33.819 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 20:58:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 20:58:33.820 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 20:58:33.820 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 20:58:33.820 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:58:33.820 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'task_scheduler' stopped 20:58:33.820 INFO [robot_core/task_scheduler/src/executor.rs:318] Stopping logging to database '2025-02-14T20:56:47.855638807+01:00_task_executor' 20:58:33.821 INFO [utilities/simulator/src/simulator.rs:202] Simulator dropped: Simulator() 20:58:33.822 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 20:58:33.822 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'control' stopped 20:58:33.822 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send attitude goal request': utilities/python_bindings/src/rust_control_handle.rs:83 20:58:39.872 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 20:58:39.872 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 20:58:39.872733116 +01:00 20:58:39.872 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 20:58:39.872 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 20:58:39.872 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 20:58:39.872 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 20:58:39.872 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 20:58:39.872 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:58:39.874 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 20:58:40.223 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 20:58:40.223 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:58:41.473 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 20:58:41.473 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:58:41.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 20:58:41.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 20:58:41.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 20:58:41.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 20:58:41.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 20:58:41.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 20:58:41.841 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 20:58:41.841 WARN [robot_core/launch/src/lib.rs:308] Magnetometer not enabled 20:58:41.841 WARN [robot_core/launch/src/lib.rs:288] IMU not enabled 20:58:41.841 WARN [robot_core/launch/src/lib.rs:325] Can Magnetometer not enabled 20:58:41.841 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 20:58:41.841 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 20:58:41.841 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 20:58:41.842 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:58:41.842 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:58:41.843 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 20:58:41.843 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 20:58:41.843 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 20:58:41.844 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 20:58:41.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 20:58:41.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 20:58:41.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 20:58:41.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 20:58:41.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 20:58:41.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 20:58:41.845 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_forward_thruster_location": [1.014, 0.223, 0.144], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 20:58:41.845 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 20:58:41.845 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:58:41.845 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 20:58:41.845 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 20:58:42.151 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:58:42.152 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 20:58:42.152 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:58:42.152 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 20:58:42.153 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T20:58:42.152700296+01:00_task_executor': Tried to start logging but no MongoDB client configured 20:58:42.153 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 20:58:42.153 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 20:58:42.159 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 20:58:42.159 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 20:58:42.194 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 20:58:42.195 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 20:58:42.300 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 20:58:42.301 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1229.136936917005Hz 20:58:42.303 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 20:58:42.306 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 20:58:42.306 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9992589934978323 } 20:58:42.307 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 20:58:42.307 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0.00016000000000000007, Enable control depth: 0.2, Depth control enabled: true 20:58:42.307 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 20:58:42.369 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20059999999999997, Enable control depth: 0.2, Depth control enabled: false 20:58:42.370 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 20:58:42.370 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 20:58:42.842 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3856.804560285712Hz 20:58:43.382 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2519.0058995118166Hz 20:58:43.937 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1977.2419452106258Hz 20:58:44.493 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 806.4516129032259Hz 20:58:45.058 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1246.9900776999518Hz 20:58:45.594 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2538.9216691886622Hz 20:58:46.152 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2992.4709431071424Hz 20:58:46.281 INFO [peripherals/payload/src/lib.rs:63] Mocked payload is starting 20:58:46.282 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T20:58:46.281798169+01:00_surveyPolygon/surveyPolygon_rust.log" 20:58:46.283 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 91.43364770874854, y: 70.25300883825764 }, Coord { x: 91.43397045446576, y: 90.29472397867112 }, Coord { x: 71.44317068329107, y: 90.29508609528649 }, Coord { x: 71.44284793632603, y: 70.25329057985653 }, Coord { x: 91.43364770874854, y: 70.25300883825764 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })] 20:58:46.283 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 20:58:46.283 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 20:58:46.283 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 91.43364770874854, y: 70.25300883825764 }, Coord { x: 91.43397045446576, y: 90.29472397867112 }, Coord { x: 71.44317068329107, y: 90.29508609528649 }, Coord { x: 71.44284793632603, y: 70.25329057985653 }, Coord { x: 91.43364770874854, y: 70.25300883825764 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 20:58:46.285 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 91.43364770874854, y: 70.25300883825764 }, Coord { x: 91.43397045446576, y: 90.29472397867112 }, Coord { x: 71.44317068329107, y: 90.29508609528649 }, Coord { x: 71.44284793632603, y: 70.25329057985653 }, Coord { x: 91.43364770874854, y: 70.25300883825764 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (91.43367822632672 m^1, 71.25300883825764 m^1), end: (71.44284875855328 m^1, 71.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (71.4428792761314 m^1, 73.25300883825764 m^1), end: (91.43371065125348 m^1, 73.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (91.43374307618024 m^1, 75.25300883825764 m^1), end: (71.44291170105816 m^1, 75.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (71.44294412598492 m^1, 77.25300883825764 m^1), end: (91.433775501107 m^1, 77.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (91.43380792603375 m^1, 79.25300883825764 m^1), end: (71.44297655091168 m^1, 79.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (71.44300897583844 m^1, 81.25300883825764 m^1), end: (91.43384035096051 m^1, 81.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (91.43387277588727 m^1, 83.25300883825764 m^1), end: (71.4430414007652 m^1, 83.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (71.44307382569195 m^1, 85.25300883825764 m^1), end: (91.43390329346539 m^1, 85.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (91.43393571839215 m^1, 87.25300883825764 m^1), end: (71.44310434327008 m^1, 87.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (71.44313676819684 m^1, 89.25300883825764 m^1), end: (91.4339681433189 m^1, 89.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (91.43397005066754 m^1, 91.25300883825764 m^1), end: (71.4431691931236 m^1, 91.25300883825764 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }] 20:58:46.287 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 91.43364770874854, y: 70.25300883825764 }, Coord { x: 91.43397045446576, y: 90.29472397867112 }, Coord { x: 71.44317068329107, y: 90.29508609528649 }, Coord { x: 71.44284793632603, y: 70.25329057985653 }, Coord { x: 91.43364770874854, y: 70.25300883825764 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 20:58:46.676 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2999.5890562992868Hz 20:58:47.263 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2409.6908125718387Hz 20:58:47.799 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2403.210689481147Hz 20:58:48.315 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2581.9377959546196Hz 20:58:48.819 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3039.5875887559573Hz 20:58:49.341 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1526.3633477422034Hz 20:58:49.873 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2468.4653550887415Hz 20:58:50.400 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2251.704540337035Hz 20:58:50.935 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1418.3894188149357Hz 20:58:51.505 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2850.9603459925474Hz 20:58:52.057 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2224.1696062774963Hz 20:58:52.580 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1072.9038141730593Hz 20:58:53.151 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1247.4318496794724Hz 20:58:53.707 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3973.6467745909135Hz 20:58:54.259 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2057.0925465365763Hz 20:58:54.876 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2066.7092408770286Hz 20:58:55.546 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1436.1460732894066Hz 20:58:56.312 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2059.978329027979Hz 20:58:57.002 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 588.9548583769699Hz 20:58:57.762 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1887.8325417022206Hz 20:58:58.460 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2403.2568937424Hz 20:58:59.186 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 679.9400020942152Hz 20:58:59.883 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1503.4880923743085Hz 20:59:00.574 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 770.1021694548215Hz 20:59:01.271 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 741.3002851782197Hz 20:59:01.947 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1853.5509402137143Hz 20:59:02.664 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1906.570422991714Hz 20:59:03.345 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2263.4830023743934Hz 20:59:04.068 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1707.6648536958137Hz 20:59:04.750 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2223.848102279222Hz 20:59:05.468 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2283.6681190795903Hz 20:59:06.122 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1641.57518988921Hz 20:59:06.796 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2185.1714266984245Hz 20:59:07.503 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3024.3368385397293Hz 20:59:08.196 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1230.8767904641513Hz 20:59:08.888 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2402.691013935608Hz 20:59:09.549 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2486.2448503653536Hz 20:59:10.238 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2252.825606516974Hz 20:59:10.919 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1486.8451376446887Hz 20:59:11.598 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 964.8635297023588Hz 20:59:12.288 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1918.1046057527792Hz 20:59:12.950 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 662.5346588443408Hz 20:59:13.645 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1031.4520679066784Hz 20:59:14.324 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2006.9198596761635Hz 20:59:15.006 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1859.4376688601833Hz 20:59:15.695 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1587.1680636390906Hz 20:59:16.377 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1946.9836356025426Hz 20:59:17.083 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 776.3251870943701Hz 20:59:17.774 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1221.8501009859108Hz 20:59:18.456 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2514.8501903741594Hz 20:59:19.123 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1579.2873307991038Hz 20:59:19.812 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2613.4088782726412Hz 20:59:20.489 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1710.237825672038Hz 20:59:21.193 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1711.7894362050315Hz 20:59:21.912 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2031.7522237528087Hz 20:59:22.633 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1681.4692005286538Hz 20:59:23.312 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1868.0694622948859Hz 20:59:23.983 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2630.582095206027Hz 20:59:24.664 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2119.362495761275Hz 20:59:25.353 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1595.3568733557852Hz 20:59:26.037 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1676.2098882973728Hz 20:59:26.718 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2071.7402203502897Hz 20:59:27.440 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1114.0906847535575Hz 20:59:27.502 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: FinishedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 91.43364770874854, y: 70.25300883825764 }, Coord { x: 91.43397045446576, y: 90.29472397867112 }, Coord { x: 71.44317068329107, y: 90.29508609528649 }, Coord { x: 71.44284793632603, y: 70.25329057985653 }, Coord { x: 91.43364770874854, y: 70.25300883825764 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 20:59:27.502 INFO [peripherals/payload/src/lib.rs:78] Dropping payload: payload is stopping 20:59:27.502 INFO [peripherals/payload/src/lib.rs:68] Mocked payload is stopping 20:59:27.502 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 20:59:27.502 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 20:59:27.502 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 20:59:27.503 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 20:59:27.510 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 20:59:27.510 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 20:59:27.513 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 20:59:27.513 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 71.49473800733128, y: 91.25301412499007, z: 19.018260042784313 } 20:59:28.135 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2667.4064273825275Hz 20:59:28.819 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2127.1934022969435Hz 20:59:29.493 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 800.6770525156072Hz 20:59:30.192 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2116.5230605770066Hz 20:59:30.867 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2231.3160748472665Hz 20:59:31.591 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1204.9107341882577Hz 20:59:32.320 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1273.7928583529604Hz 20:59:33.022 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2045.1612507388147Hz 20:59:33.723 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2636.400785647434Hz 20:59:34.441 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1729.6310005223488Hz 20:59:35.158 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1590.7684525163572Hz 20:59:35.864 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1103.7978372185178Hz 20:59:36.574 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2332.9219614274684Hz 20:59:37.311 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3389.1756508064545Hz 20:59:38.005 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1414.4251564000617Hz 20:59:38.697 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1992.5716927295045Hz 20:59:39.436 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1288.7594401628992Hz 20:59:40.189 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1749.364980512074Hz 20:59:40.856 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2506.912812079309Hz 20:59:41.531 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1492.6264254582363Hz 20:59:42.166 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1716.2373212967889Hz 20:59:42.831 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 637.5018089113828Hz 20:59:43.511 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2547.1477040010595Hz 20:59:44.154 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1789.965453666744Hz 20:59:44.777 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1944.1144850137932Hz 20:59:45.395 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2475.2352711125195Hz 20:59:45.992 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1668.6217351329974Hz 20:59:46.390 ERROR [peripherals/communication/src/task_handler.rs:157] Unknown task type: moveTo 20:59:46.607 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1802.5065656301654Hz 20:59:47.224 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1996.9087852005093Hz 20:59:47.895 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1770.5257044921777Hz 20:59:48.549 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1838.6070712827961Hz 20:59:49.208 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2084.5884292834644Hz 20:59:49.811 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1676.2155076753907Hz 20:59:50.447 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1484.785403965565Hz 20:59:51.073 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1736.3944810437813Hz 20:59:51.736 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1471.211336566075Hz 20:59:52.357 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1609.0415261437067Hz 20:59:52.971 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1857.051596321552Hz 20:59:53.600 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1358.76395960123Hz 20:59:54.246 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2728.892697210253Hz 20:59:54.879 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1990.2675914776742Hz 20:59:55.509 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1558.3848899001075Hz 20:59:56.140 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1637.0952691220912Hz 20:59:56.778 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1434.7408140719378Hz 20:59:57.420 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1246.373054411662Hz 20:59:58.038 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2134.125520726627Hz 20:59:58.658 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2567.8489899366Hz 20:59:59.274 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1683.093660796036Hz 20:59:59.908 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1071.0491140281729Hz 21:00:00.534 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 835.0751609398603Hz 21:00:01.157 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1792.2303231032827Hz 21:00:01.808 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1610.0104006671884Hz 21:00:02.424 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1039.131618489061Hz 21:00:03.051 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1739.051799396897Hz 21:00:03.665 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1709.6238143758846Hz 21:00:04.288 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1702.8957742641362Hz 21:00:04.906 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1785.4114034226336Hz 21:00:05.521 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2279.6439196197557Hz 21:00:06.154 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 793.3001046362838Hz 21:00:06.787 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 786.1066652411932Hz 21:00:07.395 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2231.1567655366603Hz 21:00:08.035 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1329.728881578335Hz 21:00:08.656 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1397.4951297294729Hz 21:00:09.318 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1798.4091272860026Hz 21:00:09.950 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 815.6826407236084Hz 21:00:10.595 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1817.8281679745942Hz 21:00:11.227 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1611.806157744245Hz 21:00:11.836 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 808.9129261858866Hz 21:00:12.453 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1382.5980676809406Hz 21:00:13.080 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1980.0451054275018Hz 21:00:13.688 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1459.555711241498Hz 21:00:14.329 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1809.064134941712Hz 21:00:14.965 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2376.646124521997Hz 21:00:15.590 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1832.303883934543Hz 21:00:16.238 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1629.774015535006Hz 21:00:16.844 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1557.113360966905Hz 21:00:17.474 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2308.0509433004204Hz 21:00:18.093 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1826.3972852430752Hz 21:00:18.718 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1104.5879058670187Hz 21:00:19.377 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1602.1430265122628Hz 21:00:20.004 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2244.3213060154544Hz 21:00:20.682 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2167.6786112983746Hz 21:00:21.307 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1778.0559447522458Hz 21:00:21.973 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1550.0199177559432Hz 21:00:22.611 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1443.64097803789Hz 21:00:23.273 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1277.3888128842545Hz 21:00:23.895 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1198.3884072699034Hz 21:00:24.513 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1630.8318547124518Hz 21:00:25.139 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1733.2344234222367Hz 21:00:25.788 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1102.3061346643312Hz 21:00:26.430 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1998.0538955057775Hz 21:00:27.090 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2035.470101997407Hz 21:00:27.719 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1626.3124341343466Hz 21:00:28.366 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2277.292208472438Hz 21:00:28.996 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 563.1214044698324Hz 21:00:29.586 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1809.790969143064Hz 21:00:30.220 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1149.2918638181086Hz 21:00:30.874 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1988.0676181558288Hz 21:00:31.502 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1465.1048648807039Hz 21:00:32.161 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1457.5219794314498Hz 21:00:32.806 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1577.9316787141752Hz 21:00:33.466 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1246.502003751971Hz 21:00:34.121 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1877.2256857036123Hz 21:00:34.773 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2142.6995013938263Hz 21:00:35.436 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1922.8476604712516Hz 21:00:36.075 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1938.0821514262348Hz 21:00:36.691 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2347.252540900876Hz 21:00:37.352 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1579.7389007544832Hz 21:00:37.977 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1706.039208193083Hz 21:00:38.614 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1511.4279064002926Hz 21:00:39.283 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2448.136233885143Hz 21:00:39.914 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2240.7206157500254Hz 21:00:40.540 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2088.2973902547515Hz 21:00:41.145 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 891.7520073337685Hz 21:00:41.756 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1445.3540539290505Hz 21:00:42.384 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1721.2503851297736Hz 21:00:43.060 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2252.054436659843Hz 21:00:43.698 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2308.093560880584Hz 21:00:44.331 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2145.379496179079Hz 21:00:44.952 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 576.4795202768024Hz 21:00:45.600 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1406.3708599957808Hz 21:00:46.227 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 992.8770996868466Hz 21:00:46.868 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1676.6089577863397Hz 21:00:47.546 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1976.6791395120372Hz 21:00:48.177 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1592.6737009755127Hz 21:00:48.793 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1818.1851239729526Hz 21:00:49.428 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1970.983185542444Hz 21:00:50.097 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2451.2507506955426Hz 21:00:50.732 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2366.639844748426Hz 21:00:51.400 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1264.9437289782165Hz 21:00:52.059 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1873.055534223534Hz 21:00:52.703 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2319.4591021373813Hz 21:00:53.378 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1957.5332731718106Hz 21:00:54.025 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1178.8032318069402Hz 21:00:54.671 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1907.8944858033574Hz 21:00:55.331 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2110.5684605091533Hz 21:00:55.969 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1660.4841307531624Hz 21:00:56.602 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1963.2826871842797Hz 21:00:57.241 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1936.6333565729337Hz 21:00:57.913 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1157.2239124120365Hz 21:00:58.552 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1662.6955953530985Hz 21:00:59.167 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1304.7352757362294Hz 21:00:59.802 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1545.0553593335248Hz 21:01:00.441 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1778.6979575211353Hz 21:01:01.105 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1844.64407592555Hz 21:01:01.771 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1463.3361136719493Hz 21:01:01.986 ERROR [peripherals/communication/src/task_handler.rs:157] Unknown task type: moveTo 21:01:02.407 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1558.3654616346007Hz 21:01:03.054 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1814.2037641099696Hz 21:01:03.724 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 850.865415213814Hz 21:01:04.387 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1788.5344212392038Hz 21:01:05.061 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1530.7067426101305Hz 21:01:05.762 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2156.3202825642097Hz 21:01:06.413 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1456.3205769359597Hz 21:01:07.047 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 961.2242151604282Hz 21:01:07.663 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1906.4504751827808Hz 21:01:08.315 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1746.7096357237056Hz 21:01:08.969 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2488.4783452614392Hz 21:01:09.617 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 660.0115502021285Hz 21:01:10.245 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 566.5157468717Hz 21:01:10.862 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1362.4962020418368Hz 21:01:11.501 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2380.113674229081Hz 21:01:12.167 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2400.03264044391Hz 21:01:12.824 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1534.6814998749235Hz 21:01:13.479 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1609.6553566915788Hz 21:01:14.104 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2128.4384923844473Hz 21:01:14.713 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2134.9000653279422Hz 21:01:15.341 INFO [peripherals/payload/src/lib.rs:63] Mocked payload is starting 21:01:15.342 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:01:15.341675674+01:00_surveyPolygon/surveyPolygon_rust.log" 21:01:15.343 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 93.99530906467751, y: 10.817923984120899 }, Coord { x: 93.99539284839724, y: 30.859639154802966 }, Coord { x: 74.00459299657885, y: 30.85976291393818 }, Coord { x: 74.00450921235057, y: 10.817967368194513 }, Coord { x: 93.99530906467751, y: 10.817923984120899 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })] 21:01:15.343 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:01:15.343 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:01:15.343 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 93.99530906467751, y: 10.817923984120899 }, Coord { x: 93.99539284839724, y: 30.859639154802966 }, Coord { x: 74.00459299657885, y: 30.85976291393818 }, Coord { x: 74.00450921235057, y: 10.817967368194513 }, Coord { x: 93.99530906467751, y: 10.817923984120899 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:01:15.345 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 93.99530906467751, y: 10.817923984120899 }, Coord { x: 93.99539284839724, y: 30.859639154802966 }, Coord { x: 74.00459299657885, y: 30.85976291393818 }, Coord { x: 74.00450921235057, y: 10.817967368194513 }, Coord { x: 93.99530906467751, y: 10.817923984120899 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (93.99531669407202 m^1, 11.817923984120899 m^1), end: (74.00451011448217 m^1, 11.817923984120899 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (74.0045177438767 m^1, 13.817923984120899 m^1), end: (93.99532432346655 m^1, 13.817923984120899 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (93.99533386020971 m^1, 15.817923984120899 m^1), end: (74.00452537327124 m^1, 15.817923984120899 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (74.00453300266577 m^1, 17.8179239841209 m^1), end: (93.99534148960424 m^1, 17.8179239841209 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (93.99534911899877 m^1, 19.8179239841209 m^1), end: (74.00454253940893 m^1, 19.8179239841209 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (74.00455016880346 m^1, 21.8179239841209 m^1), end: (93.99535865574194 m^1, 21.8179239841209 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (93.99536628513647 m^1, 23.8179239841209 m^1), end: (74.004557798198 m^1, 23.8179239841209 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (74.00456733494116 m^1, 25.8179239841209 m^1), end: (93.99537582187963 m^1, 25.8179239841209 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (93.99538345127417 m^1, 27.8179239841209 m^1), end: (74.00457496433569 m^1, 27.8179239841209 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (74.00458259373022 m^1, 29.8179239841209 m^1), end: (93.9953910806687 m^1, 29.8179239841209 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (93.99539298801733 m^1, 31.8179239841209 m^1), end: (74.00459022312475 m^1, 31.8179239841209 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }] 21:01:15.348 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 93.99530906467751, y: 10.817923984120899 }, Coord { x: 93.99539284839724, y: 30.859639154802966 }, Coord { x: 74.00459299657885, y: 30.85976291393818 }, Coord { x: 74.00450921235057, y: 10.817967368194513 }, Coord { x: 93.99530906467751, y: 10.817923984120899 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:01:15.377 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1482.1138500575062Hz 21:01:16.020 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 819.9994588003572Hz 21:01:16.646 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1569.7281073945182Hz 21:01:17.270 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1578.1632704593087Hz 21:01:17.907 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2009.5049584534852Hz 21:01:18.513 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1925.4022165230315Hz 21:01:19.135 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1372.523452994503Hz 21:01:19.782 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 925.3929681239138Hz 21:01:20.404 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1895.1920871939976Hz 21:01:21.033 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1648.6252114361835Hz 21:01:21.668 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1618.5891729333046Hz 21:01:22.283 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1893.2294329020556Hz 21:01:22.928 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1631.7632507334774Hz 21:01:23.571 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2090.3315893000104Hz 21:01:24.178 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2547.4202275355747Hz 21:01:24.772 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1718.3193462138552Hz 21:01:25.416 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1725.1492254079978Hz 21:01:26.044 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1844.4195242873163Hz 21:01:26.687 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1735.3699635225234Hz 21:01:27.340 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1684.4488314978457Hz 21:01:27.977 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2727.8728593017736Hz 21:01:28.585 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1740.6531278666382Hz 21:01:29.241 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2064.656792101449Hz 21:01:29.863 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1490.641751086678Hz 21:01:30.497 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2199.387690466974Hz 21:01:31.138 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1547.5779631088367Hz 21:01:31.764 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1804.8945129401911Hz 21:01:32.379 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1970.4782941963504Hz 21:01:32.992 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2559.030434548958Hz 21:01:33.635 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1978.5994681524628Hz 21:01:34.294 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1269.0645217784163Hz 21:01:34.946 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 616.5357350277379Hz 21:01:35.589 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1904.6131635434188Hz 21:01:36.242 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2440.0003904000623Hz 21:01:36.851 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1843.233030735911Hz 21:01:37.476 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 642.8726636400221Hz 21:01:38.106 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2133.8340730624786Hz 21:01:38.765 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1238.241350574606Hz 21:01:39.481 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1355.5535674103235Hz 21:01:40.161 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2362.747970399493Hz 21:01:40.871 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2592.1644054352505Hz 21:01:41.553 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 903.0054731161725Hz 21:01:42.223 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1931.277424139423Hz 21:01:42.906 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1745.5632146990386Hz 21:01:43.592 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1711.522827435711Hz 21:01:44.280 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 766.2553407997253Hz 21:01:44.980 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1114.8272017837235Hz 21:01:45.681 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1251.7712563277037Hz 21:01:46.388 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1544.6878185918624Hz 21:01:47.082 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1721.4844704885918Hz 21:01:47.737 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1517.6049765302391Hz 21:01:48.438 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1444.89669711064Hz 21:01:49.073 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2274.9091173807606Hz 21:01:49.709 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1275.7428969824853Hz 21:01:50.384 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2402.3389171697563Hz 21:01:51.049 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1755.904668423742Hz 21:01:51.728 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2386.492452717618Hz 21:01:52.380 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2020.2918109491736Hz 21:01:52.700 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: FinishedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 93.99530906467751, y: 10.817923984120899 }, Coord { x: 93.99539284839724, y: 30.859639154802966 }, Coord { x: 74.00459299657885, y: 30.85976291393818 }, Coord { x: 74.00450921235057, y: 10.817967368194513 }, Coord { x: 93.99530906467751, y: 10.817923984120899 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:01:52.700 INFO [peripherals/payload/src/lib.rs:78] Dropping payload: payload is stopping 21:01:52.700 INFO [peripherals/payload/src/lib.rs:68] Mocked payload is stopping 21:01:52.701 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:01:52.701 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:01:52.701 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:01:52.702 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:01:52.706 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:01:52.706 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:01:52.709 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:01:52.709 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 74.04831316376543, y: 31.81791790818121, z: 19.00259148649482 } 21:01:53.011 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2382.892736466361Hz 21:01:53.642 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1790.8758457411182Hz 21:01:54.258 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1778.3531738269094Hz 21:01:54.884 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1856.5241041807067Hz 21:01:55.553 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1095.8820041928445Hz 21:01:56.178 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1363.5663259114417Hz 21:01:56.809 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1961.5189217922793Hz 21:01:57.514 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1310.3034400706515Hz 21:01:58.208 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1319.5484505202319Hz 21:01:58.950 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1929.7903668724466Hz 21:01:59.600 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1528.9935400022935Hz 21:02:00.246 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2601.4771187080023Hz 21:02:00.905 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1787.33565448657Hz 21:02:01.650 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 641.5722111978731Hz 21:02:02.310 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2060.06320273906Hz 21:02:02.968 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1733.3035205127806Hz 21:02:03.634 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2119.479286328935Hz 21:02:04.288 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1597.9648319899777Hz 21:02:04.977 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 961.7983320493327Hz 21:02:05.670 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2020.8225556130367Hz 21:02:06.384 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1027.7555668380278Hz 21:02:07.078 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1353.6415665423121Hz 21:02:07.802 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1312.1981944152844Hz 21:02:08.471 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1624.0673793074327Hz 21:02:09.156 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2279.4880269891382Hz 21:02:09.836 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1479.2833759613493Hz 21:02:10.530 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2233.7034579963233Hz 21:02:11.250 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1809.6370410986667Hz 21:02:11.939 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1353.038993230746Hz 21:02:12.707 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 614.056364233673Hz 21:02:13.371 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1420.3738423953184Hz 21:02:14.093 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1413.4095820689206Hz 21:02:14.762 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1614.6741587547633Hz 21:02:15.559 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1474.5108678823517Hz 21:02:16.230 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2319.4860019019784Hz 21:02:16.866 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1730.049929240958Hz 21:02:17.609 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1828.2839178661734Hz 21:02:18.274 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1163.8029355765248Hz 21:02:18.922 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 537.1553007290809Hz 21:02:19.538 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1464.5727182323194Hz 21:02:20.183 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1229.2291012614348Hz 21:02:20.801 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1386.1339476678988Hz 21:02:21.419 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2031.4674304984203Hz 21:02:22.088 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2175.0336586458675Hz 21:02:22.751 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2075.1537688942753Hz 21:02:23.423 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1656.7125852171537Hz 21:02:24.083 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1477.4867949617699Hz 21:02:24.736 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2070.3719423194375Hz 21:02:25.386 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1621.418287004008Hz 21:02:26.052 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2131.8007107423573Hz 21:02:26.771 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 685.3056086096313Hz 21:02:27.518 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1683.7426231026325Hz 21:02:28.254 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1419.839416162032Hz 21:02:28.971 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2072.9684908789386Hz 21:02:29.742 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2090.7380305247752Hz 21:02:30.499 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1280.278588620884Hz 21:02:31.221 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1743.4420427561724Hz 21:02:31.920 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2058.108639322635Hz 21:02:32.585 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1488.4407689880388Hz 21:02:33.271 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 428.9969322429375Hz 21:02:33.939 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1680.7457132580585Hz 21:02:34.614 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1898.437396179205Hz 21:02:35.297 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1404.894934932291Hz 21:02:36.001 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1578.3226849162859Hz 21:02:36.708 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2247.2465611509497Hz 21:02:37.414 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1250.5158377830855Hz 21:02:38.132 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2449.947571121978Hz 21:02:38.837 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1363.9475916777374Hz 21:02:39.499 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1884.8045174994675Hz 21:02:40.134 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2408.089253420089Hz 21:02:40.757 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2557.642876325179Hz 21:02:41.409 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1202.755753983527Hz 21:02:42.063 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2700.9215544343733Hz 21:02:42.703 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1892.2979688073603Hz 21:02:43.426 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1891.084858650862Hz 21:02:44.149 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 961.8279347534401Hz 21:02:44.859 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1972.4332725823886Hz 21:02:45.549 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1021.6904890832373Hz 21:02:46.298 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1745.5967322429174Hz 21:02:47.102 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1512.934836383662Hz 21:02:47.155 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 21:02:47.155 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 21:02:47.155 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 21:02:47.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 21:02:47.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'control' stopped 21:02:47.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 21:02:47.155 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send feed forward velocity request': utilities/python_bindings/src/rust_control_handle.rs:89 21:02:47.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'state_estimator' stopped 21:02:47.155 INFO [utilities/simulator/src/simulator.rs:202] Simulator dropped: Simulator() 21:02:47.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 21:02:47.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 21:02:47.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 21:02:47.155 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 21:02:47.156 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 21:02:47.156 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 21:03:06.876 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 21:03:06.876 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 21:03:06.876262493 +01:00 21:03:06.876 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 21:03:06.876 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 21:03:06.876 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 21:03:06.876 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 21:03:06.876 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 21:03:06.876 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:03:06.877 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 21:03:07.295 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 21:03:07.295 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:03:08.638 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 21:03:08.638 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:03:09.043 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 21:03:09.043 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 21:03:09.043 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 21:03:09.043 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 21:03:09.043 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 21:03:09.043 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 21:03:09.043 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 21:03:09.043 WARN [robot_core/launch/src/lib.rs:308] Magnetometer not enabled 21:03:09.043 WARN [robot_core/launch/src/lib.rs:288] IMU not enabled 21:03:09.043 WARN [robot_core/launch/src/lib.rs:325] Can Magnetometer not enabled 21:03:09.043 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 21:03:09.043 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 21:03:09.043 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 21:03:09.043 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:03:09.044 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:03:09.045 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 21:03:09.045 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 21:03:09.045 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 21:03:09.045 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 21:03:09.046 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 21:03:09.046 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:03:09.046 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:03:09.047 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 21:03:09.047 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 21:03:09.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:03:09.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:03:09.383 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:03:09.384 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 21:03:09.384 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T21:03:09.384018663+01:00_task_executor': Tried to start logging but no MongoDB client configured 21:03:09.384 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 21:03:09.384 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:03:09.392 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:03:09.392 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:03:09.431 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 21:03:09.432 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:03:09.537 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 21:03:09.539 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 847.2307415980127Hz 21:03:09.539 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:03:09.543 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0.00003999999999999998, Enable control depth: 0.2, Depth control enabled: true 21:03:09.544 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.999627472102741 } 21:03:09.544 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:03:09.544 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 21:03:09.545 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 21:03:09.629 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20856, Enable control depth: 0.2, Depth control enabled: false 21:03:09.629 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 21:03:09.629 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 21:03:10.138 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2905.3889153602104Hz 21:03:10.689 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2006.4004173312867Hz 21:03:11.220 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2337.049241627521Hz 21:03:11.737 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2477.2894489765076Hz 21:03:12.237 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4694.681395447098Hz 21:03:12.757 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2027.5133562442343Hz 21:03:13.270 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2998.5097406588925Hz 21:03:13.801 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1756.0680932963855Hz 21:03:14.331 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1521.9727201609637Hz 21:03:14.856 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2874.1991762545163Hz 21:03:15.379 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 726.9845770221986Hz 21:03:15.915 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1221.4053734508Hz 21:03:16.441 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3748.3647758665284Hz 21:03:16.960 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2553.828316337606Hz 21:03:17.471 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2603.2311304791506Hz 21:03:18.007 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2180.8062877006887Hz 21:03:18.556 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2124.549595485757Hz 21:03:19.096 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2360.461328562054Hz 21:03:19.626 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4147.690980431194Hz 21:03:20.152 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 602.9261210506832Hz 21:03:20.690 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2173.350807073822Hz 21:03:21.227 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3489.8288936893423Hz 21:03:21.763 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2495.0348805876306Hz 21:03:22.287 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 545.374623282479Hz 21:03:22.874 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1717.9503477990477Hz 21:03:23.373 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2461.5990547459633Hz 21:03:23.897 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2205.913170845769Hz 21:03:24.423 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 687.3910485188097Hz 21:03:24.939 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1489.780108455992Hz 21:03:25.442 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1926.9456370096887Hz 21:03:25.963 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2557.3616211626786Hz 21:03:26.481 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2489.2960270835406Hz 21:03:27.016 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2281.001085756517Hz 21:03:27.560 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2597.94242959576Hz 21:03:28.069 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2112.6686173640232Hz 21:03:28.585 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2298.285249375441Hz 21:03:29.119 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1896.3349534354954Hz 21:03:29.648 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2764.1948315085037Hz 21:03:30.150 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2320.5678893738877Hz 21:03:30.662 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1596.6891054708954Hz 21:03:31.177 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 663.0851228895658Hz 21:03:31.720 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3186.5299008033244Hz 21:03:32.239 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1971.2279567433739Hz 21:03:32.747 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2982.6439945954494Hz 21:03:33.267 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3607.2693692328785Hz 21:03:33.831 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2339.1429847932313Hz 21:03:34.362 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 839.2521591859925Hz 21:03:34.882 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2048.3911935565807Hz 21:03:35.399 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1714.4600993701072Hz 21:03:35.949 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1593.1177314003505Hz 21:03:36.456 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3665.312944419194Hz 21:03:36.983 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1214.9546335939817Hz 21:03:37.504 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1896.514774798353Hz 21:03:38.036 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3397.685496639689Hz 21:03:38.551 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2165.767872999372Hz 21:03:39.059 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2525.2397715163056Hz 21:03:39.573 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2783.4684243341944Hz 21:03:40.092 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2261.8754113785903Hz 21:03:40.587 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3869.235323023111Hz 21:03:41.114 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2050.2768898939803Hz 21:03:41.642 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2745.7365575602485Hz 21:03:42.163 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2602.9058841290416Hz 21:03:42.708 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2542.840505414979Hz 21:03:43.245 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2584.1061964282485Hz 21:03:43.766 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3008.29688280277Hz 21:03:44.289 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1948.4669462067247Hz 21:03:44.821 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 631.7215169402442Hz 21:03:45.323 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2178.42142869591Hz 21:03:45.855 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 705.2618884233376Hz 21:03:46.373 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 607.6689030907863Hz 21:03:46.894 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2332.056920845324Hz 21:03:47.400 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2292.4265105371383Hz 21:03:47.941 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 460.72460923642274Hz 21:03:48.462 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3216.3958997385066Hz 21:03:48.980 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2663.761390909648Hz 21:03:49.480 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3627.380922152778Hz 21:03:50.008 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1909.1730035300611Hz 21:03:50.533 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2657.2846802223617Hz 21:03:51.062 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2338.6287684079316Hz 21:03:51.567 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2506.020714767228Hz 21:03:52.096 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2140.282688537502Hz 21:03:52.620 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3383.671080101645Hz 21:03:53.118 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3801.659804670719Hz 21:03:53.648 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2714.227164528308Hz 21:03:54.176 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1877.6063523178111Hz 21:03:54.711 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1726.4448185074882Hz 21:03:55.237 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2172.401807438304Hz 21:03:55.754 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2196.580802323104Hz 21:03:56.256 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3631.635906710537Hz 21:03:56.784 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2731.3076135199726Hz 21:03:57.311 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2082.6391202932355Hz 21:03:57.856 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3663.2183571198316Hz 21:03:58.358 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3965.9719605782384Hz 21:03:58.881 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 792.1130884014049Hz 21:03:59.397 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2803.0048211682924Hz 21:03:59.936 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2077.844361145973Hz 21:04:00.472 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2982.893108025474Hz 21:04:00.971 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2697.9994334201187Hz 21:04:01.496 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1966.4832593280134Hz 21:04:02.026 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2749.2769401647365Hz 21:04:02.557 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2483.3244761427018Hz 21:04:03.070 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 634.1592411904184Hz 21:04:03.584 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1936.4645965860127Hz 21:04:04.101 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2157.2785499636498Hz 21:04:04.617 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2152.1899608947083Hz 21:04:05.144 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2604.953579727209Hz 21:04:05.675 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2573.4792667642873Hz 21:04:06.221 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 773.1614028549758Hz 21:04:06.763 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2064.0218290948646Hz 21:04:07.271 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 661.740669125695Hz 21:04:07.819 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2424.6773966723727Hz 21:04:08.352 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2836.7506723099095Hz 21:04:08.884 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2508.812202862555Hz 21:04:09.412 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1832.6631894937084Hz 21:04:09.952 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2598.327196950603Hz 21:04:10.496 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2185.1666517346944Hz 21:04:11.013 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1045.170164154426Hz 21:04:11.523 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1671.9332564244035Hz 21:04:12.082 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1895.5872624118317Hz 21:04:12.630 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2532.344368445976Hz 21:04:13.194 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1101.5545137297754Hz 21:04:13.734 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2060.2669281832154Hz 21:04:14.289 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1978.1063192584477Hz 21:04:14.834 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2079.0928502075976Hz 21:04:15.482 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 669.1729423935781Hz 21:04:16.058 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2814.5308599236137Hz 21:04:16.628 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2452.8320398732376Hz 21:04:17.244 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2132.9920546045964Hz 21:04:17.831 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2582.224483103214Hz 21:04:18.397 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 545.6245819151641Hz 21:04:18.936 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2626.9541255001063Hz 21:04:19.458 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2898.029919260887Hz 21:04:19.955 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2149.5021752962016Hz 21:04:20.444 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2533.833005201959Hz 21:04:20.931 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1097.5141304944302Hz 21:04:21.373 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2738.840593999748Hz 21:04:21.874 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3234.769894643545Hz 21:04:22.396 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2360.9907661651137Hz 21:04:22.915 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2212.9230278983205Hz 21:04:23.410 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3784.223571928629Hz 21:04:23.877 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4320.0089856186905Hz 21:04:24.380 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3417.226237463051Hz 21:04:24.874 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2407.7239785231022Hz 21:04:25.374 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1758.4272626562804Hz 21:04:25.848 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2903.785956129602Hz 21:04:26.345 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3315.6718545878953Hz 21:04:26.851 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2015.0362001253352Hz 21:04:27.314 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4269.654286092455Hz 21:04:27.896 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2726.0732550405096Hz 21:04:28.368 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2703.5503022569237Hz 21:04:28.791 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3668.136366637566Hz 21:04:29.719 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2306.422001420756Hz 21:04:30.446 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3025.215168428854Hz 21:04:30.963 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2244.5429549408Hz 21:04:31.440 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 931.5306352480013Hz 21:04:32.003 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2639.8458330033527Hz 21:04:32.527 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1693.0471632148258Hz 21:04:32.985 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3349.8256415753563Hz 21:04:33.451 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2582.097799536255Hz 21:04:33.925 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1367.3661656181246Hz 21:04:34.439 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3439.4518889469773Hz 21:04:34.933 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2494.7858974742785Hz 21:04:35.407 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2468.2521072702366Hz 21:04:35.913 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 626.8680668391808Hz 21:04:36.389 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3486.969196114121Hz 21:04:36.873 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3955.6336133921936Hz 21:04:37.417 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3131.7724579402957Hz 21:04:37.937 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2212.893646118474Hz 21:04:38.597 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 988.2038111068179Hz 21:04:38.935 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 21:04:38.935 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 21:04:38.935 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'state_estimator' stopped 21:04:38.935 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 21:04:38.936 INFO [utilities/simulator/src/simulator.rs:202] Simulator dropped: Simulator() 21:04:38.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'control' stopped 21:04:38.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 21:04:38.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 21:04:38.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 21:04:38.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 21:04:38.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 21:04:38.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 21:04:38.936 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send position goal request': utilities/python_bindings/src/rust_control_handle.rs:59 21:04:38.936 INFO [robot_core/launch/src/lib.rs:277] Joined thread 'state_estimator' 21:04:38.936 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'control' (when the code is still running, this can take a long time) 21:04:38.936 INFO [robot_core/launch/src/lib.rs:277] Joined thread 'control' 21:04:38.936 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'path_planner' (when the code is still running, this can take a long time) 21:04:38.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 21:04:38.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 21:04:38.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 21:04:38.936 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 21:04:49.816 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 21:04:49.816 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 21:04:49.816757071 +01:00 21:04:49.816 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 21:04:49.816 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 21:04:49.817 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 21:04:49.817 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 21:04:49.817 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223]}) 21:04:49.817 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:04:49.818 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 21:04:50.180 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223]}) 21:04:50.180 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:04:51.532 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223]}) 21:04:51.532 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:04:51.987 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 21:04:51.987 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 21:04:51.987 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 21:04:51.987 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 21:04:51.987 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 21:04:51.987 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 21:04:51.987 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 21:04:51.987 WARN [robot_core/launch/src/lib.rs:308] Magnetometer not enabled 21:04:51.987 WARN [robot_core/launch/src/lib.rs:288] IMU not enabled 21:04:51.987 WARN [robot_core/launch/src/lib.rs:325] Can Magnetometer not enabled 21:04:51.987 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 21:04:51.987 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 21:04:51.987 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223]}) 21:04:51.988 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:04:51.988 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 21:04:51.990 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 21:04:51.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 21:04:51.991 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223]}) 21:04:51.991 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:04:51.991 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:04:51.991 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 21:04:51.991 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 21:04:52.443 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:04:52.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:04:52.445 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:04:52.445 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 21:04:52.446 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T21:04:52.445466564+01:00_task_executor': Tried to start logging but no MongoDB client configured 21:04:52.446 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 21:04:52.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:04:52.449 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:04:52.449 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:04:52.511 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 21:04:52.512 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:04:52.598 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 21:04:52.599 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1236.9195754892016Hz 21:04:52.600 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:04:52.603 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0.00004000000000000002, Enable control depth: 0.2, Depth control enabled: true 21:04:52.603 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9992589934978323 } 21:04:52.604 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:04:52.604 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 21:04:52.604 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 21:04:52.669 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 21:04:52.670 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20844, Enable control depth: 0.2, Depth control enabled: false 21:04:52.670 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 21:04:53.125 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3097.9990024443214Hz 21:04:53.641 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3152.336669556308Hz 21:04:54.146 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2373.3182073852918Hz 21:04:54.638 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3206.5464853043977Hz 21:04:55.137 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 702.0125295196268Hz 21:04:55.698 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3424.2822704361165Hz 21:04:56.180 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2147.706356996046Hz 21:04:56.695 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1179.188270378437Hz 21:04:57.202 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2900.9976530928984Hz 21:04:57.713 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2358.451629336308Hz 21:04:58.207 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2182.2244723381223Hz 21:04:58.719 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2948.147973443083Hz 21:04:59.218 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3109.4430676521524Hz 21:04:59.729 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2966.3467956038744Hz 21:05:00.219 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2423.061732343755Hz 21:05:00.708 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2497.8144123891593Hz 21:05:01.204 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2812.8366613879098Hz 21:05:01.669 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2117.083167495152Hz 21:05:02.146 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2580.1124929046905Hz 21:05:02.590 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3339.3441528083886Hz 21:05:03.047 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2387.039331247061Hz 21:05:03.505 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2153.3624755055016Hz 21:05:03.603 ERROR [peripherals/communication/src/task_handler.rs:157] Unknown task type: moveTo 21:05:03.967 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1766.3038678522098Hz 21:05:04.431 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2995.500757861692Hz 21:05:04.898 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1984.571937755886Hz 21:05:05.354 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1872.4102226108514Hz 21:05:05.807 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2660.4093837959786Hz 21:05:06.273 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2139.865916001703Hz 21:05:06.747 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2553.9652865038256Hz 21:05:07.214 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1704.8002059398648Hz 21:05:07.692 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2583.038221216559Hz 21:05:08.141 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2832.1952628702034Hz 21:05:08.592 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1986.6536607073679Hz 21:05:09.062 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1955.5273959610536Hz 21:05:09.515 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1537.0002059580274Hz 21:05:09.972 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2208.261104793031Hz 21:05:10.437 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3750.8673880834945Hz 21:05:10.922 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2462.0596606296963Hz 21:05:11.393 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1906.7921844401947Hz 21:05:11.850 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3260.674633581688Hz 21:05:12.323 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3457.9103156380534Hz 21:05:12.791 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1674.337924926036Hz 21:05:13.251 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2563.6029901865277Hz 21:05:13.713 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2838.5060375023418Hz 21:05:14.186 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2588.051999140767Hz 21:05:14.692 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2758.871842126318Hz 21:05:15.169 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2380.1589946208405Hz 21:05:15.643 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2217.9342160711512Hz 21:05:16.105 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2445.675434413099Hz 21:05:16.582 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2698.130465400524Hz 21:05:17.076 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3641.156722667657Hz 21:05:17.543 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3058.1226796494166Hz 21:05:18.006 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2292.1900500614306Hz 21:05:18.475 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2371.8996306952276Hz 21:05:18.952 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2444.240757714635Hz 21:05:19.424 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3687.0437283386177Hz 21:05:19.854 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'tokio-runtime-worker' panicked at 'not implemented: ManualPilotService::disengage': peripherals/communication/src/manual_pilot.rs:76 21:06:22.059 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 21:06:22.059 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 21:06:22.059512215 +01:00 21:06:22.059 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 21:06:22.059 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 21:06:22.059 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 21:06:22.059 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 21:06:22.059 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0]}) 21:06:22.059 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:06:22.061 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 21:06:22.384 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0]}) 21:06:22.384 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:06:23.696 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0]}) 21:06:23.696 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:06:24.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 21:06:24.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 21:06:24.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 21:06:24.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 21:06:24.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 21:06:24.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 21:06:24.000 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 21:06:24.001 WARN [robot_core/launch/src/lib.rs:308] Magnetometer not enabled 21:06:24.001 WARN [robot_core/launch/src/lib.rs:288] IMU not enabled 21:06:24.001 WARN [robot_core/launch/src/lib.rs:325] Can Magnetometer not enabled 21:06:24.001 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 21:06:24.001 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 21:06:24.001 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0]}) 21:06:24.001 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:06:24.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 21:06:24.004 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 21:06:24.004 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 21:06:24.005 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 21:06:24.005 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 21:06:24.005 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 21:06:24.005 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 21:06:24.005 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 21:06:24.005 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0]}) 21:06:24.005 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:06:24.005 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:06:24.006 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 21:06:24.006 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 21:06:24.338 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:06:24.338 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:06:24.338 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:06:24.339 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 21:06:24.339 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T21:06:24.339022580+01:00_task_executor': Tried to start logging but no MongoDB client configured 21:06:24.339 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 21:06:24.340 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:06:24.340 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:06:24.340 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:06:24.384 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 21:06:24.385 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:06:24.480 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 21:06:24.481 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1381.6543929701425Hz 21:06:24.483 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:06:24.486 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:06:24.487 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9992589934978323 } 21:06:24.487 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 21:06:24.488 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0.00016000000000000007, Enable control depth: 0.2, Depth control enabled: true 21:06:24.488 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 21:06:24.546 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20243999999999998, Enable control depth: 0.2, Depth control enabled: false 21:06:24.546 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 21:06:24.547 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 21:06:25.008 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2226.1055396636357Hz 21:06:25.512 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2615.131148827114Hz 21:06:25.981 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2251.8566558127177Hz 21:06:26.477 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2497.5274478266515Hz 21:06:26.962 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3605.82557179379Hz 21:06:27.426 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2312.705541705019Hz 21:06:27.891 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 748.2319279542442Hz 21:06:28.395 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1230.405787828826Hz 21:06:28.884 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1976.0034145339005Hz 21:06:29.382 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2169.023310493518Hz 21:06:29.868 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2027.6860249851475Hz 21:06:30.371 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2411.335204529452Hz 21:06:30.881 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2479.875807819544Hz 21:06:31.391 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2720.614641259753Hz 21:06:31.894 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2190.4749387762254Hz 21:06:32.406 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2228.804625215358Hz 21:06:32.907 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1606.528933586094Hz 21:06:33.425 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1743.9254716010455Hz 21:06:33.920 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2417.8183541426897Hz 21:06:34.409 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1985.8015191381621Hz 21:06:34.885 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1882.8987602994562Hz 21:06:35.017 INFO [peripherals/payload/src/lib.rs:63] Mocked payload is starting 21:06:35.017 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: -2827.652353745272, y: 697.1389073703612 }, Coord { x: -2827.649512235587, y: 717.1805923095445 }, Coord { x: -2847.640220292689, y: 717.1834657571026 }, Coord { x: -2847.64306181374, y: 697.1417005191553 }, Coord { x: -2827.652353745272, y: 697.1389073703612 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })] 21:06:35.017 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:06:35.017072951+01:00_surveyPolygon/surveyPolygon_rust.log" 21:06:35.017 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:06:35.017 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:06:35.017 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: -2827.652353745272, y: 697.1389073703612 }, Coord { x: -2827.649512235587, y: 717.1805923095445 }, Coord { x: -2847.640220292689, y: 717.1834657571026 }, Coord { x: -2847.64306181374, y: 697.1417005191553 }, Coord { x: -2827.652353745272, y: 697.1389073703612 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:06:35.019 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: -2827.652353745272, y: 697.1389073703612 }, Coord { x: -2827.649512235587, y: 717.1805923095445 }, Coord { x: -2847.640220292689, y: 717.1834657571026 }, Coord { x: -2847.64306181374, y: 697.1417005191553 }, Coord { x: -2827.652353745272, y: 697.1389073703612 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (-2827.6520714576745 m^1, 698.1389073703612 m^1), end: (-2847.643061142733 m^1, 698.1389073703612 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-2847.6427788551355 m^1, 700.1389073703612 m^1), end: (-2827.6517872627282 m^1, 700.1389073703612 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-2827.651503067782 m^1, 702.1389073703612 m^1), end: (-2847.642496567538 m^1, 702.1389073703612 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-2847.6422123725915 m^1, 704.1389073703612 m^1), end: (-2827.6512207801843 m^1, 704.1389073703612 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-2827.650936585238 m^1, 706.1389073703612 m^1), end: (-2847.6419281776452 m^1, 706.1389073703612 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-2847.6416458900476 m^1, 708.1389073703612 m^1), end: (-2827.6506523902917 m^1, 708.1389073703612 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-2827.650370102694 m^1, 710.1389073703612 m^1), end: (-2847.6413616951013 m^1, 710.1389073703612 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-2847.6410794075036 m^1, 712.1389073703612 m^1), end: (-2827.650085907748 m^1, 712.1389073703612 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-2827.6498017128015 m^1, 714.1389073703612 m^1), end: (-2847.6407952125574 m^1, 714.1389073703612 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-2847.640511017611 m^1, 716.1389073703612 m^1), end: (-2827.649519425204 m^1, 716.1389073703612 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-2827.6495117958093 m^1, 718.1389073703612 m^1), end: (-2847.6402287300134 m^1, 718.1389073703612 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }] 21:06:35.020 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: -2827.652353745272, y: 697.1389073703612 }, Coord { x: -2827.649512235587, y: 717.1805923095445 }, Coord { x: -2847.640220292689, y: 717.1834657571026 }, Coord { x: -2847.64306181374, y: 697.1417005191553 }, Coord { x: -2827.652353745272, y: 697.1389073703612 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:06:35.379 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 487.1535181496351Hz 21:06:35.902 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3038.830171937011Hz 21:06:36.407 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2523.0353124022326Hz 21:06:36.944 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1768.68751005941Hz 21:06:37.586 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2429.0652228302984Hz 21:06:38.164 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2257.2089611195756Hz 21:06:38.694 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 703.5074772292218Hz 21:06:39.184 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2872.8367539242954Hz 21:06:39.691 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2643.8799466993805Hz 21:06:40.224 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2392.768097701507Hz 21:06:40.707 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2289.571231995384Hz 21:06:41.180 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2088.4413127106714Hz 21:06:41.688 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2546.0452279474293Hz 21:06:42.197 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2355.429618585282Hz 21:06:42.680 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1126.4204161447585Hz 21:06:43.190 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2834.6679895117286Hz 21:06:43.692 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 934.4859906532711Hz 21:06:44.227 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2941.7042469384214Hz 21:06:44.747 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 922.516884365276Hz 21:06:45.270 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 724.8441041542991Hz 21:06:45.754 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3424.669262565968Hz 21:06:46.264 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2163.79026813689Hz 21:06:46.763 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1327.7056317289782Hz 21:06:47.253 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2494.393849822524Hz 21:06:47.763 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2736.0454840201264Hz 21:06:48.293 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2480.5524686458166Hz 21:06:48.795 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3218.3109017063484Hz 21:06:49.311 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2079.4041259536666Hz 21:06:49.816 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2111.620246214921Hz 21:06:50.343 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3049.93351144945Hz 21:06:50.882 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3152.972780385987Hz 21:06:51.414 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1864.4055156572774Hz 21:06:51.936 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1976.163515673941Hz 21:06:52.458 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2970.3558486306656Hz 21:06:52.968 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2441.4777776692677Hz 21:06:53.525 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2650.558340114345Hz 21:06:54.162 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2498.450960404549Hz 21:06:54.684 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2868.7819151988065Hz 21:06:55.210 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2947.2530128293924Hz 21:06:55.731 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1717.1892359709932Hz 21:06:56.238 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2441.0486745105695Hz 21:06:56.740 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3604.8766771688743Hz 21:06:57.247 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1765.4463313142512Hz 21:06:57.767 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1527.7625001527763Hz 21:06:58.279 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2170.3555476458155Hz 21:06:58.809 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3014.127214253205Hz 21:06:59.319 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2060.920819422118Hz 21:06:59.853 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1701.3023469465877Hz 21:07:00.369 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2350.3143545449207Hz 21:07:00.890 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1758.2263013072413Hz 21:07:01.404 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1922.0789205604783Hz 21:07:01.899 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1698.8196601001623Hz 21:07:02.407 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2486.3437569151433Hz 21:07:02.924 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1335.867920067007Hz 21:07:03.425 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2899.6181202935572Hz 21:07:03.956 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1886.3653512412284Hz 21:07:04.492 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2222.1037100243543Hz 21:07:05.023 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3945.3490253015234Hz 21:07:05.197 INFO [peripherals/payload/src/lib.rs:78] Dropping payload: payload is stopping 21:07:05.197 INFO [peripherals/payload/src/lib.rs:68] Mocked payload is stopping 21:07:05.197 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 21:07:05.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 21:07:05.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 21:07:05.197 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 21:07:05.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 21:07:05.197 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 21:07:05.197 INFO [utilities/simulator/src/simulator.rs:202] Simulator dropped: Simulator() 21:07:05.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'state_estimator' stopped 21:07:05.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 21:07:05.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'control' stopped 21:07:05.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 21:07:05.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 21:07:05.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 21:07:05.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 21:07:05.198 INFO [robot_core/launch/src/lib.rs:277] Joined thread 'state_estimator' 21:07:05.198 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'control' (when the code is still running, this can take a long time) 21:07:05.198 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send feed forward velocity request': utilities/python_bindings/src/rust_control_handle.rs:89 21:07:05.198 INFO [robot_core/launch/src/lib.rs:277] Joined thread 'control' 21:07:05.198 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'path_planner' (when the code is still running, this can take a long time) 21:07:30.866 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 21:07:30.866 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 21:07:30.866262175 +01:00 21:07:30.866 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 21:07:30.866 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 21:07:30.866 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 21:07:30.866 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 21:07:30.866 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_sideward_thruster_location": [1.095, -0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223]}) 21:07:30.866 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:07:30.867 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 21:07:31.166 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_sideward_thruster_location": [1.095, -0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223]}) 21:07:31.166 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:07:32.519 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_sideward_thruster_location": [1.095, -0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223]}) 21:07:32.519 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:07:32.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 21:07:32.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 21:07:32.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 21:07:32.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 21:07:32.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 21:07:32.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 21:07:32.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 21:07:32.813 WARN [robot_core/launch/src/lib.rs:308] Magnetometer not enabled 21:07:32.813 WARN [robot_core/launch/src/lib.rs:288] IMU not enabled 21:07:32.813 WARN [robot_core/launch/src/lib.rs:325] Can Magnetometer not enabled 21:07:32.813 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 21:07:32.813 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 21:07:32.813 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_sideward_thruster_location": [1.095, -0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223]}) 21:07:32.813 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:07:32.813 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:07:32.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 21:07:32.814 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 21:07:32.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 21:07:32.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 21:07:32.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 21:07:32.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 21:07:32.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 21:07:32.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 21:07:32.814 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 21:07:32.815 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_sideward_thruster_location": [1.095, -0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "gps_location": [0.102, 0.0, -0.223]}) 21:07:32.815 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:07:32.815 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:07:32.815 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 21:07:32.815 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 21:07:33.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:07:33.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:07:33.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:07:33.119 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 21:07:33.119 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:07:33.120 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T21:07:33.119666239+01:00_task_executor': Tried to start logging but no MongoDB client configured 21:07:33.120 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:07:33.120 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 21:07:33.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:07:33.120 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:07:33.121 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:07:33.164 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 21:07:33.254 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 21:07:33.254 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:07:33.254 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 1.0 } 21:07:33.255 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1173.626270450438Hz 21:07:33.255 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 21:07:33.255 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 21:07:33.256 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 21:07:33.324 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20683999999999997, Enable control depth: 0.2, Depth control enabled: false 21:07:33.324 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 21:07:33.324 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 21:07:33.770 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1602.6257420157185Hz 21:07:34.256 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3137.7667886212025Hz 21:07:34.753 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1842.227916753405Hz 21:07:35.241 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3122.258266959326Hz 21:07:35.747 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1805.3278836502286Hz 21:07:36.230 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2328.1152510173865Hz 21:07:36.717 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2705.298326772985Hz 21:07:37.197 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2743.092892097698Hz 21:07:37.369 INFO [peripherals/payload/src/lib.rs:63] Mocked payload is starting 21:07:37.370 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })] 21:07:37.370 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:07:37.370 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:07:37.369488663+01:00_surveyPolygon/surveyPolygon_rust.log" 21:07:37.370 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:07:37.370 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:07:37.371 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (75.87723243523294 m^1, 61.97057800924383 m^1), end: (55.88640678215677 m^1, 61.97057800924383 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.88643348503763 m^1, 63.97057800924383 m^1), end: (75.87726104546243 m^1, 63.97057800924383 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.87728965569192 m^1, 65.97057800924382 m^1), end: (55.88646209526712 m^1, 65.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.88649070549661 m^1, 67.97057800924382 m^1), end: (75.87731826592142 m^1, 67.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.87734687615091 m^1, 69.97057800924382 m^1), end: (55.886519315726105 m^1, 69.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.8865479259556 m^1, 71.97057800924382 m^1), end: (75.8773754863804 m^1, 71.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.8774040966099 m^1, 73.97057800924382 m^1), end: (55.88657653618509 m^1, 73.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.88660514641458 m^1, 75.97057800924382 m^1), end: (75.87743270683939 m^1, 75.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.87746131706888 m^1, 77.97057800924382 m^1), end: (55.88663184929544 m^1, 77.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.88666045952493 m^1, 79.97057800924382 m^1), end: (75.87748992729837 m^1, 79.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.877491834647 m^1, 81.97057800924382 m^1), end: (55.886689069754425 m^1, 81.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }] 21:07:37.375 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:07:37.711 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1536.9387868019992Hz 21:07:38.223 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1743.5453949479027Hz 21:07:38.726 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2595.757493951885Hz 21:07:39.237 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2400.1248064899373Hz 21:07:39.749 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2172.3074249467786Hz 21:07:40.261 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2561.016211232617Hz 21:07:40.734 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2611.2796837218048Hz 21:07:41.245 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2299.373880492342Hz 21:07:41.745 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1907.7234182588206Hz 21:07:42.245 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1628.2879203832338Hz 21:07:42.736 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3216.00283008249Hz 21:07:43.231 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3254.9116616975016Hz 21:07:43.729 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2645.0128283122176Hz 21:07:44.312 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 715.0605334494592Hz 21:07:44.958 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2005.446793491122Hz 21:07:45.619 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2259.315156389795Hz 21:07:46.276 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1671.332469811557Hz 21:07:46.998 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1123.2105851365543Hz 21:07:47.666 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1564.8913495935976Hz 21:07:48.326 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1242.822698913773Hz 21:07:48.993 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1656.9349354789535Hz 21:07:49.670 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2488.1625665894508Hz 21:07:50.301 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2123.6337071636535Hz 21:07:50.924 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1623.7192914089012Hz 21:07:51.594 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2137.633682266405Hz 21:07:52.270 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1239.877946414955Hz 21:07:52.923 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1079.2154966711598Hz 21:07:53.570 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1404.121658716998Hz 21:07:54.214 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2268.190890945382Hz 21:07:54.876 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1813.7134876803511Hz 21:07:55.521 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1759.067553471256Hz 21:07:56.160 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1053.058344697588Hz 21:07:56.812 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2067.093728230919Hz 21:07:57.463 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1293.6024888911886Hz 21:07:58.075 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1147.5246172718519Hz 21:07:58.733 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1633.405094263808Hz 21:07:59.399 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1247.8350062641318Hz 21:08:00.037 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1941.6495477898202Hz 21:08:00.706 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1447.559270314323Hz 21:08:01.355 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1569.4571090913942Hz 21:08:02.011 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1362.1138917909482Hz 21:08:02.679 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1308.8953839186495Hz 21:08:03.326 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2691.3843404493537Hz 21:08:03.986 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2063.8727333517704Hz 21:08:04.638 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1463.2097847764726Hz 21:08:05.286 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1834.8825858633304Hz 21:08:05.908 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1269.7219562860125Hz 21:08:06.549 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1294.7196155200631Hz 21:08:07.188 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1887.6971227720455Hz 21:08:07.850 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 852.7882765490046Hz 21:08:08.471 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2146.4985242822645Hz 21:08:09.100 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1573.0393637370382Hz 21:08:09.776 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1383.5066636598456Hz 21:08:10.434 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1498.735816338918Hz 21:08:11.082 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1710.5625527067084Hz 21:08:11.726 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1539.6577340857127Hz 21:08:12.355 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2155.948369348451Hz 21:08:13.023 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1431.3339030042268Hz 21:08:13.648 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 550.6607929515419Hz 21:08:14.300 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 538.4304751648943Hz 21:08:14.439 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: FinishedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:08:14.440 INFO [peripherals/payload/src/lib.rs:78] Dropping payload: payload is stopping 21:08:14.440 INFO [peripherals/payload/src/lib.rs:68] Mocked payload is stopping 21:08:14.440 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:08:14.441 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:08:14.441 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:08:14.442 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:08:14.445 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:08:14.445 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:08:14.450 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:08:14.450 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 55.939034862182446, y: 81.97056244889968, z: 19.018127486752842 } 21:08:14.980 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2372.479240806643Hz 21:08:15.630 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2072.431480234185Hz 21:08:16.291 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2355.5960718079905Hz 21:08:16.970 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2051.235766987822Hz 21:08:17.630 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1882.512401050442Hz 21:08:18.309 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1711.068904744794Hz 21:08:18.944 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1628.8661137209167Hz 21:08:19.622 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1812.8027380572555Hz 21:08:20.317 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1757.2746778476198Hz 21:08:20.982 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2673.768194992567Hz 21:08:21.664 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2301.9780897725414Hz 21:08:21.875 INFO [peripherals/payload/src/lib.rs:63] Mocked payload is starting 21:08:21.876 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:08:21.875101670+01:00_surveyPolygon/surveyPolygon_rust.log" 21:08:21.877 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })] 21:08:21.877 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:08:21.877 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:08:21.877 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:08:21.878 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (75.87723243523294 m^1, 61.97057800924383 m^1), end: (55.88640678215677 m^1, 61.97057800924383 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.88643348503763 m^1, 63.97057800924383 m^1), end: (75.87726104546243 m^1, 63.97057800924383 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.87728965569192 m^1, 65.97057800924382 m^1), end: (55.88646209526712 m^1, 65.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.88649070549661 m^1, 67.97057800924382 m^1), end: (75.87731826592142 m^1, 67.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.87734687615091 m^1, 69.97057800924382 m^1), end: (55.886519315726105 m^1, 69.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.8865479259556 m^1, 71.97057800924382 m^1), end: (75.8773754863804 m^1, 71.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.8774040966099 m^1, 73.97057800924382 m^1), end: (55.88657653618509 m^1, 73.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.88660514641458 m^1, 75.97057800924382 m^1), end: (75.87743270683939 m^1, 75.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.87746131706888 m^1, 77.97057800924382 m^1), end: (55.88663184929544 m^1, 77.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.88666045952493 m^1, 79.97057800924382 m^1), end: (75.87748992729837 m^1, 79.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.877491834647 m^1, 81.97057800924382 m^1), end: (55.886689069754425 m^1, 81.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }] 21:08:21.881 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:08:22.317 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2087.1423681552164Hz 21:08:22.999 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1024.1819602637884Hz 21:08:23.670 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1826.8744188255755Hz 21:08:24.315 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1845.1512193681833Hz 21:08:24.973 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1782.604277893746Hz 21:08:25.618 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1155.3214104163778Hz 21:08:26.271 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2082.0363981603127Hz 21:08:26.953 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2643.0623577702067Hz 21:08:27.644 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1788.048327370192Hz 21:08:28.291 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1527.4358018732473Hz 21:08:28.951 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1326.0471462802388Hz 21:08:29.589 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2318.5341299816605Hz 21:08:30.247 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 805.9134706824798Hz 21:08:30.908 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1855.6662769767486Hz 21:08:31.547 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2229.659374937291Hz 21:08:32.221 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1996.1832975351128Hz 21:08:32.859 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1904.0329321535946Hz 21:08:33.510 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2199.503791944537Hz 21:08:34.173 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1514.3461583309484Hz 21:08:34.822 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2008.0885808034766Hz 21:08:35.464 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 918.2120941387767Hz 21:08:36.153 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2499.625056241564Hz 21:08:36.815 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2144.3306043152506Hz 21:08:37.513 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2066.9441883730256Hz 21:08:38.195 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1919.754271453254Hz 21:08:38.877 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 508.96309457704916Hz 21:08:39.551 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1648.0655007152604Hz 21:08:40.222 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1610.3630080292698Hz 21:08:40.877 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1599.9897600655356Hz 21:08:41.568 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1390.4589487852254Hz 21:08:42.268 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1396.6870582977178Hz 21:08:42.991 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1300.540634741862Hz 21:08:43.679 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2199.527981295214Hz 21:08:44.355 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1682.7764465146333Hz 21:08:44.555 WARN [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/line_path_planner.py:254] Was on the line, but vertical distance to line (0.156) is bigger than max 0.15. 21:08:44.989 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2111.446361872346Hz 21:08:45.379 WARN [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/line_path_planner.py:254] Was on the line, but vertical distance to line (0.151) is bigger than max 0.15. 21:08:45.521 WARN [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/line_path_planner.py:254] Was on the line, but vertical distance to line (0.151) is bigger than max 0.15. 21:08:45.660 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1758.3004970715504Hz 21:08:45.898 WARN [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/control/motion_planning.py:172] Motion planner position override bigger than 0.05 21:08:46.015 WARN [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/line_path_planner.py:254] Was on the line, but vertical distance to line (0.178) is bigger than max 0.15. 21:08:46.354 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2182.8294271600735Hz 21:08:46.713 WARN [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/line_path_planner.py:254] Was on the line, but vertical distance to line (0.151) is bigger than max 0.15. 21:08:47.009 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2482.707939203448Hz 21:08:47.659 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1673.6933894132198Hz 21:08:48.314 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1423.8584570784988Hz 21:08:48.972 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1958.0622233013319Hz 21:08:49.652 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 585.5726607836134Hz 21:08:50.314 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2541.754674922286Hz 21:08:50.968 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1641.5563267222387Hz 21:08:51.604 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1643.879753483792Hz 21:08:52.258 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1685.3771621282267Hz 21:08:52.911 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1211.8259672491913Hz 21:08:53.556 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1064.0358026766885Hz 21:08:54.224 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 993.6663705540883Hz 21:08:54.315 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: FinishedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:08:54.315 INFO [peripherals/payload/src/lib.rs:78] Dropping payload: payload is stopping 21:08:54.315 INFO [peripherals/payload/src/lib.rs:68] Mocked payload is stopping 21:08:54.316 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:08:54.316 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:08:54.316 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:08:54.318 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:08:54.321 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:08:54.321 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:08:54.327 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:08:54.327 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 55.93173203784641, y: 81.97058379629885, z: 19.068596285723498 } 21:08:54.924 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1480.8628099075645Hz 21:08:55.603 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1524.9504772332518Hz 21:08:56.249 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2049.268513604069Hz 21:08:56.903 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1387.874969119782Hz 21:08:57.579 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1606.34570808522Hz 21:08:58.257 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1654.8181685796364Hz 21:08:58.905 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1129.0836131578887Hz 21:08:59.547 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1588.7263974834573Hz 21:09:00.213 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1417.3761815602195Hz 21:09:00.893 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1564.6954633219736Hz 21:09:01.540 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2014.3705192845762Hz 21:09:02.173 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1688.5901960453216Hz 21:09:02.764 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1441.2544678888503Hz 21:09:03.418 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2725.256037804752Hz 21:09:04.084 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1575.6542510363868Hz 21:09:04.751 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 960.3730857363469Hz 21:09:05.411 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 981.2242735260785Hz 21:09:06.108 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1735.0267194114788Hz 21:09:06.751 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1995.4304642368973Hz 21:09:07.408 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1475.7991083221789Hz 21:09:08.097 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1686.192779048043Hz 21:09:08.776 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1873.6380993065666Hz 21:09:09.143 ERROR [peripherals/communication/src/task_handler.rs:157] Unknown task type: moveTo 21:09:09.433 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2237.411762073633Hz 21:09:10.083 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1980.5784477414472Hz 21:09:10.717 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1758.8262297273293Hz 21:09:11.369 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1442.847372719219Hz 21:09:12.055 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1446.9078855032853Hz 21:09:12.727 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1822.0246337730487Hz 21:09:12.853 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 21:09:12.853 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 21:09:12.853 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'state_estimator' stopped 21:09:12.853 INFO [utilities/simulator/src/simulator.rs:202] Simulator dropped: Simulator() 21:09:12.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 21:09:12.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 21:09:12.854 INFO [robot_core/launch/src/lib.rs:277] Joined thread 'state_estimator' 21:09:12.854 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'control' (when the code is still running, this can take a long time) 21:09:12.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 21:09:12.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 21:09:12.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 21:09:12.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 21:09:12.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 21:09:12.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 21:09:12.854 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'control' panicked at 'Simulator has been dropped': utilities/simulator/src/time.rs:4 21:09:12.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 21:09:12.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 21:09:12.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 21:09:12.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 21:09:12.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 21:09:12.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 21:09:12.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 21:09:12.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 21:09:12.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 21:09:12.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 21:09:12.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 21:09:12.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 21:09:12.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 21:09:12.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 21:09:12.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 21:10:45.241 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 21:10:45.241 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 21:10:45.241763005 +01:00 21:10:45.241 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 21:10:45.241 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 21:10:45.241 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 21:10:45.241 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 21:10:45.241 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0]}) 21:10:45.242 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:10:45.243 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 21:10:45.549 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0]}) 21:10:45.549 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:10:46.862 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0]}) 21:10:46.863 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:10:47.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 21:10:47.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 21:10:47.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 21:10:47.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 21:10:47.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 21:10:47.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 21:10:47.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 21:10:47.210 WARN [robot_core/launch/src/lib.rs:308] Magnetometer not enabled 21:10:47.210 WARN [robot_core/launch/src/lib.rs:288] IMU not enabled 21:10:47.210 WARN [robot_core/launch/src/lib.rs:325] Can Magnetometer not enabled 21:10:47.210 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 21:10:47.210 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 21:10:47.210 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0]}) 21:10:47.210 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:10:47.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 21:10:47.211 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 21:10:47.211 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0]}) 21:10:47.211 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:10:47.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:10:47.212 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 21:10:47.212 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 21:10:47.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:10:47.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:10:47.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:10:47.476 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 21:10:47.476 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T21:10:47.475980776+01:00_task_executor': Tried to start logging but no MongoDB client configured 21:10:47.476 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 21:10:47.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:10:47.486 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:10:47.486 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:10:47.507 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 21:10:47.508 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:10:47.580 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 21:10:47.581 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1371.839966636852Hz 21:10:47.582 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:10:47.583 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:10:47.583 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9992589934978323 } 21:10:47.583 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0.00004000000000000002, Enable control depth: 0.2, Depth control enabled: true 21:10:47.583 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 21:10:47.583 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 21:10:47.652 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20856, Enable control depth: 0.2, Depth control enabled: false 21:10:47.652 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 21:10:47.652 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 21:10:48.066 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2758.9555697795045Hz 21:10:48.582 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3188.8263524609765Hz 21:10:49.065 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2788.3191733191316Hz 21:10:49.561 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1114.6892636474192Hz 21:10:50.050 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3363.89997107046Hz 21:10:50.556 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3080.1928200705365Hz 21:10:51.035 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2858.008425408838Hz 21:10:51.528 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2575.5074393532386Hz 21:10:52.014 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1951.0405874973417Hz 21:10:52.497 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3526.590492312033Hz 21:10:52.964 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1702.6551203947436Hz 21:10:53.424 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4241.151896855186Hz 21:10:53.905 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1613.8923856557246Hz 21:10:54.206 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'tokio-runtime-worker' panicked at 'explicit panic': peripherals/communication/src/task_handler.rs:159 21:10:54.206 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 21:20:33.488 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 21:20:33.488 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 21:20:33.488252607 +01:00 21:20:33.488 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 21:20:33.488 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 21:20:33.488 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 21:20:33.488 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 21:20:33.488 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019]}) 21:20:33.488 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:20:33.490 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 21:20:33.807 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019]}) 21:20:33.807 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:20:35.129 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019]}) 21:20:35.129 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:20:35.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 21:20:35.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 21:20:35.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 21:20:35.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 21:20:35.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 21:20:35.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 21:20:35.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 21:20:35.517 WARN [robot_core/launch/src/lib.rs:308] Magnetometer not enabled 21:20:35.517 WARN [robot_core/launch/src/lib.rs:288] IMU not enabled 21:20:35.517 WARN [robot_core/launch/src/lib.rs:325] Can Magnetometer not enabled 21:20:35.517 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 21:20:35.517 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 21:20:35.517 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019]}) 21:20:35.517 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:20:35.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 21:20:35.519 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 21:20:35.519 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 21:20:35.520 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 21:20:35.520 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 21:20:35.520 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 21:20:35.520 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 21:20:35.520 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 21:20:35.520 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 21:20:35.520 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019]}) 21:20:35.520 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:20:35.520 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:20:35.520 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 21:20:35.520 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 21:20:35.870 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:20:35.870 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:20:35.870 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:20:35.870 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 21:20:35.870 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T21:20:35.870532549+01:00_task_executor': Tried to start logging but no MongoDB client configured 21:20:35.870 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 21:20:35.871 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:20:35.876 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:20:35.876 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:20:35.926 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 21:20:35.928 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:20:36.037 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 21:20:36.038 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1138.8367238400663Hz 21:20:36.039 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:20:36.040 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:20:36.040 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0.00004000000000000002, Enable control depth: 0.2, Depth control enabled: true 21:20:36.040 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 21:20:36.040 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9992589934978323 } 21:20:36.040 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 21:20:36.103 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 21:20:36.103 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 21:20:36.103 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20856, Enable control depth: 0.2, Depth control enabled: false 21:20:36.506 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2182.195900090343Hz 21:20:36.996 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2395.817860342985Hz 21:20:37.506 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2396.799792916498Hz 21:20:37.999 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3912.6539140233426Hz 21:20:38.496 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3378.8920612931024Hz 21:20:39.085 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1985.5294612861464Hz 21:20:39.609 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1544.360997471881Hz 21:20:40.107 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2964.587996383203Hz 21:20:40.609 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2326.7339403006604Hz 21:20:41.106 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2512.436560976835Hz 21:20:41.579 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2817.607794630203Hz 21:20:42.066 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2327.2104426586984Hz 21:20:42.209 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:20:42.207837029+01:00_MoveTo/MoveTo_rust.log" 21:20:42.209 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Position(PositionGoal { position: Specific3D(18.308378651540593 m^1, 92.8138209868427 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] 21:20:42.209 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:20:42.209 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:20:42.209 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Position(PositionGoal { position: Specific3D(18.308378651540593 m^1, 92.8138209868427 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:20:42.209 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Position(PositionGoal { position: Specific3D(18.308378651540593 m^1, 92.8138209868427 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 }), py_instructions: [Position(PositionGoal { position: Specific3D(18.308378651540593 m^1, 92.8138209868427 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] }] 21:20:42.210 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Position(PositionGoal { position: Specific3D(18.308378651540593 m^1, 92.8138209868427 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:20:42.359 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0.19321586847866568, Enable control depth: 0.2, Depth control enabled: true 21:20:42.359 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 21:20:42.561 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3161.3356010647376Hz 21:20:43.100 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3263.6756167530993Hz 21:20:43.591 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3346.8098208787387Hz 21:20:44.085 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1973.3207040808272Hz 21:20:44.581 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2960.6470790255917Hz 21:20:45.069 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: FinishedGoal(Position(PositionGoal { position: Specific3D(18.308378651540593 m^1, 92.8138209868427 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:20:45.070 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:20:45.070 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:20:45.070 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:20:45.070 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:20:45.073 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:20:45.073 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:20:45.075 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:20:45.075 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 18.315565366372795, y: 92.98159541758969, z: 0.0903085442438331 } 21:20:45.135 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1332.1024706504525Hz 21:20:45.719 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2840.4168595783117Hz 21:20:46.220 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2018.0331441763599Hz 21:20:46.743 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2682.2235633340038Hz 21:20:47.252 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2047.6236303957442Hz 21:20:47.724 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2003.5783910063371Hz 21:20:48.212 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2179.808002511139Hz 21:20:48.377 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Position(PositionGoal { position: Specific3D(52.00011663913941 m^1, -10.315426226375505 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] 21:20:48.377 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:20:48.377 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:20:48.378 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Position(PositionGoal { position: Specific3D(52.00011663913941 m^1, -10.315426226375505 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 }), py_instructions: [Position(PositionGoal { position: Specific3D(52.00011663913941 m^1, -10.315426226375505 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] }] 21:20:48.378 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:20:48.377099418+01:00_MoveTo/MoveTo_rust.log" 21:20:48.378 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Position(PositionGoal { position: Specific3D(52.00011663913941 m^1, -10.315426226375505 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:20:48.379 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Position(PositionGoal { position: Specific3D(52.00011663913941 m^1, -10.315426226375505 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:20:48.700 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2036.2244326569673Hz 21:20:49.237 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3481.1062955807356Hz 21:20:49.706 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2489.1101431238335Hz 21:20:50.202 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1745.0514702931164Hz 21:20:50.723 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2410.1438132813387Hz 21:20:51.254 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2859.2668839709495Hz 21:20:51.750 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2246.731567252539Hz 21:20:52.234 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1151.1493650835678Hz 21:20:52.721 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3359.142746771024Hz 21:20:53.201 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 808.5335868894663Hz 21:20:53.693 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3579.7514936513103Hz 21:20:54.156 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 696.8427448914459Hz 21:20:54.663 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3626.539012493427Hz 21:20:55.166 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1947.3362387590016Hz 21:20:55.670 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1974.8327316676275Hz 21:20:56.159 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3694.6040308129973Hz 21:20:56.638 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1659.9108295902345Hz 21:20:57.125 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3157.991138676865Hz 21:20:57.617 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3353.8139572321643Hz 21:20:57.979 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:216] Path Planner has timed out (874.68 > 874.639920053911). Aborting it. 21:20:57.980 WARN [robot_core/path_planning/src/lib.rs:157] Error occurred in Python path planning, cancelling goal 21:20:57.980 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Position(PositionGoal { position: Specific3D(52.00011663913941 m^1, -10.315426226375505 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:20:57.980 INFO [peripherals/payload/src/lib.rs:63] Mocked payload is starting 21:20:57.980 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:20:57.980 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:20:57.980 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:20:57.980 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:20:57.980406485+01:00_surveyPolygon/surveyPolygon_rust.log" 21:20:57.982 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:20:57.982 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })] 21:20:57.982 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: StartedGoal(Hold(3153600000.0 s^1)) 21:20:57.982 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:20:57.982 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:20:57.982 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:20:57.983 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (75.87723243523294 m^1, 61.97057800924383 m^1), end: (55.88640678215677 m^1, 61.97057800924383 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.88643348503763 m^1, 63.97057800924383 m^1), end: (75.87726104546243 m^1, 63.97057800924383 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.87728965569192 m^1, 65.97057800924382 m^1), end: (55.88646209526712 m^1, 65.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.88649070549661 m^1, 67.97057800924382 m^1), end: (75.87731826592142 m^1, 67.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.87734687615091 m^1, 69.97057800924382 m^1), end: (55.886519315726105 m^1, 69.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.8865479259556 m^1, 71.97057800924382 m^1), end: (75.8773754863804 m^1, 71.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.8774040966099 m^1, 73.97057800924382 m^1), end: (55.88657653618509 m^1, 73.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.88660514641458 m^1, 75.97057800924382 m^1), end: (75.87743270683939 m^1, 75.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.87746131706888 m^1, 77.97057800924382 m^1), end: (55.88663184929544 m^1, 77.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.88666045952493 m^1, 79.97057800924382 m^1), end: (75.87748992729837 m^1, 79.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.877491834647 m^1, 81.97057800924382 m^1), end: (55.886689069754425 m^1, 81.97057800924382 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }] 21:20:57.984 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:20:57.984 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:20:57.985 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:20:57.985 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:20:57.986 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 51.61900224097447, y: -10.43988791431722, z: 0.09045432149297454 } 21:20:58.104 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3307.2064027515958Hz 21:20:58.197 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 21:20:58.197 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.2018344150352216, Enable control depth: 0.2, Depth control enabled: false 21:20:58.197 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 21:20:58.270 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 21:20:58.598 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3340.1807037760746Hz 21:20:59.100 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2055.342142529756Hz 21:20:59.599 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2430.8425300209055Hz 21:21:00.082 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3168.37706221742Hz 21:21:00.587 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3267.4613132580507Hz 21:21:01.075 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1977.0503989687704Hz 21:21:01.585 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3697.2677191555445Hz 21:21:02.075 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2133.3924994186505Hz 21:21:02.635 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1770.491222789763Hz 21:21:03.249 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 523.6940118731907Hz 21:21:03.915 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1523.2918947161575Hz 21:21:04.588 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2282.401542903443Hz 21:21:05.235 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 955.8273928660867Hz 21:21:05.907 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2037.3279221903722Hz 21:21:06.569 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1706.403107018777Hz 21:21:07.219 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1723.608961387712Hz 21:21:07.880 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2434.4760764035973Hz 21:21:08.541 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1082.8921450252476Hz 21:21:09.195 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1206.8767839147463Hz 21:21:09.837 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1201.964972336776Hz 21:21:10.494 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2259.7746552713766Hz 21:21:11.137 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1860.9636814327932Hz 21:21:11.761 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1940.4213042735842Hz 21:21:12.418 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1806.3322784352827Hz 21:21:13.082 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1363.8880629788953Hz 21:21:13.746 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1553.2991296864977Hz 21:21:14.396 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1825.8070523623205Hz 21:21:15.026 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1211.5543515397644Hz 21:21:15.705 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 634.5995074238623Hz 21:21:16.387 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2046.3205110890106Hz 21:21:17.036 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2434.885085598385Hz 21:21:17.717 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2435.667921035646Hz 21:21:18.385 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1792.67370111827Hz 21:21:19.066 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2013.7620498486658Hz 21:21:19.736 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1379.5558106200965Hz 21:21:20.397 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1483.6685187795342Hz 21:21:21.060 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1522.7236043476803Hz 21:21:21.743 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1694.1571906807803Hz 21:21:22.398 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1492.0162212003568Hz 21:21:23.036 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1841.6240177237896Hz 21:21:23.695 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1701.2126243586429Hz 21:21:24.363 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1713.5112072200507Hz 21:21:25.030 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1933.641297937385Hz 21:21:25.695 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2279.4360675168964Hz 21:21:26.332 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1852.13310169322Hz 21:21:27.004 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2044.4170038251045Hz 21:21:27.671 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1620.0654830468247Hz 21:21:28.298 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1781.9086379803134Hz 21:21:28.929 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2187.484961040893Hz 21:21:29.574 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 449.34267906193423Hz 21:21:30.207 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1253.5459681574255Hz 21:21:30.855 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2083.754425373461Hz 21:21:31.510 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1808.0436244765713Hz 21:21:32.143 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 497.1382238146112Hz 21:21:32.799 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1611.1984738728054Hz 21:21:33.001 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: FinishedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.87720573235212, y: 60.97057800924383 }, Coord { x: 75.87749115695433, y: 81.0122929914975 }, Coord { x: 55.88669186258747, y: 81.01261788036476 }, Coord { x: 55.88640643671298, y: 60.97082252350088 }, Coord { x: 75.87720573235212, y: 60.97057800924383 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:21:33.002 INFO [peripherals/payload/src/lib.rs:78] Dropping payload: payload is stopping 21:21:33.002 INFO [peripherals/payload/src/lib.rs:68] Mocked payload is stopping 21:21:33.002 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:21:33.002 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:21:33.002 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:21:33.004 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:21:33.007 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:21:33.007 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:21:33.010 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:21:33.010 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 55.93296101061651, y: 81.97053952011434, z: 19.062704833308427 } 21:21:33.448 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3242.2898347729097Hz 21:21:34.096 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1071.1076216805036Hz 21:21:34.771 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1712.4959114160115Hz 21:21:35.414 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2115.4708615043537Hz 21:21:36.057 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1530.3553638190324Hz 21:21:36.725 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2491.0881322070295Hz 21:21:37.373 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1116.2358740350141Hz 21:21:38.000 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2131.9006960655774Hz 21:21:38.686 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2657.0516823122725Hz 21:21:39.391 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2310.146393976986Hz 21:21:40.050 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1268.06999746386Hz 21:21:40.703 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1892.394655120536Hz 21:21:41.377 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1421.722786804138Hz 21:21:42.058 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1550.9358346826473Hz 21:21:42.714 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1490.9395602921047Hz 21:21:43.099 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Position(PositionGoal { position: Specific3D(24.273194055052983 m^1, 153.7944504708333 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] 21:21:43.099 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:21:43.099 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:21:43.099 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:21:43.098314582+01:00_MoveTo/MoveTo_rust.log" 21:21:43.099 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Position(PositionGoal { position: Specific3D(24.273194055052983 m^1, 153.7944504708333 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 }), py_instructions: [Position(PositionGoal { position: Specific3D(24.273194055052983 m^1, 153.7944504708333 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] }] 21:21:43.099 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Position(PositionGoal { position: Specific3D(24.273194055052983 m^1, 153.7944504708333 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:21:43.100 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Position(PositionGoal { position: Specific3D(24.273194055052983 m^1, 153.7944504708333 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:21:43.390 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 647.2144214906255Hz 21:21:44.072 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1976.8080875172477Hz 21:21:44.571 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2361.9053017688307Hz 21:21:45.056 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3417.6817181369534Hz 21:21:45.518 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0.18815873825005938, Enable control depth: 0.2, Depth control enabled: true 21:21:45.518 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 21:21:45.568 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1083.4130544772586Hz 21:21:45.751 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: FinishedGoal(Position(PositionGoal { position: Specific3D(24.273194055052983 m^1, 153.7944504708333 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:21:45.752 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:21:45.752 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:21:45.752 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:21:45.754 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:21:45.756 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:21:45.756 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:21:45.760 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:21:45.760 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 24.204452690474405, y: 153.94824162684912, z: 0.09060054015373645 } 21:21:46.062 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2766.328252510443Hz 21:21:46.581 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3385.0913805418177Hz 21:21:47.098 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2658.874392114842Hz 21:21:47.602 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1542.1603507489501Hz 21:21:48.118 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3594.109972576941Hz 21:21:48.652 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2623.6665214904524Hz 21:21:49.136 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2922.7288935132956Hz 21:21:49.645 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2699.2738953221583Hz 21:21:50.158 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2049.848208740143Hz 21:21:50.662 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2686.316174041052Hz 21:21:51.154 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2900.2740759001726Hz 21:21:51.648 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2081.3560450904974Hz 21:21:52.122 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3204.8405912289923Hz 21:21:52.627 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2628.639022146284Hz 21:21:53.105 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2302.465710529406Hz 21:21:53.641 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2365.6097122472347Hz 21:21:54.133 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 980.8700906225878Hz 21:21:54.634 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1966.1932728663364Hz 21:21:55.127 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1056.2762880761195Hz 21:21:55.645 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 706.6943031252142Hz 21:21:56.133 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3184.672806715838Hz 21:21:56.631 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1858.0902177124308Hz 21:21:57.130 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1977.046490248218Hz 21:21:57.637 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1828.350772752454Hz 21:21:58.136 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 568.7777421343726Hz 21:21:58.626 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2818.6561211345656Hz 21:21:59.113 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2568.6272998846684Hz 21:22:05.883 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 21:22:05.883 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 21:22:05.883828380 +01:00 21:22:05.883 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 21:22:05.883 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 21:22:05.884 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 21:22:05.884 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 21:22:05.884 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019]}) 21:22:05.884 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:22:05.885 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 21:22:06.181 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019]}) 21:22:06.181 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:22:07.497 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019]}) 21:22:07.497 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:22:07.761 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 21:22:07.761 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 21:22:07.761 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 21:22:07.761 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 21:22:07.761 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 21:22:07.761 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 21:22:07.761 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 21:22:07.761 WARN [robot_core/launch/src/lib.rs:308] Magnetometer not enabled 21:22:07.761 WARN [robot_core/launch/src/lib.rs:288] IMU not enabled 21:22:07.761 WARN [robot_core/launch/src/lib.rs:325] Can Magnetometer not enabled 21:22:07.761 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 21:22:07.761 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 21:22:07.761 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019]}) 21:22:07.761 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:22:07.761 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:22:07.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 21:22:07.762 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 21:22:07.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 21:22:07.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 21:22:07.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 21:22:07.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 21:22:07.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 21:22:07.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 21:22:07.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 21:22:07.762 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 21:22:07.763 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "right_forward_thruster_location": [1.014, 0.223, 0.144], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019]}) 21:22:07.763 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:22:07.763 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:22:07.763 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 21:22:07.763 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 21:22:07.996 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:22:07.996 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:22:07.996 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:22:07.996 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 21:22:07.996 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T21:22:07.996639474+01:00_task_executor': Tried to start logging but no MongoDB client configured 21:22:07.997 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 21:22:07.997 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:22:07.997 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:22:07.997 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:22:07.997 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:22:07.999 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:22:08.045 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 21:22:08.114 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 21:22:08.116 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 21:22:08.116 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 1.0 } 21:22:08.116 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:22:08.116 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 21:22:08.116 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 705.9858421599214Hz 21:22:08.118 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 21:22:08.179 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20683999999999997, Enable control depth: 0.2, Depth control enabled: false 21:22:08.179 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 21:22:08.180 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 21:22:08.611 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1827.8661855722867Hz 21:22:09.154 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2390.4401517451406Hz 21:22:09.650 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1042.2909555202334Hz 21:22:10.179 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3007.989219366638Hz 21:22:10.678 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1591.915615737041Hz 21:22:11.290 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3136.5464114772503Hz 21:22:11.923 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2236.155958461167Hz 21:22:12.482 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2358.062333019711Hz 21:22:13.003 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2467.5273402029293Hz 21:22:13.517 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1206.3031753518485Hz 21:22:14.036 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1694.7859908989992Hz 21:22:14.593 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2011.4410768450948Hz 21:22:15.093 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1784.1022219209071Hz 21:22:15.556 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1978.8304716146663Hz 21:22:16.031 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2162.975908774328Hz 21:22:16.517 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 553.2573858477867Hz 21:22:17.013 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2289.8281255009Hz 21:22:17.515 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2739.425816348893Hz 21:22:17.987 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2043.3642766796966Hz 21:22:18.465 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3027.46821915237Hz 21:22:18.933 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1892.7994124750626Hz 21:22:19.412 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1974.1348847401346Hz 21:22:19.874 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2706.9386959593526Hz 21:22:20.361 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1680.124463620265Hz 21:22:20.963 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2090.1655620141673Hz 21:22:21.426 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1870.3510087738164Hz 21:22:21.868 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2722.1180255933537Hz 21:22:22.307 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2142.8326533411046Hz 21:22:22.782 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2781.4864263462396Hz 21:22:23.242 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2024.0292755594417Hz 21:22:23.744 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1733.3365688949286Hz 21:22:24.251 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3968.0807583795945Hz 21:22:24.734 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1879.957212173851Hz 21:22:25.331 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1421.633855357285Hz 21:22:25.916 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2466.042593487675Hz 21:22:26.477 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2967.4294938752255Hz 21:22:26.999 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2250.736553537145Hz 21:22:27.533 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2003.9758881621135Hz 21:22:28.049 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1246.9154429230691Hz 21:22:28.649 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1056.171420846289Hz 21:22:29.272 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2175.805047867711Hz 21:22:29.891 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 785.9126725274795Hz 21:22:30.451 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2254.8168525011556Hz 21:22:30.971 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3161.665438886588Hz 21:22:31.499 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2583.5787733167986Hz 21:22:32.000 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1429.1206192093819Hz 21:22:32.502 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2120.976242945103Hz 21:22:33.001 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2663.1583993352756Hz 21:22:33.484 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2199.6924829908776Hz 21:22:33.971 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1446.6232197493Hz 21:22:34.449 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2718.950267680654Hz 21:22:34.944 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2264.3543080472887Hz 21:22:35.442 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2694.8149066381375Hz 21:22:35.932 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2574.6454069613264Hz 21:22:36.414 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1900.7106757216523Hz 21:22:36.941 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1771.294054297248Hz 21:22:37.424 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2454.276822791396Hz 21:22:37.872 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2655.0763732718774Hz 21:22:38.336 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2605.3200635698095Hz 21:22:38.798 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2914.602156805596Hz 21:22:39.273 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3077.7564386664694Hz 21:22:39.739 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2900.1731403364784Hz 21:22:40.219 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1215.2912810142334Hz 21:22:40.691 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3284.827382321059Hz 21:22:41.154 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1968.062285235203Hz 21:22:41.613 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1307.9093200310235Hz 21:22:42.094 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2405.0718154444094Hz 21:22:42.565 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1983.5602526262337Hz 21:22:43.017 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2892.1293591619765Hz 21:22:43.476 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2945.6469229772247Hz 21:22:43.953 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2221.4817283127845Hz 21:22:44.429 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1537.6052106365378Hz 21:22:44.893 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1963.9651671137958Hz 21:22:45.357 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2288.6594634924486Hz 21:22:45.818 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1997.770488135241Hz 21:22:46.314 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2257.886798587466Hz 21:22:46.783 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2298.676192380808Hz 21:22:47.265 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1484.2741157436956Hz 21:22:47.746 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1804.575320267005Hz 21:22:48.211 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2018.9050266697354Hz 21:22:48.679 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2894.4900487432124Hz 21:22:49.142 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1047.9247422367116Hz 21:22:49.611 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2801.340161133086Hz 21:22:50.084 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2561.0293289078745Hz 21:22:50.561 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2651.7953980742664Hz 21:22:51.032 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2497.15948109026Hz 21:22:51.511 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1436.7465162488847Hz 21:22:51.988 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2845.435920783064Hz 21:22:52.462 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1035.8271908780914Hz 21:22:52.933 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3392.015196228079Hz 21:22:53.396 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2569.142035017406Hz 21:22:53.887 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1857.6345995589975Hz 21:22:54.356 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2872.217897938609Hz 21:22:54.820 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3589.620254073321Hz 21:22:55.281 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2196.4746581736313Hz 21:22:55.751 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2128.39772091172Hz 21:22:56.196 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1264.1122329404893Hz 21:22:56.677 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2315.6885584144015Hz 21:22:57.140 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2905.616847928731Hz 21:22:57.595 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2357.300796296209Hz 21:22:58.073 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1457.9703594625921Hz 21:22:58.545 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2997.098808353514Hz 21:22:59.011 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2684.960195465102Hz 21:22:59.478 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1910.0044121101919Hz 21:22:59.943 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1391.1882138534522Hz 21:23:00.420 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1149.4067911550849Hz 21:23:00.887 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2653.322224757619Hz 21:23:01.357 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2216.1155925893095Hz 21:23:01.817 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3019.852510403392Hz 21:23:02.290 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2306.8210391306056Hz 21:23:02.749 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2142.4561974830426Hz 21:23:03.220 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1982.7933195727476Hz 21:23:03.683 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3451.691846758689Hz 21:23:04.163 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2817.195031594842Hz 21:23:04.618 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2846.091888922726Hz 21:23:05.069 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2868.4856690455977Hz 21:23:05.547 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3220.4874529808835Hz 21:23:06.023 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1608.8344316309722Hz 21:23:06.558 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2489.4199651481204Hz 21:23:07.062 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1871.8073985059234Hz 21:23:07.562 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2375.567760694806Hz 21:23:08.058 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2049.2727131141155Hz 21:23:08.521 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1882.845582185268Hz 21:23:09.006 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2241.378537455677Hz 21:23:09.496 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1875.4688672168045Hz 21:23:09.989 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2588.433842219427Hz 21:23:10.492 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1917.3102438051708Hz 21:23:10.965 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1367.197914202862Hz 21:23:11.455 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2540.6439516159767Hz 21:23:11.937 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1962.704685564896Hz 21:23:12.403 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2417.6020772037045Hz 21:23:12.852 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2869.8192587830818Hz 21:23:13.309 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1864.9409746181534Hz 21:23:13.758 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1731.532770123441Hz 21:23:14.230 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2190.6476868951077Hz 21:23:14.680 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2937.780741672126Hz 21:23:15.111 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1691.930001471979Hz 21:23:15.579 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2623.7422435619924Hz 21:23:16.039 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2868.3211142853866Hz 21:23:16.485 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2363.0215483935Hz 21:23:16.955 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3931.667616819674Hz 21:23:17.426 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1825.8970632271635Hz 21:23:17.546 INFO [peripherals/payload/src/lib.rs:63] Mocked payload is starting 21:23:17.546 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.45353205651716, y: 53.82487669715796 }, Coord { x: 75.45378875135948, y: 73.86659167562432 }, Coord { x: 55.46298946926854, y: 73.86688790753797 }, Coord { x: 55.462732773520074, y: 53.825092554496884 }, Coord { x: 75.45353205651716, y: 53.82487669715796 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })] 21:23:17.547 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:23:17.547 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:23:17.547 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:23:17.546615888+01:00_surveyPolygon/surveyPolygon_rust.log" 21:23:17.547 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.45353205651716, y: 53.82487669715796 }, Coord { x: 75.45378875135948, y: 73.86659167562432 }, Coord { x: 55.46298946926854, y: 73.86688790753797 }, Coord { x: 55.462732773520074, y: 53.825092554496884 }, Coord { x: 75.45353205651716, y: 53.82487669715796 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:23:17.548 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.45353205651716, y: 53.82487669715796 }, Coord { x: 75.45378875135948, y: 73.86659167562432 }, Coord { x: 55.46298946926854, y: 73.86688790753797 }, Coord { x: 55.462732773520074, y: 53.825092554496884 }, Coord { x: 75.45353205651716, y: 53.82487669715796 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (75.45355685204936 m^1, 54.82487669715796 m^1), end: (55.46273310632182 m^1, 54.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.46275790185405 m^1, 56.82487669715796 m^1), end: (75.45358164758159 m^1, 56.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.45360835046245 m^1, 58.82487669715796 m^1), end: (55.462782697386274 m^1, 58.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.46280940026713 m^1, 60.82487669715796 m^1), end: (75.45363314599467 m^1, 60.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.45365984887553 m^1, 62.82487669715796 m^1), end: (55.46283419579936 m^1, 62.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.462858991331586 m^1, 64.82487669715796 m^1), end: (75.45368464440776 m^1, 64.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.45371134728862 m^1, 66.82487669715796 m^1), end: (55.462885694212446 m^1, 66.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.46291048974467 m^1, 68.82487669715796 m^1), end: (75.45373614282084 m^1, 68.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.4537628457017 m^1, 70.82487669715796 m^1), end: (55.4629352852769 m^1, 70.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.46296198815776 m^1, 72.82487669715796 m^1), end: (75.45378764123393 m^1, 72.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.45378954858256 m^1, 74.82487669715796 m^1), end: (55.462986783689985 m^1, 74.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }] 21:23:17.550 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.45353205651716, y: 53.82487669715796 }, Coord { x: 75.45378875135948, y: 73.86659167562432 }, Coord { x: 55.46298946926854, y: 73.86688790753797 }, Coord { x: 55.462732773520074, y: 53.825092554496884 }, Coord { x: 75.45353205651716, y: 53.82487669715796 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:23:17.866 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3555.012033715734Hz 21:23:18.358 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 873.9837753651942Hz 21:23:18.841 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1381.4692478038094Hz 21:23:19.320 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2926.2012055948967Hz 21:23:19.800 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1966.1778093240084Hz 21:23:20.297 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2063.553314995223Hz 21:23:21.001 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 234.20317171987335Hz 21:23:21.669 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1049.1318958128097Hz 21:23:22.150 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2298.1479225891853Hz 21:23:22.652 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2946.7319269564086Hz 21:23:23.144 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2355.3574961607674Hz 21:23:23.617 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3250.8167677128877Hz 21:23:24.149 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1675.263560839709Hz 21:23:24.790 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1741.7081628636467Hz 21:23:25.461 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1979.5865039710507Hz 21:23:26.146 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1152.8985599144087Hz 21:23:26.780 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1564.25000469275Hz 21:23:27.412 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1960.9419580789827Hz 21:23:28.038 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1360.3017693445115Hz 21:23:28.681 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2321.5106534123884Hz 21:23:29.310 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1800.2675197534354Hz 21:23:29.905 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1462.8073906880609Hz 21:23:30.548 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1434.7758091059482Hz 21:23:31.176 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1488.1749617539033Hz 21:23:31.791 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1960.7881584081535Hz 21:23:32.427 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2101.4142517914556Hz 21:23:33.075 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1492.8314235043322Hz 21:23:33.701 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1865.462821325971Hz 21:23:34.331 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1475.644487730016Hz 21:23:34.974 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2008.7138004664232Hz 21:23:35.603 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2219.780463712139Hz 21:23:36.279 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1989.0126938790122Hz 21:23:36.939 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 985.7159895947821Hz 21:23:37.583 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1329.083809366851Hz 21:23:38.208 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1233.847395286456Hz 21:23:38.848 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1843.9977872026552Hz 21:23:39.494 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1142.1953222532773Hz 21:23:40.133 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1819.7666695176345Hz 21:23:40.758 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1275.648507810158Hz 21:23:41.397 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1574.0099477428698Hz 21:23:42.046 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1292.1081908030324Hz 21:23:42.657 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2010.5756278022398Hz 21:23:43.267 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2099.072000268681Hz 21:23:43.933 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1812.0307972754304Hz 21:23:44.547 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2510.0023594022177Hz 21:23:45.155 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1763.1211475802927Hz 21:23:45.772 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1259.0731962202622Hz 21:23:46.397 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1666.0474523635382Hz 21:23:47.024 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1849.3518021933312Hz 21:23:47.682 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2047.782967769944Hz 21:23:48.300 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1466.979035402605Hz 21:23:48.933 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1891.4926335819387Hz 21:23:49.581 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 495.70889594227566Hz 21:23:50.223 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1767.0904149481714Hz 21:23:50.907 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1301.7731452010785Hz 21:23:51.532 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1927.4507536332446Hz 21:23:52.170 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1640.7617728759108Hz 21:23:52.787 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1832.7639546647508Hz 21:23:53.391 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1561.8898867629832Hz 21:23:53.598 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: FinishedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.45353205651716, y: 53.82487669715796 }, Coord { x: 75.45378875135948, y: 73.86659167562432 }, Coord { x: 55.46298946926854, y: 73.86688790753797 }, Coord { x: 55.462732773520074, y: 53.825092554496884 }, Coord { x: 75.45353205651716, y: 53.82487669715796 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:23:53.599 INFO [peripherals/payload/src/lib.rs:78] Dropping payload: payload is stopping 21:23:53.599 INFO [peripherals/payload/src/lib.rs:68] Mocked payload is stopping 21:23:53.599 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:23:53.599 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:23:53.599 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:23:53.600 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:23:53.603 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:23:53.603 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:23:53.607 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 55.510102968307955, y: 74.82486468864222, z: 19.017933812811574 } 21:23:53.607 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:23:54.006 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1545.9343472601404Hz 21:23:54.587 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2532.8382478838134Hz 21:23:55.188 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2601.4162109852605Hz 21:23:55.749 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1989.277792697361Hz 21:23:56.317 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2663.5698228193355Hz 21:23:56.899 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1794.455849208286Hz 21:23:57.444 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2284.8577904511226Hz 21:23:58.046 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 952.6077637532746Hz 21:23:58.627 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2030.7042482332872Hz 21:23:59.228 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2478.333172241677Hz 21:23:59.815 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1755.9632512010787Hz 21:24:00.404 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1707.1255420123593Hz 21:24:00.966 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1726.6505052179377Hz 21:24:01.558 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1595.825320960368Hz 21:24:02.149 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 424.44389361059143Hz 21:24:02.732 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2269.4056880384164Hz 21:24:03.321 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2349.88356326944Hz 21:24:03.872 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2316.57369484238Hz 21:24:04.448 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2425.61841141399Hz 21:24:05.057 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2094.1618954678147Hz 21:24:05.633 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1114.1763340033247Hz 21:24:06.236 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1807.2038760908733Hz 21:24:06.795 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1923.6836232965782Hz 21:24:07.362 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2030.8733364608781Hz 21:24:07.960 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2693.152927995863Hz 21:24:08.591 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2091.7176348530356Hz 21:24:09.184 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2967.3502452514977Hz 21:24:09.767 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1848.4800872482601Hz 21:24:10.337 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1808.9626865266648Hz 21:24:10.927 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2616.5544164821995Hz 21:24:11.536 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1210.206884866968Hz 21:24:12.122 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1629.3225928388015Hz 21:24:12.707 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1976.718212888598Hz 21:24:13.267 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1688.95524606389Hz 21:24:13.825 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 969.444091674511Hz 21:24:14.406 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1915.9033388447485Hz 21:24:15.039 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1399.3842709207947Hz 21:24:15.614 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2404.684325065227Hz 21:24:16.192 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1167.5586814993321Hz 21:24:16.785 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2311.0112754240126Hz 21:24:17.375 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2642.845816375073Hz 21:24:17.975 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1893.9178721453923Hz 21:24:18.557 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2130.2884410549186Hz 21:24:19.144 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1862.8530339355937Hz 21:24:19.734 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1926.6374973749564Hz 21:24:20.312 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1577.3592167465074Hz 21:24:20.890 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 609.1124439844968Hz 21:24:21.493 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2074.0562525536816Hz 21:24:22.075 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2249.5214143191038Hz 21:24:22.646 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2497.0597121888977Hz 21:24:23.221 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1920.3773157349958Hz 21:24:23.791 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1406.614181202852Hz 21:24:24.365 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1542.3982132859098Hz 21:24:24.935 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2001.657372304268Hz 21:24:25.517 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1859.9598992645717Hz 21:24:26.103 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1897.5800162053333Hz 21:24:26.691 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2230.2809707967012Hz 21:24:27.287 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1868.9807139880122Hz 21:24:27.864 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2290.525698553075Hz 21:24:28.440 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1086.137196506114Hz 21:24:29.017 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1863.9780647061345Hz 21:24:29.630 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1772.3802890043298Hz 21:24:30.330 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1478.4960147139923Hz 21:24:31.028 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1289.6752468760842Hz 21:24:31.735 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1748.0469944954Hz 21:24:32.479 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2344.3141005804523Hz 21:24:33.046 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2200.713911592921Hz 21:24:33.650 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2184.5413118607485Hz 21:24:34.254 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2431.3035190687133Hz 21:24:34.861 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 908.0788139764226Hz 21:24:35.424 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2023.1406831336833Hz 21:24:36.035 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1263.875776177711Hz 21:24:36.652 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1484.7192692805645Hz 21:24:37.247 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2142.3276818729087Hz 21:24:37.835 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2091.446402503043Hz 21:24:38.436 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1668.1318424683013Hz 21:24:39.016 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1411.6418100071287Hz 21:24:39.580 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 744.269681653529Hz 21:24:40.170 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1595.3670540749663Hz 21:24:40.730 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2046.8943495481483Hz 21:24:41.317 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1659.1617251299954Hz 21:24:41.899 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2257.1376334814768Hz 21:24:42.487 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1799.6778576634783Hz 21:24:43.082 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 611.3811037996725Hz 21:24:43.653 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2272.8305832083274Hz 21:24:44.207 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2395.261215211825Hz 21:24:44.781 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1635.2293818015323Hz 21:24:45.361 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 623.7132017007413Hz 21:24:45.943 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1888.9487055978996Hz 21:24:46.521 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1313.4408340874672Hz 21:24:47.081 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1039.6339656733658Hz 21:24:47.663 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1703.2206198701122Hz 21:24:48.242 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1968.492312053275Hz 21:24:48.819 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2151.726868398233Hz 21:24:49.379 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2267.517136760761Hz 21:24:49.964 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2666.439130527528Hz 21:24:50.602 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1872.6521623514518Hz 21:24:51.212 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1604.137391159278Hz 21:24:51.779 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2227.841333140254Hz 21:24:52.360 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1577.769853866956Hz 21:24:52.959 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2154.8659026948753Hz 21:24:53.592 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1359.9798722978899Hz 21:24:54.199 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1336.7786575266653Hz 21:24:54.801 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1680.8813196935419Hz 21:24:55.380 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1551.0825780853747Hz 21:24:55.949 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2344.715363278475Hz 21:24:56.549 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1630.6377261083037Hz 21:24:57.123 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 797.4106481433489Hz 21:24:57.698 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2031.781120283474Hz 21:24:58.301 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2173.875236952401Hz 21:24:58.876 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1775.1710377294853Hz 21:24:59.429 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1558.4480351087172Hz 21:24:59.997 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1772.7321880301577Hz 21:25:00.585 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2015.2636065560555Hz 21:25:01.183 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1765.1315905600763Hz 21:25:01.756 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1881.5489663710753Hz 21:25:02.326 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1995.6733801119176Hz 21:25:02.909 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1919.5700163163453Hz 21:25:03.508 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2170.5958068430205Hz 21:25:04.067 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2393.0715791640046Hz 21:25:04.667 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 438.40440087873776Hz 21:25:05.266 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1734.1631882243382Hz 21:25:05.898 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1940.3648273948468Hz 21:25:06.450 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1330.8898196245027Hz 21:25:07.063 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 625.0511760650403Hz 21:25:07.642 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1941.0163938244623Hz 21:25:08.210 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2595.8653057410156Hz 21:25:08.792 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1631.555590362075Hz 21:25:09.392 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1371.5107053268105Hz 21:25:09.966 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1584.0028385330868Hz 21:25:10.555 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2475.174004732533Hz 21:25:11.178 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1332.5711026626102Hz 21:25:11.772 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1610.8351213603182Hz 21:25:12.353 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2225.4119793926848Hz 21:25:12.941 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2346.9991269163247Hz 21:25:13.525 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2475.474238977332Hz 21:25:14.109 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2026.547775863816Hz 21:25:14.682 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2046.1614012113275Hz 21:25:15.255 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1799.9596809031477Hz 21:25:15.862 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1912.5907763397222Hz 21:25:16.410 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2341.6571439276145Hz 21:25:16.981 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2386.150780867843Hz 21:25:17.585 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1567.616799208667Hz 21:25:18.175 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1727.933426180956Hz 21:25:18.765 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2485.1079903677214Hz 21:25:19.364 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2296.111076669445Hz 21:25:19.931 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2322.950518830998Hz 21:25:20.518 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2816.4888523371224Hz 21:25:21.111 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1375.0391886168757Hz 21:25:21.694 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1605.1415895396133Hz 21:25:22.277 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2168.538838530598Hz 21:25:22.875 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2014.0824645924301Hz 21:25:23.477 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1779.2897786919373Hz 21:25:24.057 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2547.2580041214633Hz 21:25:24.609 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2075.067647205299Hz 21:25:25.182 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1525.108625861877Hz 21:25:25.774 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3100.909806937356Hz 21:25:26.344 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1857.6138949519343Hz 21:25:26.907 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 542.8914070605199Hz 21:25:27.493 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1259.6616045065653Hz 21:25:28.089 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1537.6383105660354Hz 21:25:28.648 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2255.0863472562364Hz 21:25:29.192 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2440.7031177541626Hz 21:25:29.785 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1958.2807861322387Hz 21:25:30.385 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1755.8584216237475Hz 21:25:30.959 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2679.1622795384337Hz 21:25:31.568 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1558.8318737470888Hz 21:25:32.168 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2897.333004968926Hz 21:25:32.751 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 535.8439408106783Hz 21:25:33.344 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2181.6674484308355Hz 21:25:33.925 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2027.7641466965695Hz 21:25:34.511 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1095.8699947507828Hz 21:25:35.088 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2137.1768321482687Hz 21:25:35.651 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2201.3485461193527Hz 21:25:36.256 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1650.2548818665043Hz 21:25:36.858 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1828.8255830753164Hz 21:25:37.440 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2084.2147825017664Hz 21:25:38.032 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2326.939678742708Hz 21:25:38.608 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1546.111221056798Hz 21:25:39.176 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2950.9057805293337Hz 21:25:39.796 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1910.93513521777Hz 21:25:40.437 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 940.1093911287518Hz 21:25:41.086 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2745.3445819252006Hz 21:25:41.698 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2151.287115080953Hz 21:25:42.297 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1796.260903303683Hz 21:25:42.933 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1527.76950235964Hz 21:25:43.609 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2734.3023700932945Hz 21:25:44.242 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2473.551550051079Hz 21:25:44.847 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1707.352885938583Hz 21:25:45.572 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1449.2858643903216Hz 21:25:46.199 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2068.1624996639234Hz 21:25:46.817 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1711.4495978093444Hz 21:25:47.396 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1102.2295900146817Hz 21:25:47.996 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1711.1362458012995Hz 21:25:48.558 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1274.6956345498604Hz 21:25:49.139 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1529.608634334819Hz 21:25:49.752 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2036.1663873725104Hz 21:25:50.348 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1583.5964742808096Hz 21:25:50.932 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2133.2514164789404Hz 21:25:51.544 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2048.5632401715056Hz 21:25:52.145 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1128.6656237796303Hz 21:25:52.720 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1647.7694968206288Hz 21:25:53.319 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1985.1195438989334Hz 21:25:53.933 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2189.3862931281733Hz 21:25:54.539 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2031.3353795651724Hz 21:25:55.116 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2391.423399121391Hz 21:25:55.701 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2138.8407055607718Hz 21:25:56.298 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2001.7375081570804Hz 21:25:56.885 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1608.8991429394266Hz 21:25:57.468 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1915.7565226720205Hz 21:25:58.055 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2037.3777318688662Hz 21:25:58.633 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1893.0072312876234Hz 21:25:59.228 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1691.0287542529372Hz 21:25:59.824 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1934.0676343451728Hz 21:26:00.450 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1417.6655301714666Hz 21:26:01.051 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2103.4740978199593Hz 21:26:01.631 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2017.210842911723Hz 21:26:02.229 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2472.707491067344Hz 21:26:02.798 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1960.630538781272Hz 21:26:03.400 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1606.6734789622174Hz 21:26:03.980 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1858.2214219481964Hz 21:26:04.585 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1993.8986700695868Hz 21:26:05.159 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2071.0537107069335Hz 21:26:05.731 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2520.9872185948016Hz 21:26:06.324 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1856.406924397828Hz 21:26:06.926 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2029.9787258229535Hz 21:26:07.542 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2610.304961928702Hz 21:26:08.141 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2155.40467722815Hz 21:26:08.747 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2050.403006710969Hz 21:26:09.358 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1968.244345726056Hz 21:26:09.969 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2857.926745621656Hz 21:26:10.571 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1547.1302281398234Hz 21:26:11.189 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 997.0238837071341Hz 21:26:11.796 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2442.2052136196903Hz 21:26:12.412 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2947.209581967793Hz 21:26:13.035 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1482.568698527068Hz 21:26:13.628 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1898.3076587222492Hz 21:26:14.209 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2475.0698588467662Hz 21:26:14.812 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2237.3917382072677Hz 21:26:15.433 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2255.549214956096Hz 21:26:16.041 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1806.4693279572805Hz 21:26:16.695 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1644.8261172070197Hz 21:26:17.339 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1910.4568857642303Hz 21:26:17.989 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2260.515352290015Hz 21:26:18.667 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1704.5822580260256Hz 21:26:19.328 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1608.7076125652934Hz 21:26:20.002 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1414.8093756587707Hz 21:26:20.672 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1769.7893419746247Hz 21:26:21.364 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2042.9259602773475Hz 21:26:22.051 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2150.5006365481886Hz 21:26:22.711 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1423.6212939578663Hz 21:26:23.404 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 846.460525313402Hz 21:26:24.062 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2416.1184091309947Hz 21:26:24.742 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1927.6959792117268Hz 21:26:25.395 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2601.944172685831Hz 21:26:26.044 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2841.7810009889395Hz 21:26:26.701 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1690.9944400102813Hz 21:26:27.354 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2110.515007872221Hz 21:26:28.034 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2283.496032425644Hz 21:26:28.755 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2122.9574495638385Hz 21:26:29.477 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 572.5661786303415Hz 21:26:30.128 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1717.900176256558Hz 21:26:30.769 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1311.5338913472865Hz 21:26:31.461 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 959.745398740622Hz 21:26:32.213 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3035.2974743289715Hz 21:26:32.962 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1399.5781671404238Hz 21:26:33.799 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1893.9071114318128Hz 21:26:34.735 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1394.2664973097628Hz 21:26:35.532 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1234.3819819730854Hz 21:26:36.254 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1568.765256242117Hz 21:26:36.957 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2048.4331534809025Hz 21:26:37.819 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 678.0608003558464Hz 21:26:38.706 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2286.4668599493316Hz 21:26:39.446 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2122.349185866852Hz 21:26:40.174 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1959.032708010093Hz 21:26:40.896 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1909.8949748753316Hz 21:26:41.594 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2333.994631812347Hz 21:26:42.287 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1765.6302417147801Hz 21:26:42.983 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1731.8506382735527Hz 21:26:43.661 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1707.7990057194188Hz 21:26:44.369 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1170.8957469553784Hz 21:26:45.058 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1972.4682876411057Hz 21:26:45.717 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 988.687438330621Hz 21:26:46.371 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1331.692687941789Hz 21:26:47.044 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2427.3612156224967Hz 21:26:47.759 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 933.5046003106703Hz 21:26:48.461 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1945.1695604305828Hz 21:26:49.146 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1886.1589881134262Hz 21:26:49.810 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1739.4420217882507Hz 21:26:50.480 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2068.731536571036Hz 21:26:51.171 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1078.4054696725423Hz 21:26:51.876 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1520.9171738925443Hz 21:26:52.558 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1017.8096329574903Hz 21:26:53.222 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 927.5276287292407Hz 21:26:53.891 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1002.6349245818009Hz 21:26:54.548 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2371.8602499940703Hz 21:26:55.206 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2084.0844721118237Hz 21:26:55.868 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2289.0785772003196Hz 21:26:56.531 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 678.6051407053828Hz 21:26:57.195 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1719.7200295791845Hz 21:26:57.845 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2336.0883602061363Hz 21:26:58.521 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 829.6269748233102Hz 21:26:59.178 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1741.8841263841448Hz 21:26:59.845 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2548.5044101868816Hz 21:27:00.538 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 793.7087469878753Hz 21:27:01.210 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1577.7773219754404Hz 21:27:01.864 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1680.3644374391918Hz 21:27:02.555 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1441.1173847754594Hz 21:27:03.213 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2471.04552407169Hz 21:27:03.874 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1328.8736334195773Hz 21:27:04.523 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2107.9702354602755Hz 21:27:05.285 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1418.212399998298Hz 21:27:06.061 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2079.187952353329Hz 21:27:06.794 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1549.0330935430106Hz 21:27:07.489 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 716.7230847188188Hz 21:27:08.198 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2090.169930815375Hz 21:27:08.894 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2110.314584595126Hz 21:27:09.564 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1949.7396122747807Hz 21:27:10.252 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2091.7001338688087Hz 21:27:10.899 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2443.589731058514Hz 21:27:11.577 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1368.4046317759978Hz 21:27:12.257 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2097.2802469757216Hz 21:27:12.943 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1434.9734601658542Hz 21:27:13.634 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1409.0798285995297Hz 21:27:14.289 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1925.635796799208Hz 21:27:14.936 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1295.4257222322258Hz 21:27:15.638 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1665.5451995656258Hz 21:27:16.408 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1030.9597204037238Hz 21:27:17.095 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2801.701192964368Hz 21:27:17.758 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2295.04133369442Hz 21:27:18.425 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2474.990223788616Hz 21:27:19.087 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1494.8174678390021Hz 21:27:19.764 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1235.5471867826104Hz 21:27:20.414 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2475.35168559073Hz 21:27:21.080 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1383.684697000725Hz 21:27:21.751 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1714.1544590299943Hz 21:27:22.478 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1821.460446986394Hz 21:27:23.138 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2230.310816115334Hz 21:27:23.787 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1821.8055550494983Hz 21:27:24.477 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2545.7146712082217Hz 21:27:25.160 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1598.7133554915004Hz 21:27:25.865 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2325.229907107065Hz 21:27:26.547 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1321.2518068118459Hz 21:27:27.254 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1766.4785955788573Hz 21:27:27.947 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2062.0852631014586Hz 21:27:28.634 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 766.0986045513918Hz 21:27:29.305 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 474.23437231761187Hz 21:27:29.988 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1134.3308638950425Hz 21:27:30.638 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2207.6809636085873Hz 21:27:31.290 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1700.781509103433Hz 21:27:32.001 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2088.3715296486107Hz 21:27:32.647 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1725.8191168983578Hz 21:27:33.299 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1071.60117576081Hz 21:27:33.960 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1203.8243090650378Hz 21:27:34.621 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 600.878845399281Hz 21:27:35.284 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2488.2554343498687Hz 21:27:35.932 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 830.6275640434618Hz 21:27:36.633 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1350.3823607654508Hz 21:27:37.399 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1633.5865392469166Hz 21:27:38.123 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1703.563002018722Hz 21:27:38.809 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1048.066422257577Hz 21:27:39.538 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1863.2626100955295Hz 21:27:40.216 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1422.1514306843394Hz 21:27:40.878 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1127.0297806349236Hz 21:27:41.544 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1074.9394002913086Hz 21:27:42.184 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1480.6303931962073Hz 21:27:42.834 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1960.9765663300323Hz 21:27:43.512 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2015.641377086189Hz 21:27:44.178 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2434.6598171570477Hz 21:27:44.838 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1774.6417885549802Hz 21:27:45.509 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1205.667602264726Hz 21:27:46.165 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1964.9839853805192Hz 21:27:46.838 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1682.207459917202Hz 21:27:47.514 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1469.3565687585406Hz 21:27:48.209 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1583.398384616968Hz 21:27:48.867 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1549.119480487291Hz 21:27:49.549 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2265.862738567023Hz 21:27:50.272 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2326.8747047777715Hz 21:27:51.030 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1421.2297616881935Hz 21:27:51.768 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 991.1234979523388Hz 21:27:52.479 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2308.162817805168Hz 21:27:53.221 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 914.1661935856614Hz 21:27:53.915 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1741.495840437185Hz 21:27:54.607 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 779.380704092528Hz 21:27:55.296 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1850.1490295043266Hz 21:27:55.987 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1995.10799519578Hz 21:27:56.665 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1270.2735661151985Hz 21:27:57.331 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2394.1372367346844Hz 21:27:57.969 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 931.1030312059182Hz 21:27:58.642 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1610.4849008988115Hz 21:27:59.309 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1899.2955512800302Hz 21:27:59.973 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 919.6865340417373Hz 21:28:00.668 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2314.686221135863Hz 21:28:01.365 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1059.2087075429429Hz 21:28:02.027 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2809.1939298937564Hz 21:28:02.697 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1306.612241911417Hz 21:28:03.371 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2178.767906748734Hz 21:28:04.047 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2030.2053958799013Hz 21:28:04.710 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1417.6675399498713Hz 21:28:05.378 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1795.009872554299Hz 21:28:06.049 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 873.0894619848118Hz 21:28:06.713 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1583.443514611225Hz 21:28:07.476 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1395.7006836141948Hz 21:28:08.277 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1119.2305066420736Hz 21:28:09.013 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 930.1520891680998Hz 21:28:09.694 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1920.9675529370636Hz 21:28:10.372 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2313.267281841546Hz 21:28:11.025 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1528.7013681877245Hz 21:28:11.728 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1962.5506092738367Hz 21:28:12.384 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2243.948631527927Hz 21:28:13.027 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1825.8437223841136Hz 21:28:13.684 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1948.7403342479422Hz 21:28:14.371 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 977.6747960325957Hz 21:28:15.027 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1923.6022144508693Hz 21:28:15.706 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3208.1409785471615Hz 21:28:16.352 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1781.3087275221105Hz 21:28:17.015 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1799.8430536857186Hz 21:28:17.678 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1967.6943934483647Hz 21:28:18.357 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2299.130698682828Hz 21:28:19.025 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1450.2316745100031Hz 21:28:19.667 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2204.1579235069034Hz 21:28:20.360 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1529.2367120798995Hz 21:28:21.105 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1750.0385008470184Hz 21:28:21.843 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2315.425829964389Hz 21:28:22.563 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1141.8236293549153Hz 21:28:23.239 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2064.324346641344Hz 21:28:23.946 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1196.9568568870504Hz 21:28:24.636 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1499.4392097355587Hz 21:28:25.311 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1576.5062729184601Hz 21:28:25.982 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2113.097187678953Hz 21:28:26.783 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1782.5629690368812Hz 21:28:27.547 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1136.5134495001614Hz 21:28:28.268 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1104.772173882302Hz 21:28:28.978 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1518.0426964688809Hz 21:28:29.722 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 514.4832170429769Hz 21:28:30.395 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1066.5654140566924Hz 21:28:31.042 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1282.3833864667517Hz 21:28:31.717 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2002.5111489808219Hz 21:28:32.291 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2041.712179834009Hz 21:28:32.900 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1785.8801174394766Hz 21:28:33.407 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:28:33.405983135+01:00_MoveTo/MoveTo_rust.log" 21:28:33.409 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Position(PositionGoal { position: Specific3D(29.408968236676564 m^1, 111.68843171652026 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] 21:28:33.409 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:28:33.409 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:28:33.409 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Position(PositionGoal { position: Specific3D(29.408968236676564 m^1, 111.68843171652026 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:28:33.410 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Position(PositionGoal { position: Specific3D(29.408968236676564 m^1, 111.68843171652026 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 }), py_instructions: [Position(PositionGoal { position: Specific3D(29.408968236676564 m^1, 111.68843171652026 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] }] 21:28:33.411 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Position(PositionGoal { position: Specific3D(29.408968236676564 m^1, 111.68843171652026 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:28:33.482 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1468.5236637903183Hz 21:28:34.064 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3378.7436479619414Hz 21:28:34.529 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2248.297476735742Hz 21:28:34.979 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0.18618646385290724, Enable control depth: 0.2, Depth control enabled: true 21:28:34.979 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 21:28:34.990 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2242.821289756811Hz 21:28:35.133 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: FinishedGoal(Position(PositionGoal { position: Specific3D(29.408968236676564 m^1, 111.68843171652026 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:28:35.134 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:28:35.134 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:28:35.134 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:28:35.135 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:28:35.138 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:28:35.138 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:28:35.141 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:28:35.141 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 29.3131163450442, y: 111.82361802470713, z: 0.08594055638299547 } 21:28:35.445 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3172.7398194711045Hz 21:28:35.890 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2769.1165964234087Hz 21:28:36.343 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1750.2743555052255Hz 21:28:36.803 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2760.791242770178Hz 21:28:37.252 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2330.3993605384157Hz 21:28:37.697 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3073.0651981512437Hz 21:28:38.137 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2500.5751322804244Hz 21:28:38.576 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3145.72244661709Hz 21:28:39.031 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2779.731311171462Hz 21:28:39.485 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3104.0284080679903Hz 21:28:39.933 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3757.293846679868Hz 21:28:40.398 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2783.848113246941Hz 21:28:40.839 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2385.0694651481726Hz 21:28:41.303 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2058.3416353112625Hz 21:28:41.759 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3063.0122888053024Hz 21:28:42.197 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2180.017091333996Hz 21:28:42.669 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1752.7992203549068Hz 21:28:43.120 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2123.3451178987375Hz 21:28:43.571 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2010.1593453313044Hz 21:28:44.038 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1930.6510155224341Hz 21:28:44.500 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2423.6255013875257Hz 21:28:44.952 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2611.634308517584Hz 21:28:45.381 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2827.6864435056527Hz 21:28:45.827 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2996.928148647636Hz 21:28:46.250 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2766.351210416972Hz 21:28:46.695 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3089.461537748586Hz 21:28:47.141 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2730.8451692714375Hz 21:28:47.591 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2365.50898656864Hz 21:28:48.054 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2744.6362945214314Hz 21:28:48.482 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2445.035599718332Hz 21:28:48.925 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2905.4986562068716Hz 21:28:49.389 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2031.7274559521486Hz 21:28:49.837 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2376.2790321890757Hz 21:28:50.272 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2883.0491127416353Hz 21:28:50.708 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2779.5845077077875Hz 21:28:51.150 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2369.2640118273657Hz 21:28:51.587 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2320.917969475287Hz 21:28:52.038 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3190.8002846193854Hz 21:28:52.480 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2008.6411743319763Hz 21:28:52.929 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2575.9054951791927Hz 21:28:53.382 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2726.8537833732817Hz 21:28:53.819 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2391.1432055665814Hz 21:28:54.277 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3259.186832885195Hz 21:28:54.730 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2606.005800968913Hz 21:28:55.174 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2483.1024875720723Hz 21:28:55.608 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3067.2306281381602Hz 21:28:56.057 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1816.7086326360804Hz 21:28:56.514 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3066.1867062409165Hz 21:28:56.965 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2702.936470181205Hz 21:28:57.418 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2984.8162397881974Hz 21:28:57.862 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2408.1124492189288Hz 21:28:58.316 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2151.8935587370106Hz 21:28:58.766 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2705.9205541725296Hz 21:28:59.227 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2407.0227295156346Hz 21:28:59.663 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3090.52137095528Hz 21:29:00.116 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2252.4703969078087Hz 21:29:00.554 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2773.4096575671097Hz 21:29:01.001 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 771.4793347687992Hz 21:29:01.455 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2459.4195769798325Hz 21:29:01.898 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3163.095531811252Hz 21:29:02.349 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4049.0256019888816Hz 21:29:02.793 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3079.614185934786Hz 21:29:03.222 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2798.8625422628247Hz 21:29:03.659 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2436.083265326009Hz 21:29:04.105 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2360.6563568934707Hz 21:29:04.550 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2301.5648339305894Hz 21:29:04.980 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2722.6812965408335Hz 21:29:05.411 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1965.323826406877Hz 21:29:05.837 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2065.2964113409557Hz 21:29:06.276 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3476.7613272884046Hz 21:29:06.703 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1933.1889885555213Hz 21:29:07.167 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2297.1923714835725Hz 21:29:07.610 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2058.786592358196Hz 21:29:08.044 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2709.47639368692Hz 21:29:08.519 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2286.2891241226366Hz 21:29:08.976 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2941.0294191172793Hz 21:29:09.437 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1651.863219118004Hz 21:29:09.877 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1987.1747740085489Hz 21:29:10.329 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 696.7116603056892Hz 21:29:10.768 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1769.7486249053184Hz 21:29:11.217 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3402.390519579056Hz 21:29:11.702 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2619.6320464827513Hz 21:29:12.162 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 547.9148825188305Hz 21:29:12.603 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2028.891413731537Hz 21:29:13.060 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2287.968261304279Hz 21:29:13.517 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2871.7889809456797Hz 21:29:13.980 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2418.093140111571Hz 21:29:14.450 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2142.139526115894Hz 21:29:14.906 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2848.264410081717Hz 21:29:15.347 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2207.7589480470165Hz 21:29:15.818 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3439.6293455417244Hz 21:29:16.273 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1339.3783944871186Hz 21:29:16.709 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2428.2748321455024Hz 21:29:17.154 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3299.18675046601Hz 21:29:17.595 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2186.0503753448493Hz 21:29:18.051 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4064.858888423688Hz 21:29:18.492 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3020.682613857079Hz 21:29:18.977 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1945.9341651553248Hz 21:29:19.443 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3114.052160373686Hz 21:29:19.897 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2042.3626868506562Hz 21:29:20.351 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1854.6028460735276Hz 21:29:20.798 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2333.695056067024Hz 21:29:20.908 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:29:20.907924911+01:00_MoveTo/MoveTo_rust.log" 21:29:20.909 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Position(PositionGoal { position: Specific3D(74.99017265475123 m^1, 98.08555311671051 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] 21:29:20.909 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:29:20.909 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:29:20.909 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Position(PositionGoal { position: Specific3D(74.99017265475123 m^1, 98.08555311671051 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:29:20.910 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Position(PositionGoal { position: Specific3D(74.99017265475123 m^1, 98.08555311671051 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 }), py_instructions: [Position(PositionGoal { position: Specific3D(74.99017265475123 m^1, 98.08555311671051 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] }] 21:29:20.911 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Position(PositionGoal { position: Specific3D(74.99017265475123 m^1, 98.08555311671051 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:29:21.244 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2517.4332250837047Hz 21:29:21.695 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3112.4141751791194Hz 21:29:22.125 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2285.2337337062836Hz 21:29:22.581 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2882.658502977786Hz 21:29:23.044 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1955.5120997311171Hz 21:29:23.490 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3586.324626932581Hz 21:29:23.973 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2733.4353815875793Hz 21:29:24.435 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2679.5643028443574Hz 21:29:24.877 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2719.519624053607Hz 21:29:25.318 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2931.1673960388207Hz 21:29:25.545 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:216] Path Planner has timed out (15150.1 > 15150.081514895777). Aborting it. 21:29:25.546 WARN [robot_core/path_planning/src/lib.rs:157] Error occurred in Python path planning, cancelling goal 21:29:25.546 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Position(PositionGoal { position: Specific3D(74.99017265475123 m^1, 98.08555311671051 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:29:25.548 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:29:25.548 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:29:25.549 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:29:25.552 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:29:25.554 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:29:25.554 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:29:25.556 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:29:25.557 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 74.89598769193474, y: 97.77169074375259, z: 0.09045431312330801 } 21:29:25.769 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3177.528518318452Hz 21:29:26.085 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:29:26.083712046+01:00_MoveTo/MoveTo_rust.log" 21:29:26.086 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Position(PositionGoal { position: Specific3D(88.08061947861754 m^1, 44.513208693850686 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] 21:29:26.086 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:29:26.086 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:29:26.086 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Position(PositionGoal { position: Specific3D(88.08061947861754 m^1, 44.513208693850686 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:29:26.087 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Position(PositionGoal { position: Specific3D(88.08061947861754 m^1, 44.513208693850686 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 }), py_instructions: [Position(PositionGoal { position: Specific3D(88.08061947861754 m^1, 44.513208693850686 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] }] 21:29:26.088 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Position(PositionGoal { position: Specific3D(88.08061947861754 m^1, 44.513208693850686 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:29:26.221 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2110.795664425705Hz 21:29:26.664 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2157.688166590788Hz 21:29:27.121 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2056.3734209622594Hz 21:29:27.571 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2443.8226273537066Hz 21:29:27.704 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: FinishedGoal(Position(PositionGoal { position: Specific3D(88.08061947861754 m^1, 44.513208693850686 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:29:27.704 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:29:27.704 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:29:27.704 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:29:27.706 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:29:27.708 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:29:27.708 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:29:27.709 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:29:27.709 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 88.1463414162174, y: 44.35902833520717, z: 0.09030989220155672 } 21:29:28.014 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2759.777893075165Hz 21:29:28.447 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2456.229981725649Hz 21:29:28.902 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2939.3869026798393Hz 21:29:29.358 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2489.984039202309Hz 21:29:29.820 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2945.412667041716Hz 21:29:30.271 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1862.8148622820975Hz 21:29:30.720 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1722.0239981264378Hz 21:29:31.170 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2384.290387494874Hz 21:29:31.359 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Position(PositionGoal { position: Specific3D(37.1440089211076 m^1, 70.64374573992174 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] 21:29:31.359 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:29:31.359 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:29:31.359 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:29:31.358749680+01:00_MoveTo/MoveTo_rust.log" 21:29:31.359 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Position(PositionGoal { position: Specific3D(37.1440089211076 m^1, 70.64374573992174 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 }), py_instructions: [Position(PositionGoal { position: Specific3D(37.1440089211076 m^1, 70.64374573992174 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] }] 21:29:31.360 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Position(PositionGoal { position: Specific3D(37.1440089211076 m^1, 70.64374573992174 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:29:31.360 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Position(PositionGoal { position: Specific3D(37.1440089211076 m^1, 70.64374573992174 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:29:31.622 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1600.4378798039143Hz 21:29:32.074 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3007.2565099585304Hz 21:29:32.519 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2240.8210368278937Hz 21:29:32.972 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2329.8889807900655Hz 21:29:33.437 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2203.8421784539164Hz 21:29:33.895 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2318.1256563193265Hz 21:29:34.367 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1813.9043020368333Hz 21:29:34.821 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2092.474832758949Hz 21:29:35.283 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2200.326528456823Hz 21:29:35.738 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2186.0599330191235Hz 21:29:36.193 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2841.934447940024Hz 21:29:36.630 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2317.3735814776965Hz 21:29:36.675 ERROR [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/path_planning/path_planner_manager.py:216] Path Planner has timed out (15641.74 > 15641.695892411104). Aborting it. 21:29:36.676 WARN [robot_core/path_planning/src/lib.rs:157] Error occurred in Python path planning, cancelling goal 21:29:36.676 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Position(PositionGoal { position: Specific3D(37.1440089211076 m^1, 70.64374573992174 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:29:36.676 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:29:36.676 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:29:36.676 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:29:36.677 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:29:36.679 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:29:36.679 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:29:36.681 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:29:36.681 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 37.257207044471045, y: 70.86388478579663, z: 0.09045414626570661 } 21:29:37.113 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2662.002837695025Hz 21:29:37.563 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2098.6931437793687Hz 21:29:37.869 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:29:37.868622132+01:00_MoveTo/MoveTo_rust.log" 21:29:37.869 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Position(PositionGoal { position: Specific3D(81.06001220495446 m^1, 111.09070247939808 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] 21:29:37.869 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:29:37.869 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:29:37.869 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Position(PositionGoal { position: Specific3D(81.06001220495446 m^1, 111.09070247939808 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:29:37.870 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Position(PositionGoal { position: Specific3D(81.06001220495446 m^1, 111.09070247939808 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 }), py_instructions: [Position(PositionGoal { position: Specific3D(81.06001220495446 m^1, 111.09070247939808 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] }] 21:29:37.873 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Position(PositionGoal { position: Specific3D(81.06001220495446 m^1, 111.09070247939808 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:29:38.016 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2837.5717196252135Hz 21:29:38.486 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2852.4078600950993Hz 21:29:38.935 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2781.2466103556935Hz 21:29:39.396 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2292.153271704972Hz 21:29:39.719 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: FinishedGoal(Position(PositionGoal { position: Specific3D(81.06001220495446 m^1, 111.09070247939808 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:29:39.719 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:29:39.719 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:29:39.719 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:29:39.720 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:29:39.723 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:29:39.724 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:29:39.727 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:29:39.728 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 81.23331249101771, y: 111.07195368154062, z: 0.09030665888670146 } 21:29:39.854 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1867.441530405683Hz 21:29:40.306 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2538.8829930383827Hz 21:29:40.764 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2853.343833638641Hz 21:29:41.266 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3071.856876044431Hz 21:29:41.736 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2286.4564041357426Hz 21:29:42.195 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3106.1977964632833Hz 21:29:42.659 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2893.9958268580176Hz 21:29:43.105 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3472.0052218958535Hz 21:29:43.558 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2585.215154531236Hz 21:29:44.000 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 514.5234535225819Hz 21:29:44.446 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2416.0892213427655Hz 21:29:44.881 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3037.371822909073Hz 21:29:45.320 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3769.516672572243Hz 21:29:45.776 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2872.4324044844416Hz 21:29:46.230 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2354.6198819393594Hz 21:29:46.674 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2253.769993757057Hz 21:29:47.125 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2254.6338361918333Hz 21:29:47.564 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2108.0546660736004Hz 21:29:48.003 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2426.4600616806147Hz 21:29:48.445 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3089.604715972638Hz 21:29:48.907 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3394.8364537538405Hz 21:29:49.358 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3478.224575047913Hz 21:29:49.825 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2693.312505049961Hz 21:29:50.262 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2039.9379042901933Hz 21:29:50.727 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2049.6129305980567Hz 21:29:51.182 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2673.089209006172Hz 21:29:51.650 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2810.6151312276206Hz 21:29:52.100 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2562.762042418837Hz 21:29:52.545 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1656.7125852171537Hz 21:29:52.996 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2381.2075103284874Hz 21:29:53.437 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2559.6002928182734Hz 21:29:53.901 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2593.71749747761Hz 21:29:54.332 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2697.4390513646345Hz 21:29:54.795 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2707.180525626171Hz 21:29:55.235 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2513.434306367534Hz 21:29:55.700 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2787.5885407810265Hz 21:29:56.147 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2096.282243441257Hz 21:29:56.607 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1810.708530247886Hz 21:29:57.057 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2174.27699854106Hz 21:29:57.517 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3455.377258089038Hz 21:29:57.982 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2451.7255244240896Hz 21:29:58.438 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1662.7011244847704Hz 21:29:58.888 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2315.0077321258254Hz 21:29:59.339 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2401.9523068349954Hz 21:29:59.806 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1819.1145278124418Hz 21:30:00.235 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3160.9059156354215Hz 21:30:00.688 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2933.532031236249Hz 21:30:01.126 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2584.4735168998723Hz 21:30:01.572 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1510.5671726563173Hz 21:30:02.019 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2729.473675591136Hz 21:30:02.481 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2261.1491612267187Hz 21:30:02.946 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1711.3324434404626Hz 21:30:03.391 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2479.4761362819263Hz 21:30:03.865 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1197.0743502878963Hz 21:30:04.333 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2398.0700332372508Hz 21:30:04.786 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2268.144589681303Hz 21:30:05.244 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2251.506820939914Hz 21:30:05.695 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3045.6790950678273Hz 21:30:06.152 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2494.2383095050436Hz 21:30:06.640 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2329.5850310184246Hz 21:30:07.112 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2085.905950672496Hz 21:30:07.605 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2743.2734933941974Hz 21:30:08.073 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3210.8191762964484Hz 21:30:08.552 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3580.430797433547Hz 21:30:09.001 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3379.348799486339Hz 21:30:09.427 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3327.8977669805986Hz 21:30:09.895 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 511.3645661173929Hz 21:30:10.341 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2985.8857182100214Hz 21:30:10.789 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2892.6815157651145Hz 21:30:11.233 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3276.743965056802Hz 21:30:11.722 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2630.9281388288164Hz 21:30:12.231 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2873.6623101946047Hz 21:30:12.697 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3572.6151900452655Hz 21:30:13.146 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2113.244548885686Hz 21:30:13.613 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2978.6638309787Hz 21:30:14.069 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3069.9707738782326Hz 21:30:14.516 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3271.5340550337455Hz 21:30:14.995 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1588.7491142723688Hz 21:30:15.455 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2315.3829411846427Hz 21:30:15.908 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 894.0793173525597Hz 21:30:16.351 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2092.470454317185Hz 21:30:16.819 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2569.3598696820673Hz 21:30:17.263 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2800.9792223361287Hz 21:30:17.718 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3543.4856559700647Hz 21:30:18.178 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2339.0280870492693Hz 21:30:18.667 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1743.3083110480422Hz 21:30:19.128 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3001.4617118536726Hz 21:30:19.576 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2423.8487324483053Hz 21:30:20.028 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2251.2685898503805Hz 21:30:20.479 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2439.5956126312503Hz 21:30:20.945 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2992.7754400876283Hz 21:30:21.382 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2456.115358826173Hz 21:30:21.848 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2873.067861862897Hz 21:30:22.301 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2279.701085593657Hz 21:30:22.756 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2453.7709552039573Hz 21:30:23.201 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2695.8247066942718Hz 21:30:23.657 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2440.9473804973186Hz 21:30:24.137 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1812.8093105886192Hz 21:30:24.634 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2353.08512991383Hz 21:30:25.083 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2897.190304842364Hz 21:30:25.545 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2278.039246060131Hz 21:30:26.024 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2583.812415218655Hz 21:30:26.478 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1512.1089686207147Hz 21:30:26.934 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2974.995165632856Hz 21:30:27.403 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2241.780511753655Hz 21:30:27.859 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1728.2768561261364Hz 21:30:28.311 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2807.206660939965Hz 21:30:28.772 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2488.8189807290746Hz 21:30:29.271 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3174.9761083047847Hz 21:30:29.722 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2587.630093102931Hz 21:30:30.168 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2370.336658915666Hz 21:30:30.618 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2456.0731320335794Hz 21:30:31.068 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2369.6738617864025Hz 21:30:31.526 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3009.5281661741074Hz 21:30:31.978 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3435.7531342657967Hz 21:30:32.423 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2479.4699884952593Hz 21:30:32.862 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1612.9136317008495Hz 21:30:33.314 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3031.929246899095Hz 21:30:33.758 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1873.1467554288477Hz 21:30:34.207 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2624.279307295234Hz 21:30:34.646 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2008.4313949961938Hz 21:30:35.096 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1699.200695992605Hz 21:30:35.540 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2481.069440171492Hz 21:30:35.988 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2521.552974045655Hz 21:30:36.467 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1436.4018707697965Hz 21:30:36.941 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2578.5490504493123Hz 21:30:37.412 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 804.7072153267754Hz 21:30:37.862 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 594.1011694881521Hz 21:30:38.320 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1965.1152736619529Hz 21:30:38.778 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2272.0714702801693Hz 21:30:39.251 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2706.8141339006816Hz 21:30:39.709 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2059.2190205942493Hz 21:30:40.156 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2155.957665615278Hz 21:30:40.608 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2645.5236417220244Hz 21:30:41.071 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2975.836209975003Hz 21:30:41.515 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3087.496565160071Hz 21:30:41.979 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1966.506461940234Hz 21:30:42.430 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2343.566908835247Hz 21:30:42.883 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2689.1479434741104Hz 21:30:43.324 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3229.8802683384524Hz 21:30:43.771 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3414.2394269540546Hz 21:30:44.230 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3454.0882588631903Hz 21:30:44.675 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2263.862194180516Hz 21:30:45.118 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4225.006971261502Hz 21:30:45.577 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3241.365003630329Hz 21:30:46.028 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2913.540680311749Hz 21:30:46.504 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1884.175936812276Hz 21:30:46.964 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1833.1133597301657Hz 21:30:47.441 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2400.896975109901Hz 21:30:47.909 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2871.920941760315Hz 21:30:48.361 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3512.333559293459Hz 21:30:48.834 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2101.674824667778Hz 21:30:49.280 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3349.0066846173427Hz 21:30:49.736 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1814.3815136296341Hz 21:30:50.195 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3862.584687169266Hz 21:30:50.627 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2803.69639332496Hz 21:30:51.075 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3595.1307549055555Hz 21:30:51.524 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3274.7695380937566Hz 21:30:51.969 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2177.3305057067832Hz 21:30:52.418 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1396.946554221782Hz 21:30:52.870 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2762.5988319732137Hz 21:30:53.323 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3227.2951716436933Hz 21:30:53.784 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3699.7299197158604Hz 21:30:54.246 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1129.5133943345866Hz 21:30:54.714 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2387.5807599192044Hz 21:30:55.172 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1105.427983025048Hz 21:30:55.626 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2639.957338289413Hz 21:30:56.081 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3115.546264304252Hz 21:30:56.519 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2823.7340494322884Hz 21:30:56.979 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1412.6348889739609Hz 21:30:57.434 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 866.4452610209671Hz 21:30:57.886 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2212.462802969125Hz 21:30:58.357 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2427.113773385241Hz 21:30:58.817 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2808.13685735788Hz 21:30:59.294 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2308.413242905092Hz 21:30:59.691 INFO [peripherals/payload/src/lib.rs:63] Mocked payload is starting 21:30:59.692 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:30:59.691253674+01:00_surveyPolygon/surveyPolygon_rust.log" 21:30:59.693 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 77.84396087910802, y: -17.17072273152541 }, Coord { x: 77.84393213251123, y: 2.870992273947571 }, Coord { x: 57.85313277547112, y: 2.871003787659602 }, Coord { x: 57.853161522270604, y: -17.170791592455785 }, Coord { x: 77.84396087910802, y: -17.17072273152541 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })] 21:30:59.693 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:30:59.693 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:30:59.693 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 77.84396087910802, y: -17.17072273152541 }, Coord { x: 77.84393213251123, y: 2.870992273947571 }, Coord { x: 57.85313277547112, y: 2.871003787659602 }, Coord { x: 57.853161522270604, y: -17.170791592455785 }, Coord { x: 77.84396087910802, y: -17.17072273152541 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:30:59.694 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 77.84396087910802, y: -17.17072273152541 }, Coord { x: 77.84393213251123, y: 2.870992273947571 }, Coord { x: 57.85313277547112, y: 2.871003787659602 }, Coord { x: 57.853161522270604, y: -17.170791592455785 }, Coord { x: 77.84396087910802, y: -17.17072273152541 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (77.84396047246594 m^1, -16.170791592455785 m^1), end: (57.85315770757336 m^1, -16.170791592455785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (57.85315580022473 m^1, -14.170791592455785 m^1), end: (77.84395665776867 m^1, -14.170791592455785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (77.84395475042004 m^1, -12.170791592455785 m^1), end: (57.85315198552746 m^1, -12.170791592455785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (57.85315007817883 m^1, -10.170791592455785 m^1), end: (77.84395093572277 m^1, -10.170791592455785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (77.84394902837414 m^1, -8.170791592455785 m^1), end: (57.85314626348156 m^1, -8.170791592455785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (57.85314435613293 m^1, -6.170791592455785 m^1), end: (77.84394521367688 m^1, -6.170791592455785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (77.84394330632824 m^1, -4.170791592455785 m^1), end: (57.853140541435664 m^1, -4.170791592455785 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (57.85313863408703 m^1, -2.1707915924557852 m^1), end: (77.84393949163098 m^1, -2.1707915924557852 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (77.84393758428234 m^1, -0.17079159245578546 m^1), end: (57.853134819389766 m^1, -0.17079159245578546 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (57.85313291204113 m^1, 1.8292084075442143 m^1), end: (77.84393376958508 m^1, 1.8292084075442143 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (77.84393186223645 m^1, 3.829208407544214 m^1), end: (57.85313291204113 m^1, 3.829208407544214 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }] 21:30:59.696 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 77.84396087910802, y: -17.17072273152541 }, Coord { x: 77.84393213251123, y: 2.870992273947571 }, Coord { x: 57.85313277547112, y: 2.871003787659602 }, Coord { x: 57.853161522270604, y: -17.170791592455785 }, Coord { x: 77.84396087910802, y: -17.17072273152541 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:30:59.744 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2499.0878329409766Hz 21:30:59.895 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 21:30:59.895 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20007309778040605, Enable control depth: 0.2, Depth control enabled: false 21:30:59.895 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 21:30:59.996 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 21:31:00.207 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2807.608619358461Hz 21:31:00.677 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3063.838131303847Hz 21:31:01.137 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2398.9617293635315Hz 21:31:01.616 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2856.644984731233Hz 21:31:02.072 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2757.5176825821395Hz 21:31:02.521 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2097.0779316100943Hz 21:31:02.969 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2469.9713236329326Hz 21:31:03.421 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1939.7927137506088Hz 21:31:03.887 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3360.5651126293396Hz 21:31:04.339 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2477.3324084625674Hz 21:31:04.864 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1727.9095404797367Hz 21:31:05.370 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2017.8051123110324Hz 21:31:05.916 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2758.8109524794813Hz 21:31:06.468 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1563.4307298563676Hz 21:31:07.038 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1504.112242872012Hz 21:31:07.651 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1753.8105919636891Hz 21:31:08.266 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1242.291580741499Hz 21:31:08.876 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2409.661779872577Hz 21:31:09.479 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1647.3161924592455Hz 21:31:10.086 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1651.9014211307924Hz 21:31:10.703 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1467.4806292556939Hz 21:31:11.278 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1816.0224024523566Hz 21:31:11.874 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2394.3951997165036Hz 21:31:12.463 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2039.4053909642105Hz 21:31:13.030 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1846.984705119657Hz 21:31:13.625 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2154.99128306026Hz 21:31:14.208 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2304.7156787502913Hz 21:31:14.825 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1756.9597568367699Hz 21:31:15.432 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 579.3487656395199Hz 21:31:16.080 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 869.143493852548Hz 21:31:16.698 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1484.5914255937623Hz 21:31:17.405 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 908.9487825540007Hz 21:31:17.999 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1638.3827196497793Hz 21:31:18.624 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1998.8047147805614Hz 21:31:19.218 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1975.7028068809777Hz 21:31:19.821 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2314.2201887940832Hz 21:31:20.473 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1833.0192760307068Hz 21:31:21.072 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1613.5903029677154Hz 21:31:21.680 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1913.0005605091642Hz 21:31:22.293 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1257.584808375515Hz 21:31:22.891 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1796.4900178032162Hz 21:31:23.491 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2242.0418723740086Hz 21:31:24.079 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2031.587116487142Hz 21:31:24.696 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1969.399471019302Hz 21:31:25.276 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1720.1193762847142Hz 21:31:25.859 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 572.0764889148738Hz 21:31:26.471 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1735.9815152688252Hz 21:31:27.072 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1731.61672395432Hz 21:31:27.681 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2679.657646939027Hz 21:31:28.309 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2204.522357163485Hz 21:31:28.900 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1174.494673666655Hz 21:31:29.490 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1870.9108903852018Hz 21:31:30.097 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1975.831627532028Hz 21:31:30.694 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2577.4590892806054Hz 21:31:31.279 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1789.9302106210878Hz 21:31:31.874 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1636.7924759923465Hz 21:31:32.475 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 911.1700334399402Hz 21:31:33.088 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2022.8214718453594Hz 21:31:33.695 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2346.8944718900716Hz 21:31:34.295 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 740.1765617170321Hz 21:31:34.933 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1760.4610999713045Hz 21:31:35.552 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1132.5862039674496Hz 21:31:36.157 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1997.1241412366194Hz 21:31:36.548 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: FinishedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 77.84396087910802, y: -17.17072273152541 }, Coord { x: 77.84393213251123, y: 2.870992273947571 }, Coord { x: 57.85313277547112, y: 2.871003787659602 }, Coord { x: 57.853161522270604, y: -17.170791592455785 }, Coord { x: 77.84396087910802, y: -17.17072273152541 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:31:36.548 INFO [peripherals/payload/src/lib.rs:78] Dropping payload: payload is stopping 21:31:36.548 INFO [peripherals/payload/src/lib.rs:68] Mocked payload is stopping 21:31:36.549 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:31:36.549 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:31:36.549 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:31:36.551 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:31:36.554 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:31:36.554 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:31:36.557 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 57.90625595585779, y: 3.8291631558960195, z: 19.06516154962222 } 21:31:36.557 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:31:36.775 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1954.1364182633588Hz 21:31:37.413 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2396.1623064499895Hz 21:31:38.071 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1079.3238252099825Hz 21:31:38.661 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2838.385185900038Hz 21:31:39.269 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2232.5664467588717Hz 21:31:39.874 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1746.8774565464234Hz 21:31:40.466 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2437.009399545254Hz 21:31:41.053 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2126.9943230521517Hz 21:31:41.638 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 661.1277384737338Hz 21:31:42.266 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1890.469951925349Hz 21:31:42.887 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1210.8545848403428Hz 21:31:43.477 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2263.042479570384Hz 21:31:44.091 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2933.119020103598Hz 21:31:44.713 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1635.151840199881Hz 21:31:45.334 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2139.4950791613182Hz 21:31:45.964 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2802.132983627137Hz 21:31:46.569 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1095.2470658331106Hz 21:31:47.179 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1519.3781489112134Hz 21:31:47.782 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1665.9059029709765Hz 21:31:48.387 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1738.495505989117Hz 21:31:48.986 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1970.0241130951442Hz 21:31:49.564 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1872.788938559413Hz 21:31:50.133 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2242.9319606589734Hz 21:31:50.719 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1027.8189476367359Hz 21:31:51.304 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1981.8659267700539Hz 21:31:51.890 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1136.4101258687856Hz 21:31:52.467 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2156.00879651589Hz 21:31:53.053 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1844.589634144092Hz 21:31:53.648 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2011.5179517919607Hz 21:31:54.246 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1925.6432129742138Hz 21:31:54.874 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1881.3790508442687Hz 21:31:55.468 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1558.4164618647699Hz 21:31:56.065 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2772.3639670310477Hz 21:31:56.647 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1807.1712168225954Hz 21:31:57.251 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1455.896526522067Hz 21:31:57.844 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1251.8590106307868Hz 21:31:58.440 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1898.6140117714071Hz 21:31:59.061 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1794.2916405746757Hz 21:31:59.680 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2014.4151548480927Hz 21:32:00.264 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1559.1818660912245Hz 21:32:00.868 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2160.5084972799195Hz 21:32:01.459 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1787.9108619160684Hz 21:32:02.088 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1451.4820357325846Hz 21:32:02.721 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2045.2198099990799Hz 21:32:03.336 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2216.724744854982Hz 21:32:03.972 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2329.2052053077928Hz 21:32:04.590 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1944.046454934087Hz 21:32:05.180 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 899.5879887011748Hz 21:32:05.789 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1422.2242449411485Hz 21:32:06.418 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1292.6710720896804Hz 21:32:07.059 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2391.4348369878444Hz 21:32:07.691 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1950.2491443281876Hz 21:32:08.281 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2082.925427103859Hz 21:32:08.866 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1559.787432168744Hz 21:32:09.411 INFO [peripherals/payload/src/lib.rs:63] Mocked payload is starting 21:32:09.411 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.45353205651716, y: 53.82487669715796 }, Coord { x: 75.45378875135948, y: 73.86659167562432 }, Coord { x: 55.46298946926854, y: 73.86688790753797 }, Coord { x: 55.462732773520074, y: 53.825092554496884 }, Coord { x: 75.45353205651716, y: 53.82487669715796 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })] 21:32:09.411 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:32:09.411 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:32:09.412 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:32:09.411540717+01:00_surveyPolygon/surveyPolygon_rust.log" 21:32:09.412 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.45353205651716, y: 53.82487669715796 }, Coord { x: 75.45378875135948, y: 73.86659167562432 }, Coord { x: 55.46298946926854, y: 73.86688790753797 }, Coord { x: 55.462732773520074, y: 53.825092554496884 }, Coord { x: 75.45353205651716, y: 53.82487669715796 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:32:09.413 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.45353205651716, y: 53.82487669715796 }, Coord { x: 75.45378875135948, y: 73.86659167562432 }, Coord { x: 55.46298946926854, y: 73.86688790753797 }, Coord { x: 55.462732773520074, y: 53.825092554496884 }, Coord { x: 75.45353205651716, y: 53.82487669715796 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (75.45355685204936 m^1, 54.82487669715796 m^1), end: (55.46273310632182 m^1, 54.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.46275790185405 m^1, 56.82487669715796 m^1), end: (75.45358164758159 m^1, 56.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.45360835046245 m^1, 58.82487669715796 m^1), end: (55.462782697386274 m^1, 58.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.46280940026713 m^1, 60.82487669715796 m^1), end: (75.45363314599467 m^1, 60.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.45365984887553 m^1, 62.82487669715796 m^1), end: (55.46283419579936 m^1, 62.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.462858991331586 m^1, 64.82487669715796 m^1), end: (75.45368464440776 m^1, 64.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.45371134728862 m^1, 66.82487669715796 m^1), end: (55.462885694212446 m^1, 66.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.46291048974467 m^1, 68.82487669715796 m^1), end: (75.45373614282084 m^1, 68.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.4537628457017 m^1, 70.82487669715796 m^1), end: (55.4629352852769 m^1, 70.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (55.46296198815776 m^1, 72.82487669715796 m^1), end: (75.45378764123393 m^1, 72.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (75.45378954858256 m^1, 74.82487669715796 m^1), end: (55.462986783689985 m^1, 74.82487669715796 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }] 21:32:09.414 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.45353205651716, y: 53.82487669715796 }, Coord { x: 75.45378875135948, y: 73.86659167562432 }, Coord { x: 55.46298946926854, y: 73.86688790753797 }, Coord { x: 55.462732773520074, y: 53.825092554496884 }, Coord { x: 75.45353205651716, y: 53.82487669715796 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:32:09.496 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1807.7723363830453Hz 21:32:10.174 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1700.9898059680927Hz 21:32:10.810 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2279.6595100555783Hz 21:32:11.398 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1650.058824597097Hz 21:32:12.022 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2562.4468292282936Hz 21:32:12.649 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1673.0801405387317Hz 21:32:13.265 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1082.7772369907022Hz 21:32:13.855 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2277.9614067778466Hz 21:32:14.434 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2190.5277200330333Hz 21:32:15.039 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1074.4635472124655Hz 21:32:15.657 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1539.3780604760066Hz 21:32:16.258 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1981.9287734437398Hz 21:32:16.922 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 618.4670551876708Hz 21:32:17.608 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2193.2758548840966Hz 21:32:18.216 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2329.7261406921616Hz 21:32:18.813 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2300.855227888206Hz 21:32:19.409 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1673.203314281125Hz 21:32:20.054 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1490.0620312823623Hz 21:32:20.656 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1847.4965498001932Hz 21:32:21.264 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1776.498698714703Hz 21:32:21.876 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1627.561782245254Hz 21:32:22.504 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1780.4682631532091Hz 21:32:23.146 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2453.62043963971Hz 21:32:23.748 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1762.623912461046Hz 21:32:24.359 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1469.1838683611254Hz 21:32:24.981 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2130.415516242288Hz 21:32:25.588 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1180.4675123535926Hz 21:32:26.212 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1824.7109657830201Hz 21:32:26.810 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1845.178456434414Hz 21:32:27.413 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2528.4258273641412Hz 21:32:28.025 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1927.1201694324052Hz 21:32:28.590 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1743.563634841981Hz 21:32:29.177 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2016.4339365831527Hz 21:32:29.787 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2514.4012330623646Hz 21:32:30.396 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1995.4463913349737Hz 21:32:31.002 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2554.872269160903Hz 21:32:31.601 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1107.2504977090987Hz 21:32:32.160 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2224.852492279762Hz 21:32:32.733 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1714.442463310931Hz 21:32:33.321 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2266.453317861012Hz 21:32:33.922 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1362.379259138159Hz 21:32:34.526 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1628.2269422712138Hz 21:32:35.170 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1471.5598976382935Hz 21:32:35.754 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1511.7569336731763Hz 21:32:36.357 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1775.9055786521942Hz 21:32:36.942 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2903.170552560451Hz 21:32:37.540 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1834.653672426256Hz 21:32:38.155 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1273.8999555408916Hz 21:32:38.793 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1457.4242649480718Hz 21:32:39.401 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1859.8526624720791Hz 21:32:40.023 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1975.2891329468348Hz 21:32:40.437 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: FinishedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 75.45353205651716, y: 53.82487669715796 }, Coord { x: 75.45378875135948, y: 73.86659167562432 }, Coord { x: 55.46298946926854, y: 73.86688790753797 }, Coord { x: 55.462732773520074, y: 53.825092554496884 }, Coord { x: 75.45353205651716, y: 53.82487669715796 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:32:40.438 INFO [peripherals/payload/src/lib.rs:78] Dropping payload: payload is stopping 21:32:40.438 INFO [peripherals/payload/src/lib.rs:68] Mocked payload is stopping 21:32:40.438 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:32:40.438 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:32:40.438 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:32:40.439 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:32:40.443 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:32:40.443 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:32:40.447 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:32:40.447 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 55.51076968918331, y: 74.82483068560262, z: 19.063919705869747 } 21:32:40.644 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1889.0557554806232Hz 21:32:41.270 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1296.2569284932827Hz 21:32:41.885 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1666.2639862033343Hz 21:32:42.473 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2190.436554005213Hz 21:32:43.060 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 552.3686950565764Hz 21:32:43.672 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 960.7735379909072Hz 21:32:44.313 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1610.7443088376708Hz 21:32:44.940 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1625.741338050151Hz 21:32:45.561 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2324.2138927561223Hz 21:32:46.160 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1515.2318683566552Hz 21:32:46.746 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1355.1769793376168Hz 21:32:47.345 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2168.8398441905456Hz 21:32:47.962 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1975.3164456946001Hz 21:32:48.603 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1542.3078168787083Hz 21:32:49.216 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2234.1426142596383Hz 21:32:49.865 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1546.1901102588167Hz 21:32:50.457 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2145.1539898791634Hz 21:32:51.047 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1747.515469880697Hz 21:32:51.650 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2517.99104602384Hz 21:32:52.253 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1625.6541225775723Hz 21:32:52.857 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1453.564430696955Hz 21:32:53.451 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2252.110227282964Hz 21:32:54.049 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2557.917650399163Hz 21:32:54.666 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2014.4597923897738Hz 21:32:55.301 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1750.200835545879Hz 21:32:55.916 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 952.4371915294046Hz 21:32:56.527 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2014.4395023528655Hz 21:32:57.107 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1999.9880000719997Hz 21:32:57.730 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2115.945340899954Hz 21:32:58.336 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1874.8886784847152Hz 21:32:58.938 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2538.3545370548995Hz 21:32:59.602 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 957.7544106984998Hz 21:33:00.242 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1713.5053349988607Hz 21:33:00.909 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1684.0857266998319Hz 21:33:01.527 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1551.2485999981386Hz 21:33:02.160 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1768.6093071296177Hz 21:33:02.797 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1933.3646538407256Hz 21:33:03.469 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1120.036557993253Hz 21:33:04.108 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2341.262408690766Hz 21:33:04.770 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 451.79055893269003Hz 21:33:05.419 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1740.0473640892506Hz 21:33:06.173 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1970.5986678753004Hz 21:33:06.923 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 816.1506418208647Hz 21:33:07.755 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2126.9943230521517Hz 21:33:08.488 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1130.8315569854292Hz 21:33:09.363 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1801.6200167190339Hz 21:33:10.108 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2353.08512991383Hz 21:33:10.786 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1301.546106620054Hz 21:33:11.484 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1806.1528402656488Hz 21:33:12.157 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1749.236458285958Hz 21:33:12.809 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1656.290009755548Hz 21:33:13.489 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2172.666122051692Hz 21:33:14.139 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2927.3062050109625Hz 21:33:14.757 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1846.7527622804444Hz 21:33:15.405 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2115.0458013168277Hz 21:33:16.039 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1464.514806244691Hz 21:33:16.687 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2093.3245971920146Hz 21:33:17.406 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1626.97392611586Hz 21:33:18.115 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1230.4936002027853Hz 21:33:18.855 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 694.6137565476029Hz 21:33:19.623 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1449.0002622690474Hz 21:33:20.426 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1297.6564324829358Hz 21:33:21.199 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2295.0149979230114Hz 21:33:21.953 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1251.5957846253973Hz 21:33:22.749 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2729.2650907890034Hz 21:33:23.496 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1646.7682173734045Hz 21:33:24.167 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1972.6239251665388Hz 21:33:24.879 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1392.594738220041Hz 21:33:25.659 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1791.1517105498838Hz 21:33:26.447 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1426.014787773349Hz 21:33:27.173 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 577.7097620817887Hz 21:33:27.882 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2123.692336443835Hz 21:33:28.630 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1776.3503815600618Hz 21:33:29.498 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2107.17958227272Hz 21:33:30.227 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1854.6991585229919Hz 21:33:30.933 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2384.830569712175Hz 21:33:31.656 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 579.7346786269795Hz 21:33:32.395 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1662.7232413791955Hz 21:33:33.113 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1740.4259170304158Hz 21:33:33.842 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1498.5202112913498Hz 21:33:34.569 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1351.4335331202572Hz 21:33:35.331 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2678.2653411038737Hz 21:33:36.066 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2481.0201955043913Hz 21:33:36.835 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2058.4009518046Hz 21:33:37.596 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1906.1960903918184Hz 21:33:38.330 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1687.698199057252Hz 21:33:39.067 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2083.0382362498644Hz 21:33:39.813 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2195.317388011372Hz 21:33:40.565 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2343.023296680639Hz 21:33:41.275 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 505.6427199330934Hz 21:33:42.134 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1375.801576393446Hz 21:33:42.939 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 535.5205420324719Hz 21:33:43.702 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1714.333715629752Hz 21:33:44.471 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1800.5008993501992Hz 21:33:45.233 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1687.9916275615274Hz 21:33:45.998 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1567.250728771589Hz 21:33:46.731 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1157.5387023065116Hz 21:33:47.441 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 534.7253303132047Hz 21:33:48.177 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1885.4975073722953Hz 21:33:49.010 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2194.122822607364Hz 21:33:49.821 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 453.37040089731073Hz 21:33:50.602 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2132.837377548474Hz 21:33:51.364 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 758.8462501612547Hz 21:33:52.135 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1532.158474215305Hz 21:33:52.902 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2004.3454208724515Hz 21:33:53.599 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2463.04205398003Hz 21:33:54.300 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1661.0578280672264Hz 21:33:55.021 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1222.422156157096Hz 21:33:55.730 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1150.395851212402Hz 21:33:56.450 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2204.9744222967015Hz 21:33:57.217 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1938.4578404804272Hz 21:33:57.923 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 673.4256150901211Hz 21:33:58.655 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1032.5927578074338Hz 21:33:59.360 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1262.5832200164893Hz 21:34:00.096 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1711.3295147867425Hz 21:34:00.834 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1960.8189164122505Hz 21:34:01.587 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1966.2744604542881Hz 21:34:02.314 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1952.491965495562Hz 21:34:03.033 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1726.3136815538205Hz 21:34:03.825 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 651.0692184239567Hz 21:34:04.546 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2072.075058846932Hz 21:34:05.264 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1644.309537981906Hz 21:34:05.966 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2163.0601244192185Hz 21:34:06.677 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1951.3756222449013Hz 21:34:07.416 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1307.194668737263Hz 21:34:08.130 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1418.4437402659298Hz 21:34:08.791 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 692.7208203477043Hz 21:34:09.480 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2080.2000320350803Hz 21:34:10.180 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1205.7344731543221Hz 21:34:10.899 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1322.7180798366178Hz 21:34:11.594 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1546.9220119267686Hz 21:34:12.316 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1431.7847626601988Hz 21:34:12.998 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2369.381899343918Hz 21:34:13.699 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1747.1460369486445Hz 21:34:14.416 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2272.27281816364Hz 21:34:15.139 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 705.0396232268254Hz 21:34:15.776 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1380.834023750345Hz 21:34:16.418 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2642.9645604882085Hz 21:34:17.233 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3241.9429612555396Hz 21:34:18.135 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2244.2457538870335Hz 21:34:18.880 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1512.2118669314045Hz 21:34:19.491 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 513.8917795301487Hz 21:34:20.076 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1526.9157066184162Hz 21:34:20.660 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2169.804565702767Hz 21:34:21.319 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1885.8032956298393Hz 21:34:21.870 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3036.6985013892895Hz 21:34:22.516 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3971.815993708643Hz 21:34:23.015 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3031.1113266568054Hz 21:34:23.471 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1354.9217532687487Hz 21:34:24.001 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2503.2228994830843Hz 21:34:24.454 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1755.544007977192Hz 21:34:24.909 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2299.4479025585956Hz 21:34:25.411 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1223.068041721297Hz 21:34:25.927 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1831.4783510101518Hz 21:34:26.394 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1035.8937173046045Hz 21:34:26.952 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1652.955401610309Hz 21:34:27.463 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2759.6560364716142Hz 21:34:27.938 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 764.9575984003206Hz 21:34:28.447 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3328.93913367688Hz 21:34:28.941 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2656.3105970854963Hz 21:34:29.483 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2600.7328865274235Hz 21:34:29.975 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 859.7587345039235Hz 21:34:30.549 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2864.960105430532Hz 21:34:31.197 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3740.289273972449Hz 21:34:31.880 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2445.501988193116Hz 21:34:32.497 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2384.745261511165Hz 21:34:33.087 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1458.7466448827167Hz 21:34:33.722 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1840.7527942627416Hz 21:34:34.440 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2218.972660037856Hz 21:34:35.104 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 717.2911642639804Hz 21:34:35.705 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1422.4103596991317Hz 21:34:36.448 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2267.476004435183Hz 21:34:37.497 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1924.0500483898586Hz 21:34:38.568 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2344.3470758958924Hz 21:34:39.474 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 928.0673554163867Hz 21:34:40.207 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 513.455617923298Hz 21:34:41.110 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1344.5739717370552Hz 21:34:41.766 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3878.795401300172Hz 21:34:42.580 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2253.993513006669Hz 21:34:43.236 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1340.7413763514674Hz 21:34:44.490 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 372.82799729476005Hz 21:34:45.599 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2488.2678172417054Hz 21:34:46.265 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 21:34:46.266 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 21:34:46.266 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 21:34:46.266 INFO [utilities/simulator/src/simulator.rs:202] Simulator dropped: Simulator() 21:34:46.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 21:34:46.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 21:34:46.266 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send position goal request': utilities/python_bindings/src/rust_control_handle.rs:59 21:34:46.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 21:34:46.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 21:34:46.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 21:34:46.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 21:34:46.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 21:34:46.266 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 21:38:04.143 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 21:38:04.143 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 21:38:04.143836156 +01:00 21:38:04.143 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 21:38:04.143 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 21:38:04.143 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 21:38:04.143 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 21:38:04.144 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 21:38:04.144 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:38:04.144 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 21:38:04.455 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 21:38:04.455 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:38:05.791 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 21:38:05.791 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:38:06.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 21:38:06.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 21:38:06.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 21:38:06.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 21:38:06.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 21:38:06.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 21:38:06.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 21:38:06.116 WARN [robot_core/launch/src/lib.rs:308] Magnetometer not enabled 21:38:06.116 WARN [robot_core/launch/src/lib.rs:288] IMU not enabled 21:38:06.116 WARN [robot_core/launch/src/lib.rs:325] Can Magnetometer not enabled 21:38:06.116 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 21:38:06.116 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 21:38:06.116 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 21:38:06.116 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:38:06.116 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:38:06.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 21:38:06.119 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 21:38:06.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 21:38:06.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 21:38:06.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 21:38:06.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 21:38:06.120 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 21:38:06.120 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:38:06.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:38:06.120 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 21:38:06.120 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 21:38:06.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:38:06.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:38:06.439 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:38:06.439 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 21:38:06.439 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T21:38:06.439134090+01:00_task_executor': Tried to start logging but no MongoDB client configured 21:38:06.439 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 21:38:06.439 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:38:06.446 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:38:06.446 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:38:06.487 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 21:38:06.488 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:38:06.576 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 21:38:06.578 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 831.7184134139546Hz 21:38:06.581 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:38:06.584 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:38:06.584 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0.00004000000000000002, Enable control depth: 0.2, Depth control enabled: true 21:38:06.584 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9992589934978323 } 21:38:06.584 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 21:38:06.585 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 21:38:06.653 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20872, Enable control depth: 0.2, Depth control enabled: false 21:38:06.653 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 21:38:06.653 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 21:38:07.106 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3328.872643990386Hz 21:38:07.522 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 5028.992139685286Hz 21:38:07.924 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 6558.839347789015Hz 21:38:08.336 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3628.368032626285Hz 21:38:08.810 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2121.8087995654537Hz 21:38:09.187 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4266.684871188783Hz 21:38:09.573 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3096.3011586358934Hz 21:38:09.973 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3516.7432144439676Hz 21:38:10.377 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2680.1172819322574Hz 21:38:10.770 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3612.74286663921Hz 21:38:11.311 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1489.003707619232Hz 21:38:11.926 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1753.3739297843877Hz 21:38:12.398 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2565.6287843024566Hz 21:38:12.873 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2304.4926083399587Hz 21:38:13.338 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4920.315490629259Hz 21:38:13.818 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3141.9172607508553Hz 21:38:14.310 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2479.027427959463Hz 21:38:14.721 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2905.1103796688753Hz 21:38:15.118 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2099.9712303941437Hz 21:38:15.512 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4071.594925164085Hz 21:38:15.928 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2330.426514660713Hz 21:38:16.322 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1645.9361014686688Hz 21:38:16.724 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1382.9537125392412Hz 21:38:17.136 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3937.550449865139Hz 21:38:17.542 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4334.088909499889Hz 21:38:17.977 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2013.3322864005443Hz 21:38:18.370 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4151.772183956722Hz 21:38:18.780 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3503.326408424799Hz 21:38:19.194 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3380.239794211001Hz 21:38:19.636 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2485.336514564072Hz 21:38:20.161 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3562.8141956768814Hz 21:38:20.549 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4054.4759387125414Hz 21:38:20.959 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2875.3231144349847Hz 21:38:21.349 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1606.4437672391496Hz 21:38:21.748 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4261.5391827220155Hz 21:38:22.181 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3394.9978102264126Hz 21:38:22.567 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2464.444230859278Hz 21:38:22.970 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3182.5342520248873Hz 21:38:23.400 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3046.6069937910147Hz 21:38:23.784 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2519.2280077692994Hz 21:38:24.197 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4248.720073077985Hz 21:38:24.595 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4018.1943841715283Hz 21:38:24.990 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2206.599497777954Hz 21:38:25.383 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2193.882140263661Hz 21:38:25.752 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2835.021588689398Hz 21:38:26.196 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3716.159720544789Hz 21:38:26.657 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2095.061311969295Hz 21:38:27.091 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1513.292000284499Hz 21:38:27.502 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 883.2775249150508Hz 21:38:27.950 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4622.781065088758Hz 21:38:28.358 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1753.1372390893505Hz 21:38:28.850 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1651.6040378415516Hz 21:38:29.356 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3911.4601872024846Hz 21:38:29.782 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4250.507935698316Hz 21:38:30.223 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2067.0510003493314Hz 21:38:30.628 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3365.4056491699225Hz 21:38:31.047 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2811.610828075621Hz 21:38:31.474 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1716.6085308577549Hz 21:38:31.909 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3095.266100026619Hz 21:38:32.382 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3451.703760976418Hz 21:38:32.837 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2352.3157372275136Hz 21:38:33.240 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2567.2359084420987Hz 21:38:33.646 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2904.2329194801423Hz 21:38:34.057 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3399.556697806606Hz 21:38:34.470 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4544.834795255193Hz 21:38:34.880 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2117.482144331818Hz 21:38:35.344 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3017.6654133296315Hz 21:38:35.772 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3553.988641452302Hz 21:38:36.193 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3138.239447669857Hz 21:38:36.601 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3881.0835985407125Hz 21:38:37.009 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4079.052028308621Hz 21:38:37.410 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3743.888102672387Hz 21:38:37.827 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1783.3736078539773Hz 21:38:38.254 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1496.647509578544Hz 21:38:38.675 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2362.8987096210144Hz 21:38:39.089 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2614.0715471382455Hz 21:38:39.507 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1485.1999821776003Hz 21:38:39.911 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2639.0028791521413Hz 21:38:40.307 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 815.7478490768589Hz 21:38:40.696 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2669.877639507781Hz 21:38:41.124 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 898.4047924505248Hz 21:38:41.519 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3687.28844182565Hz 21:38:41.915 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3664.560765746618Hz 21:38:42.325 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2356.9285449973013Hz 21:38:42.736 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2588.8560104175567Hz 21:38:43.139 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3275.7457235139577Hz 21:38:43.539 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 967.2077871833362Hz 21:38:43.973 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3661.648987004808Hz 21:38:44.377 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1384.7864590040892Hz 21:38:44.784 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2873.7201169029345Hz 21:38:45.238 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1789.6034775574776Hz 21:38:45.726 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1314.991827325793Hz 21:38:46.155 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3929.4120420761437Hz 21:38:46.539 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1706.382724581296Hz 21:38:46.980 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1771.6486608107773Hz 21:38:47.372 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2725.634868501746Hz 21:38:47.790 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1086.64706355364Hz 21:38:48.251 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4311.422683257021Hz 21:38:48.671 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2965.6342305365424Hz 21:38:49.192 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2565.056238858037Hz 21:38:49.675 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1476.9325292912642Hz 21:38:50.215 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1032.450966322482Hz 21:38:50.717 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2587.8577713368873Hz 21:38:51.182 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3971.9422002971014Hz 21:38:51.616 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3383.693978716565Hz 21:38:52.065 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3594.5104636199594Hz 21:38:52.504 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2668.8729349595665Hz 21:38:52.943 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4107.467787183879Hz 21:38:53.403 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2571.9635398448595Hz 21:38:53.889 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3271.2558023899796Hz 21:38:54.395 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1343.3276913570296Hz 21:38:54.910 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3545.508372718022Hz 21:38:55.413 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1893.4624422257273Hz 21:38:55.871 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2312.470226945828Hz 21:38:56.325 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3079.6236699875276Hz 21:38:56.767 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1838.8471164118946Hz 21:38:57.210 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2035.2505393413928Hz 21:38:57.700 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2409.917291638551Hz 21:38:58.177 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3799.2188805981496Hz 21:38:58.629 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3475.1181540172365Hz 21:38:59.079 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1639.5109011079815Hz 21:38:59.550 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2338.431894340293Hz 21:39:00.005 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1315.7704296385184Hz 21:39:00.445 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3020.719112391896Hz 21:39:00.899 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1266.0663823925615Hz 21:39:01.347 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3434.9624215111085Hz 21:39:01.796 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2692.89184269203Hz 21:39:02.252 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3597.5881768862155Hz 21:39:02.709 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2418.584402549188Hz 21:39:03.176 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3242.5526671616963Hz 21:39:03.606 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3430.9907672038453Hz 21:39:04.072 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 714.5005748157124Hz 21:39:04.605 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1592.278088183545Hz 21:39:05.078 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2603.9157685327195Hz 21:39:05.536 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2170.7041764348355Hz 21:39:05.950 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4164.9486253587065Hz 21:39:06.354 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2542.161752667999Hz 21:39:06.770 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3330.2140328558917Hz 21:39:07.206 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3481.6638175051094Hz 21:39:07.641 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3528.481905944786Hz 21:39:08.066 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 632.5810889883447Hz 21:39:08.490 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2283.662903951422Hz 21:39:08.898 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3417.4247653937896Hz 21:39:09.310 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2605.367578284782Hz 21:39:09.731 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3944.2752788602625Hz 21:39:10.096 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3436.87491837422Hz 21:39:10.468 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3349.6573300551354Hz 21:39:10.817 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3079.7943929263283Hz 21:39:11.175 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3444.178477328695Hz 21:39:11.549 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2806.3085816916428Hz 21:39:11.937 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 5168.012072476201Hz 21:39:12.324 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2134.148293428317Hz 21:39:12.705 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3341.1293017039757Hz 21:39:13.101 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2835.8175094716303Hz 21:39:13.655 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 843.4320261261504Hz 21:39:14.068 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3383.1330518566633Hz 21:39:14.478 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3423.9422586377505Hz 21:39:14.896 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2467.1620728108874Hz 21:39:15.323 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1655.1112317503298Hz 21:39:15.729 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1863.9398469332596Hz 21:39:16.141 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1904.609535999025Hz 21:39:16.559 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3003.679507396561Hz 21:39:16.961 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3070.140428223187Hz 21:39:17.369 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2096.326188354908Hz 21:39:17.783 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3005.9819039889376Hz 21:39:18.204 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 773.9500786720256Hz 21:39:18.596 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3698.5120885867614Hz 21:39:19.017 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3886.2268235147812Hz 21:39:19.401 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4660.939925145305Hz 21:39:19.772 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3064.1854935330366Hz 21:39:20.152 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2309.5541636642465Hz 21:39:20.539 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3542.531634807499Hz 21:39:20.929 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3827.6193356018357Hz 21:39:21.320 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3679.230010743352Hz 21:39:21.698 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4818.905530175986Hz 21:39:22.086 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3713.510121171835Hz 21:39:22.492 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 700.4292230278714Hz 21:39:22.886 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3661.219991725643Hz 21:39:23.313 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 993.0387980258389Hz 21:39:23.742 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3237.8596452600973Hz 21:39:24.142 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4150.324762912698Hz 21:39:24.579 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3599.4658392694523Hz 21:39:25.024 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1701.4210268416182Hz 21:39:25.460 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2805.3717257805247Hz 21:39:25.881 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2895.453847913391Hz 21:39:26.293 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1827.5421568287027Hz 21:39:26.714 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1746.1697765950387Hz 21:39:27.132 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2716.3505287376306Hz 21:39:27.536 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2693.3632835330463Hz 21:39:27.948 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4457.420490761996Hz 21:39:28.310 INFO [peripherals/payload/src/lib.rs:63] Mocked payload is starting 21:39:28.312 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 57.69303932998718, y: 52.553581037168826 }, Coord { x: 57.693290912578895, y: 72.5952958339195 }, Coord { x: 37.70249217590715, y: 72.59558696580694 }, Coord { x: 37.702240592381315, y: 52.55379179494586 }, Coord { x: 57.69303932998718, y: 52.553581037168826 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })] 21:39:28.312 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:39:28.312 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:39:28.310973211+01:00_surveyPolygon/surveyPolygon_rust.log" 21:39:28.312 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:39:28.312 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 57.69303932998718, y: 52.553581037168826 }, Coord { x: 57.693290912578895, y: 72.5952958339195 }, Coord { x: 37.70249217590715, y: 72.59558696580694 }, Coord { x: 37.702240592381315, y: 52.55379179494586 }, Coord { x: 57.69303932998718, y: 52.553581037168826 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:39:28.313 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 57.69303932998718, y: 52.553581037168826 }, Coord { x: 57.693290912578895, y: 72.5952958339195 }, Coord { x: 37.70249217590715, y: 72.59558696580694 }, Coord { x: 37.702240592381315, y: 52.55379179494586 }, Coord { x: 57.69303932998718, y: 52.553581037168826 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (57.69306412551941 m^1, 53.553581037168826 m^1), end: (37.702240379791874 m^1, 53.553581037168826 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.7022651753241 m^1, 55.553581037168826 m^1), end: (57.69308892105164 m^1, 55.553581037168826 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (57.693113716583866 m^1, 57.553581037168826 m^1), end: (37.70228997085633 m^1, 57.553581037168826 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.702314766388554 m^1, 59.553581037168826 m^1), end: (57.69313851211609 m^1, 59.553581037168826 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (57.69316330764832 m^1, 61.553581037168826 m^1), end: (37.70233956192078 m^1, 61.553581037168826 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.70236435745301 m^1, 63.553581037168826 m^1), end: (57.69319001052918 m^1, 63.553581037168826 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (57.693214806061405 m^1, 65.55358103716883 m^1), end: (37.702391060333866 m^1, 65.55358103716883 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.70241585586609 m^1, 67.55358103716883 m^1), end: (57.69323960159363 m^1, 67.55358103716883 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (57.69326439712586 m^1, 69.55358103716883 m^1), end: (37.70244065139832 m^1, 69.55358103716883 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (37.702465446930546 m^1, 71.55358103716883 m^1), end: (57.693289192658085 m^1, 71.55358103716883 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (57.69329110000672 m^1, 73.55358103716883 m^1), end: (37.70249024246277 m^1, 73.55358103716883 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }] 21:39:28.315 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 57.69303932998718, y: 52.553581037168826 }, Coord { x: 57.693290912578895, y: 72.5952958339195 }, Coord { x: 37.70249217590715, y: 72.59558696580694 }, Coord { x: 37.702240592381315, y: 52.55379179494586 }, Coord { x: 57.69303932998718, y: 52.553581037168826 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:39:28.354 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3130.6841484069514Hz 21:39:28.848 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2538.3674236078323Hz 21:39:29.268 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1906.7958203035616Hz 21:39:29.750 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3531.9589303815574Hz 21:39:30.189 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3052.223544852425Hz 21:39:30.626 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4160.079873533572Hz 21:39:31.057 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3816.8521656819184Hz 21:39:31.501 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3953.00665686321Hz 21:39:31.961 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3711.800928692592Hz 21:39:32.388 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3529.191709222837Hz 21:39:32.821 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4495.452849442789Hz 21:39:33.269 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1849.2013299455964Hz 21:39:33.786 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2230.0123988689375Hz 21:39:34.344 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3019.5060088169575Hz 21:39:34.906 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2282.7662561492016Hz 21:39:35.473 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2494.704988661566Hz 21:39:36.007 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1777.0669509973786Hz 21:39:36.542 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1471.1961854825304Hz 21:39:37.071 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2639.4068724876147Hz 21:39:37.610 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2143.87088751967Hz 21:39:38.129 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2566.35305832294Hz 21:39:38.655 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1715.2894036281803Hz 21:39:39.361 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2954.3493931766347Hz 21:39:39.938 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1029.9074834107653Hz 21:39:40.504 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2213.824448148911Hz 21:39:41.142 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2006.4527520505949Hz 21:39:41.752 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1269.0129870789099Hz 21:39:42.346 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1179.1104083613077Hz 21:39:42.938 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1281.3875889923681Hz 21:39:43.515 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1827.5354770324477Hz 21:39:44.111 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2384.4382025151053Hz 21:39:44.638 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1332.5036277411266Hz 21:39:45.226 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2470.94172531035Hz 21:39:45.762 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2012.5016603138697Hz 21:39:46.318 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2477.013316423589Hz 21:39:46.868 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1410.0712932045844Hz 21:39:47.422 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2614.433765934974Hz 21:39:47.984 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2923.720141508055Hz 21:39:48.569 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2672.153488496379Hz 21:39:49.116 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2647.141352053917Hz 21:39:49.709 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1937.301184465944Hz 21:39:50.311 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1849.29366228569Hz 21:39:50.915 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2534.886373718298Hz 21:39:51.505 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 825.0368997753424Hz 21:39:52.104 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1341.946842801663Hz 21:39:52.747 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2267.949116293627Hz 21:39:53.348 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1397.508800811673Hz 21:39:53.965 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3021.9423232088193Hz 21:39:54.552 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2021.88079395215Hz 21:39:55.142 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1796.8741577152384Hz 21:39:55.758 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1827.6390193620077Hz 21:39:56.357 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1841.1255905410333Hz 21:39:56.962 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1979.0497790390923Hz 21:39:57.537 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 863.7846204875892Hz 21:39:58.125 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1296.7023562378515Hz 21:39:58.696 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1036.094421356807Hz 21:39:59.278 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2507.7552330582325Hz 21:39:59.600 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: FinishedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 57.69303932998718, y: 52.553581037168826 }, Coord { x: 57.693290912578895, y: 72.5952958339195 }, Coord { x: 37.70249217590715, y: 72.59558696580694 }, Coord { x: 37.702240592381315, y: 52.55379179494586 }, Coord { x: 57.69303932998718, y: 52.553581037168826 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:39:59.601 INFO [peripherals/payload/src/lib.rs:78] Dropping payload: payload is stopping 21:39:59.601 INFO [peripherals/payload/src/lib.rs:68] Mocked payload is stopping 21:39:59.601 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:39:59.601 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:39:59.602 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:39:59.604 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:39:59.605 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:39:59.605 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:39:59.608 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:39:59.609 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 37.74794793554429, y: 73.5535981011627, z: 19.018136850390036 } 21:39:59.981 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1967.9460940205927Hz 21:40:00.782 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1533.9023088297552Hz 21:40:01.836 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 885.1962435812208Hz 21:40:03.378 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1472.355061367759Hz 21:40:04.234 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2146.268176208617Hz 21:40:04.923 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2196.8558598933205Hz 21:40:05.478 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1594.8225680151954Hz 21:40:06.083 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1678.643790109095Hz 21:40:06.767 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1335.7287402074387Hz 21:40:07.376 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2064.7463149440146Hz 21:40:08.023 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1823.612868871293Hz 21:40:08.717 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1624.8880858330883Hz 21:40:09.453 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2016.1778107534858Hz 21:40:10.086 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2078.777346315991Hz 21:40:10.731 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1544.313297927377Hz 21:40:11.389 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2351.126659895422Hz 21:40:12.160 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1388.0271553632674Hz 21:40:12.931 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2390.868793902328Hz 21:40:13.596 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3032.94996845732Hz 21:40:14.268 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 554.0731021888104Hz 21:40:14.979 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2219.5883107601203Hz 21:40:15.619 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2372.1809594523106Hz 21:40:16.393 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2114.419708083215Hz 21:40:17.143 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2099.314363928741Hz 21:40:17.786 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3457.025713357256Hz 21:40:18.544 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1695.133610431174Hz 21:40:19.305 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2294.462086308486Hz 21:40:20.017 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 836.4148249509234Hz 21:40:20.750 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1791.7325874947815Hz 21:40:21.485 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 794.1247474683304Hz 21:40:22.348 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2256.190422471657Hz 21:40:23.264 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1585.8667554752049Hz 21:40:24.167 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1161.9057578239829Hz 21:40:24.949 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1301.424148445644Hz 21:40:25.705 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2399.3013234546097Hz 21:40:26.527 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3150.013072554251Hz 21:40:27.237 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2365.8111893406012Hz 21:40:28.037 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1682.131058195006Hz 21:40:28.721 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2120.0589376384664Hz 21:40:29.436 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2833.928930730275Hz 21:40:30.177 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1133.2561963615676Hz 21:40:30.814 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1905.763792012563Hz 21:40:31.417 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1488.9726684176985Hz 21:40:32.008 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1501.5691397510398Hz 21:40:32.590 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1728.3575072936685Hz 21:40:33.184 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2324.6569387522636Hz 21:40:33.783 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1395.3890763361546Hz 21:40:34.387 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1396.936796991557Hz 21:40:35.009 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1323.5303849488125Hz 21:40:35.591 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2966.135629517795Hz 21:40:36.156 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2205.159190441958Hz 21:40:36.783 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2231.8837992018784Hz 21:40:37.597 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 763.2463308840759Hz 21:40:38.217 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2046.4628935348146Hz 21:40:38.825 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1753.6199098990091Hz 21:40:39.525 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1238.9148097398527Hz 21:40:40.259 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2045.1654334319105Hz 21:40:40.908 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2731.4568224962786Hz 21:40:41.532 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2623.0058597950906Hz 21:40:42.177 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1914.6157940486082Hz 21:40:42.847 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2158.5870752440283Hz 21:40:43.517 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3339.7233373187364Hz 21:40:44.184 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3104.8379585069456Hz 21:40:44.868 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1112.2703439807267Hz 21:40:45.519 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3094.0019677852515Hz 21:40:46.142 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1004.5768521383422Hz 21:40:46.855 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1270.2300005461989Hz 21:40:47.485 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2476.3999088684836Hz 21:40:48.140 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1580.0134617146937Hz 21:40:48.895 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 646.254502778248Hz 21:40:49.571 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2595.1175458492394Hz 21:40:50.265 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1618.5158209921503Hz 21:40:50.986 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 940.3233207706137Hz 21:40:51.656 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1680.403969114175Hz 21:40:52.314 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2103.0803818352742Hz 21:40:52.932 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2519.812022023157Hz 21:40:53.714 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 653.3202059526618Hz 21:40:54.475 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 860.7163053236164Hz 21:40:55.155 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1820.2999854376Hz 21:40:55.923 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 941.3820241219731Hz 21:40:56.626 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1832.7438007440942Hz 21:40:57.299 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1544.5732961811968Hz 21:40:58.046 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1733.5619323668147Hz 21:40:58.723 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2191.353357920318Hz 21:40:59.433 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1213.6157983650166Hz 21:41:00.178 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2433.451193486138Hz 21:41:00.834 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2255.9919145249783Hz 21:41:01.470 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1605.0539940163587Hz 21:41:02.174 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1128.956144569608Hz 21:41:02.853 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2856.2941297443044Hz 21:41:03.487 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 717.9044655811473Hz 21:41:04.101 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1534.8510964208808Hz 21:41:04.790 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1210.7226440245388Hz 21:41:05.448 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1429.8153679415375Hz 21:41:06.914 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2716.0185341104766Hz 21:41:10.046 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 76.62280394254975Hz 21:41:13.114 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1387.4763608715016Hz 21:41:14.063 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1814.9380289410017Hz 21:41:15.110 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3787.548812035315Hz 21:41:15.741 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1873.1572815243005Hz 21:41:16.410 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2033.18979013415Hz 21:41:17.065 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1311.8280980460322Hz 21:41:17.724 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1133.520817676577Hz 21:41:18.326 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2396.053221134148Hz 21:41:18.944 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3124.316555753429Hz 21:41:19.582 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1451.442007634585Hz 21:41:20.180 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2169.2350409551573Hz 21:41:20.837 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2195.2210038745648Hz 21:41:21.548 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1958.8369992967775Hz 21:41:22.149 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1889.3055857319641Hz 21:41:22.809 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1369.5722141189199Hz 21:41:23.512 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2133.556361091613Hz 21:41:24.312 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 529.7407025209301Hz 21:41:25.229 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1796.7966708951283Hz 21:41:26.203 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 994.3718552990076Hz 21:41:27.474 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 855.9672472692505Hz 21:41:28.748 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2156.1389588436195Hz 21:41:29.702 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2088.284307378744Hz 21:41:30.717 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1515.3994896134518Hz 21:41:31.662 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1470.6596055396806Hz 21:41:32.309 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2033.148452367398Hz 21:41:33.461 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2487.617881992383Hz 21:41:34.161 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2598.9146932241097Hz 21:41:34.852 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2906.055929952428Hz 21:41:35.505 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2211.2495107610457Hz 21:41:36.142 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 819.0846728780588Hz 21:41:36.803 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2544.7170401887165Hz 21:41:37.474 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2177.4063606394607Hz 21:41:38.139 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1977.175486187452Hz 21:41:38.819 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 796.1948256890669Hz 21:41:39.450 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1593.8134536981252Hz 21:41:40.084 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1605.9406958219845Hz 21:41:40.678 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1265.5488495528184Hz 21:41:41.303 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1274.2489576643525Hz 21:41:42.008 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1461.1274351515117Hz 21:41:42.621 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2985.5291402571734Hz 21:41:43.255 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2074.4391753689392Hz 21:41:43.899 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1343.259122744332Hz 21:41:44.570 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1257.534201786453Hz 21:41:45.389 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2139.2708081523333Hz 21:41:46.058 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2004.8637995777758Hz 21:41:46.718 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2676.5592295791917Hz 21:41:47.455 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 934.486863918154Hz 21:41:48.315 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 603.9653951987167Hz 21:41:49.066 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2424.1190145471382Hz 21:41:49.862 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2437.2351030097416Hz 21:41:50.484 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2047.6487872800055Hz 21:41:51.111 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1773.5936732366488Hz 21:41:51.707 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2340.1720962559584Hz 21:41:52.338 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1503.4361032138954Hz 21:41:53.001 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2014.4557343496933Hz 21:41:53.715 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1709.6851956649223Hz 21:41:54.382 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1058.6144219277157Hz 21:41:55.123 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2520.980863234267Hz 21:41:55.727 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2161.7835579066154Hz 21:41:56.316 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2506.1651663091207Hz 21:41:57.004 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 634.3768833063723Hz 21:41:57.641 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 845.7567958672939Hz 21:41:58.291 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 655.8503821640177Hz 21:41:58.907 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1867.4833793979235Hz 21:41:59.631 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2456.169652550241Hz 21:42:00.388 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1830.3385943365663Hz 21:42:01.108 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1989.7211007933017Hz 21:42:01.803 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2220.99820543345Hz 21:42:02.652 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1164.883424291314Hz 21:42:03.747 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3252.7200871728983Hz 21:42:04.414 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1917.6411479766969Hz 21:42:05.151 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 742.9442583781824Hz 21:42:05.842 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2518.7267332618017Hz 21:42:06.587 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1320.2749340522669Hz 21:42:07.382 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1409.826774584207Hz 21:42:07.976 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2130.2748267553998Hz 21:42:08.631 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2125.6966970924723Hz 21:42:09.301 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2891.794821373834Hz 21:42:10.052 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1929.462702521229Hz 21:42:10.899 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1459.726155373252Hz 21:42:11.575 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1601.2400002561985Hz 21:42:12.229 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1119.583873066059Hz 21:42:12.861 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1820.0614452743926Hz 21:42:13.571 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1659.2525730859277Hz 21:42:14.191 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3686.6087623317067Hz 21:42:14.803 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2206.8234982566096Hz 21:42:15.457 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1880.4839613522936Hz 21:42:16.058 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2249.759275757494Hz 21:42:16.792 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3100.054250949391Hz 21:42:17.422 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3076.5538904562222Hz 21:42:18.046 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1602.8620705131082Hz 21:42:18.737 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1867.9996712320578Hz 21:42:19.401 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 892.8746814669574Hz 21:42:20.035 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1389.5836807292535Hz 21:42:20.702 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2045.495920258387Hz 21:42:21.334 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 904.7718572523345Hz 21:42:21.945 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2906.207950803712Hz 21:42:22.540 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1774.2922791671472Hz 21:42:23.187 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 903.2991193736885Hz 21:42:23.804 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2925.858739540055Hz 21:42:24.404 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4131.3778145011365Hz 21:42:25.166 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1643.3340618781008Hz 21:42:26.096 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1883.65776198854Hz 21:42:27.130 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 816.5905059921412Hz 21:42:28.047 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1661.3199851810257Hz 21:42:29.092 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 520.4058957824744Hz 21:42:29.880 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 388.2145817279043Hz 21:42:30.960 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 911.7440843764444Hz 21:42:31.670 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3130.742956611033Hz 21:42:32.404 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1018.1277648532115Hz 21:42:33.198 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1075.2295077384267Hz 21:42:33.876 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 837.1717658798926Hz 21:42:34.546 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2004.2208891926396Hz 21:42:35.194 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1451.5052109037072Hz 21:42:35.820 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2033.7562868491218Hz 21:42:36.493 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2387.6548692639576Hz 21:42:37.172 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2127.949337782166Hz 21:42:37.847 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2208.4610559977386Hz 21:42:38.453 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3452.72869148488Hz 21:42:39.049 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1999.9960000079998Hz 21:42:39.601 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 611.7641013154763Hz 21:42:40.236 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2226.1104952205405Hz 21:42:40.840 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1777.6829680194835Hz 21:42:41.427 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3432.8399198088596Hz 21:42:41.989 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2115.229227391372Hz 21:42:42.665 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2657.9839191972887Hz 21:42:43.306 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2635.560030150807Hz 21:42:44.012 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2060.92931424638Hz 21:42:44.640 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1485.7030792682021Hz 21:42:45.320 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1911.7498054794573Hz 21:42:46.134 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 636.5380477887304Hz 21:42:46.863 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1740.7046372371535Hz 21:42:47.564 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1443.8556721870082Hz 21:42:48.321 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2311.192875979079Hz 21:42:49.020 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 657.2629860377624Hz 21:42:49.398 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 21:42:49.398 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 21:42:49.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 21:42:49.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'control' stopped 21:42:49.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 21:42:49.398 INFO [utilities/simulator/src/simulator.rs:202] Simulator dropped: Simulator() 21:42:49.398 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 21:42:49.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 21:42:49.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'state_estimator' stopped 21:42:49.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 21:42:49.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 21:42:49.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 21:42:49.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 21:42:49.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 21:42:49.399 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send position goal request': utilities/python_bindings/src/rust_control_handle.rs:59 21:42:49.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 21:42:49.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 21:42:49.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 21:42:49.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 21:42:49.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 21:42:49.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 21:42:49.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 21:42:49.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 21:42:49.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 21:42:49.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 21:42:49.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 21:42:49.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 21:43:00.676 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 21:43:00.676 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 21:43:00.676456151 +01:00 21:43:00.676 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 21:43:00.676 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 21:43:00.676 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 21:43:00.676 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 21:43:00.676 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 21:43:00.676 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:43:00.677 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 21:43:00.945 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 21:43:00.945 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:43:02.323 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 21:43:02.323 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:43:02.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 21:43:02.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 21:43:02.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 21:43:02.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 21:43:02.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 21:43:02.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 21:43:02.612 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 21:43:02.613 WARN [robot_core/launch/src/lib.rs:308] Magnetometer not enabled 21:43:02.613 WARN [robot_core/launch/src/lib.rs:288] IMU not enabled 21:43:02.613 WARN [robot_core/launch/src/lib.rs:325] Can Magnetometer not enabled 21:43:02.613 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 21:43:02.613 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 21:43:02.613 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 21:43:02.613 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:43:02.613 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:43:02.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 21:43:02.614 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 21:43:02.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 21:43:02.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 21:43:02.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 21:43:02.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 21:43:02.614 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 21:43:02.615 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 21:43:02.615 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:43:02.615 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:43:02.615 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 21:43:02.615 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 21:43:02.818 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:43:02.818 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:43:02.818 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:43:02.818 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 21:43:02.818 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T21:43:02.818301102+01:00_task_executor': Tried to start logging but no MongoDB client configured 21:43:02.818 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 21:43:02.818 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:43:02.829 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:43:02.829 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:43:02.854 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 21:43:02.856 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:43:02.940 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 21:43:02.942 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 958.8260900414405Hz 21:43:02.944 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:43:02.949 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0.00016000000000000007, Enable control depth: 0.2, Depth control enabled: true 21:43:02.949 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:43:02.949 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9987720431295442 } 21:43:02.949 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 21:43:02.949 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 21:43:03.016 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.2004, Enable control depth: 0.2, Depth control enabled: false 21:43:03.016 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 21:43:03.016 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 21:43:03.405 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1620.792827019265Hz 21:43:03.887 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3226.2955996554315Hz 21:43:04.359 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3344.604651007228Hz 21:43:04.804 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3176.206402596866Hz 21:43:05.267 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2733.711861302395Hz 21:43:05.688 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 5737.629670430551Hz 21:43:06.102 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2623.329267172969Hz 21:43:06.587 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 5115.377335809176Hz 21:43:07.008 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3772.246825654296Hz 21:43:07.367 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3935.4120179612205Hz 21:43:07.693 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4683.445892149608Hz 21:43:08.109 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 727.081835241802Hz 21:43:08.634 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1049.1329964916993Hz 21:43:09.143 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4334.765250787844Hz 21:43:09.634 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2188.849562558415Hz 21:43:10.094 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 5384.159801862919Hz 21:43:10.572 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3316.045681845313Hz 21:43:11.056 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2655.6192904185255Hz 21:43:11.538 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1031.297826436701Hz 21:43:12.013 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2131.9052410758445Hz 21:43:12.516 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2108.2191029949363Hz 21:43:13.001 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2754.2367046108675Hz 21:43:13.447 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3084.07813820371Hz 21:43:13.983 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3581.4951309573694Hz 21:43:14.478 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4405.810382732748Hz 21:43:14.931 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2937.48733208588Hz 21:43:15.433 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3169.592200267514Hz 21:43:15.939 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1350.8310988335572Hz 21:43:16.495 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1350.4698960003134Hz 21:43:17.032 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3261.9722536640106Hz 21:43:17.684 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1583.8347490176266Hz 21:43:18.332 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1240.956529292779Hz 21:43:18.953 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 587.6148419756786Hz 21:43:19.552 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3450.7508833922266Hz 21:43:20.195 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2371.4946344933896Hz 21:43:20.783 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 927.322920733364Hz 21:43:21.351 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 731.3796233248663Hz 21:43:22.079 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1466.166019843091Hz 21:43:22.641 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2686.879162983403Hz 21:43:23.208 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1996.6217160564324Hz 21:43:23.770 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1556.7279446676619Hz 21:43:24.341 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3216.4476265832964Hz 21:43:24.852 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1587.3066263702424Hz 21:43:25.460 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1085.1754186064177Hz 21:43:26.014 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2239.7319488803582Hz 21:43:26.585 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3885.185012510296Hz 21:43:27.232 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3301.332417763809Hz 21:43:27.748 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2621.355660293277Hz 21:43:28.367 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2620.94343479879Hz 21:43:29.066 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2508.5101205840815Hz 21:43:29.646 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2309.4688221709007Hz 21:43:30.111 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2860.3382636030537Hz 21:43:30.580 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3149.7551065404664Hz 21:43:31.040 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4200.145325028246Hz 21:43:31.614 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2159.239602181696Hz 21:43:32.316 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3243.77276723011Hz 21:43:33.048 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 543.3031637086526Hz 21:43:33.722 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2900.888251982757Hz 21:43:34.293 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1300.7148728941427Hz 21:43:34.799 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1680.2994965822709Hz 21:43:35.313 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1340.624543349765Hz 21:43:35.795 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1821.1552680558439Hz 21:43:36.504 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1540.4997381150445Hz 21:43:37.208 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2382.7053713327186Hz 21:43:37.791 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3585.887381620893Hz 21:43:38.333 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 627.6002261871215Hz 21:43:38.976 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2911.0471327641267Hz 21:43:39.508 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2347.274579485759Hz 21:43:40.054 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1506.945511864182Hz 21:43:40.591 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 483.12703003938935Hz 21:43:41.164 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1101.4356111756063Hz 21:43:41.753 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1894.1976936248882Hz 21:43:42.417 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2831.168904705686Hz 21:43:43.062 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1432.1087371521946Hz 21:43:43.728 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2472.102325259447Hz 21:43:44.428 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1428.5183693177112Hz 21:43:45.189 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 467.9277631836308Hz 21:43:45.778 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1017.1884504354583Hz 21:43:46.567 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 391.59542240615025Hz 21:43:47.111 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1811.5548212720012Hz 21:43:47.636 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2382.6429228357265Hz 21:43:48.171 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2119.389446288313Hz 21:43:48.650 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2547.5370411885788Hz 21:43:49.186 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4548.431700749582Hz 21:43:49.954 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1672.249191885578Hz 21:43:50.603 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2130.828615323641Hz 21:43:51.100 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1611.1958779164659Hz 21:43:51.790 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2462.756957904095Hz 21:43:52.523 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 942.7558639414736Hz 21:43:53.007 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3165.5086180972125Hz 21:43:53.478 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4181.5285159337145Hz 21:43:54.518 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 689.013202181967Hz 21:43:56.010 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2150.870672448207Hz 21:43:56.948 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2689.4010703816257Hz 21:43:57.571 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1554.943944270809Hz 21:43:58.117 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1547.4965374764975Hz 21:43:58.675 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1533.471856957745Hz 21:43:59.425 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1804.6827909058425Hz 21:43:59.993 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3221.607968969472Hz 21:44:00.519 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2365.5705401307214Hz 21:44:01.079 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3147.2272927550825Hz 21:44:01.597 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2733.913652071213Hz 21:44:02.128 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2801.936698646104Hz 21:44:02.630 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2150.4867626787322Hz 21:44:03.118 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3527.809724054723Hz 21:44:03.554 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1751.9792986126074Hz 21:44:03.979 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4309.230371455658Hz 21:44:04.378 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4895.313716179501Hz 21:44:04.796 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2667.6910600337196Hz 21:44:05.375 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2844.9340259799374Hz 21:44:05.998 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1153.1046188758614Hz 21:44:06.422 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3158.290354265429Hz 21:44:06.882 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1704.0100468432363Hz 21:44:07.600 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3591.025309546382Hz 21:44:08.092 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2372.777597183039Hz 21:44:08.565 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1204.5754594250802Hz 21:44:09.036 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2517.0213569262137Hz 21:44:09.478 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1950.199700449326Hz 21:44:09.977 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1650.380165071024Hz 21:44:10.454 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1547.1613457209385Hz 21:44:10.945 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3692.1077504725895Hz 21:44:11.455 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3918.9406319683662Hz 21:44:11.916 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2557.6167104445394Hz 21:44:12.499 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1649.3539480585455Hz 21:44:12.936 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4352.4813496174165Hz 21:44:13.386 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2201.508473606115Hz 21:44:13.819 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3354.601506886997Hz 21:44:14.242 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3466.9135109086433Hz 21:44:14.747 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2660.331530515333Hz 21:44:15.404 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2492.758536451608Hz 21:44:15.876 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2731.3672951542812Hz 21:44:16.388 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2158.2702758701066Hz 21:44:17.225 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3496.136768870398Hz 21:44:17.954 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1760.585077632999Hz 21:44:18.668 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1085.9921135252716Hz 21:44:19.392 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 950.8351660681159Hz 21:44:20.110 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2865.2309949228106Hz 21:44:20.778 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3151.124793995217Hz 21:44:21.434 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1847.7116091720404Hz 21:44:21.927 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1753.496911215191Hz 21:44:22.513 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2074.6801880490125Hz 21:44:22.947 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3559.301522669192Hz 21:44:23.372 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2504.671211810026Hz 21:44:23.910 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1288.0340350113413Hz 21:44:24.449 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2169.9458164529633Hz 21:44:24.925 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2010.4503207673488Hz 21:44:25.382 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1296.3745589085563Hz 21:44:25.825 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3350.0500832487446Hz 21:44:26.304 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3033.7044565118467Hz 21:44:26.736 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2146.268176208617Hz 21:44:27.125 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4690.783548483939Hz 21:44:27.597 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1013.5501519818454Hz 21:44:28.147 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1280.992000204959Hz 21:44:28.652 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1164.5754773012593Hz 21:44:29.323 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1084.936417301264Hz 21:44:29.857 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1853.870510852558Hz 21:44:30.311 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2986.5188538935245Hz 21:44:30.740 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3757.350316556764Hz 21:44:31.149 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1709.0102438074016Hz 21:44:31.557 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 5016.781132889516Hz 21:44:31.960 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 4695.45292338899Hz 21:44:32.386 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2401.986923583188Hz 21:44:32.816 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1072.041166380789Hz 21:44:33.265 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2555.0419921151406Hz 21:44:33.677 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3364.590377944437Hz 21:44:34.111 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3241.932451095449Hz 21:44:34.544 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2557.734461123715Hz 21:44:34.965 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1537.990676700518Hz 21:44:35.548 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1487.1790295859396Hz 21:44:36.063 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3093.217193338447Hz 21:44:36.511 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2694.241328584284Hz 21:44:37.001 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1964.3123728107737Hz 21:44:37.521 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2252.7900805147174Hz 21:44:38.039 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1313.0700365296084Hz 21:44:38.629 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 651.2786880121085Hz 21:44:39.159 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2176.188579797571Hz 21:44:39.668 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2964.992335494813Hz 21:44:40.137 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 3388.555492679026Hz 21:44:40.619 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2180.4876878762702Hz 21:44:41.142 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1751.509801448849Hz 21:44:41.685 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1639.1078008418458Hz 21:44:42.273 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1440.8848185493748Hz 21:44:42.809 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2028.9860953582886Hz 21:44:43.454 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2313.2833355695075Hz 21:44:44.231 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1262.780921400727Hz 21:44:44.775 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 5684.466626496435Hz 21:44:45.233 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2215.285915876733Hz 21:44:45.708 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 2633.7205780489926Hz 21:44:46.140 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1626.1378899885194Hz 21:44:46.587 INFO [robot_core/launch/src/simulator_runner.rs:95] Simulated robot code update rate: 1159.8627186486208Hz 21:44:47.121 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 21:44:47.121 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 21:44:47.121 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 21:44:47.122 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 21:44:47.122 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 21:44:47.122 INFO [utilities/simulator/src/simulator.rs:202] Simulator dropped: Simulator() 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'state_estimator' stopped 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'control' stopped 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 21:44:47.122 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send attitude goal request': utilities/python_bindings/src/rust_control_handle.rs:83 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 21:44:47.122 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 21:44:47.123 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 21:44:47.123 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 21:44:47.123 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 21:44:47.123 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 21:44:47.123 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 21:44:53.688 INFO [utilities/logging/src/logging.rs:121] ================================================================================ 21:44:53.688 INFO [utilities/logging/src/logging.rs:122] Starting new Rust log session at 2025-02-14 21:44:53.688096629 +01:00 21:44:53.688 INFO [utilities/logging/src/logging.rs:123] ================================================================================ 21:44:53.688 DEBUG [utilities/logging/src/logging.rs:124] Logging initialized with handle: Handle { shared: ArcSwapAny(SharedLogger { root: ConfiguredLogger { level: Warn, appenders: [0, 1, 2, 3], children: {"lobster_camera": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_control": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sonar": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_payload": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_simulator": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_communication": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_common": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_can": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_launch": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_logging": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_sensors": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"dvl": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {"nortek_dvl": ConfiguredLogger { level: Trace, appenders: [0, 1, 2, 3], children: {} }} }} }, "lobster_usbl_buoy": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_actuation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_path_planning": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_task_scheduler": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }, "lobster_state_estimation": ConfiguredLogger { level: Debug, appenders: [0, 1, 2, 3], children: {} }} }, appenders: [Appender { appender: ConsoleAppender { encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, do_write: true }, filters: [ThresholdFilter { level: Info }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 52428800 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log", append: true, encoder: PatternEncoder { pattern: "{d(%H:%M:%S%.3f)} {h({({l}):5.5})} [{f}:{L}] {m}{n}" }, policy: CompoundPolicy { trigger: SizeTrigger { limit: 104857600 }, roller: FixedWindowRoller { pattern: "/home/joris/Desktop/data_root/logs/2025-02-14/2025-02-14_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 21:44:53.688 INFO [utilities/logging/src/logging.rs:127] Logging to "/home/joris/Desktop/data_root" 21:44:53.688 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 21:44:53.688 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865]}) 21:44:53.688 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:44:53.691 INFO [utilities/simulator/src/simulator.rs:79] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: true, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 30.0, tilt: 10.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 20.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_update: 1, water_current: [0.0, 0.0, 0.0] } 21:44:53.991 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865]}) 21:44:53.991 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:44:55.311 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865]}) 21:44:55.311 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:44:55.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 21:44:55.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 21:44:55.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 21:44:55.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 21:44:55.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 21:44:55.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 21:44:55.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 21:44:55.607 WARN [robot_core/launch/src/lib.rs:308] Magnetometer not enabled 21:44:55.607 WARN [robot_core/launch/src/lib.rs:288] IMU not enabled 21:44:55.607 WARN [robot_core/launch/src/lib.rs:325] Can Magnetometer not enabled 21:44:55.607 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 21:44:55.607 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 21:44:55.607 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865]}) 21:44:55.608 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:44:55.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'state_estimator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 21:44:55.610 DEBUG [peripherals/actuation/src/lib.rs:85] Started simulated thruster module 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity_settings 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity_settings 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity_settings 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 21:44:55.610 DEBUG [utilities/common/src/robot_model.rs:51] Adding module 0, simulated_scout to robot model with POI: Some({"right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865]}) 21:44:55.610 DEBUG [utilities/common/src/robot_model.rs:110] RobotModel calculated. Info: - total mass: 55.000 kg, total length: 2.000 m, dvl location: Some(Vec3 { x: -0.76725, y: 0.0, z: 0.10174 }) 21:44:55.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'control' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:44:55.611 INFO [robot_core/control/src/control_safety.rs:48] Control starting... 21:44:55.611 INFO [robot_core/control/src/control_safety.rs:50] Starting at 0.02 21:44:55.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'path_planner' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:44:55.859 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'task_scheduler' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: true } 21:44:55.860 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'mock_task_manager' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:44:55.860 INFO [peripherals/communication/src/lib.rs:77] grpc listening on 0.0.0.0:10820 21:44:55.860 DEBUG [robot_core/task_scheduler/src/executor.rs:299] Failed to start logging to database '2025-02-14T21:44:55.860129701+01:00_task_executor': Tried to start logging but no MongoDB client configured 21:44:55.860 INFO [peripherals/communication/src/discovery_node.rs:25] Node:scout_rust available on port 10899. 21:44:55.860 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:18] Starting thread 'simulator' with StopRunningFlag { id: 0, stop_running: false, do_auto_stop: false } 21:44:55.864 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:44:55.864 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:44:55.884 INFO [robot_core/launch/src/lib.rs:273] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 21:44:55.884 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:44:55.983 INFO [robot_core/launch/src/simulator_runner.rs:69] Starting simulator runner loop 21:44:55.986 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:44:55.987 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 279.63783544655644Hz 21:44:55.989 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:44:55.989 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.999627472102741 } 21:44:55.991 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 21:44:55.991 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 21:44:55.994 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 21:44:56.393 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 21:44:56.393 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.20683999999999997, Enable control depth: 0.2, Depth control enabled: false 21:44:56.393 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 21:44:59.002 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 305.2801250427392Hz 21:45:02.029 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 348.0756117689933Hz 21:45:05.058 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 355.4405507906775Hz 21:45:08.076 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 274.5747112297762Hz 21:45:11.174 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 318.1201896250826Hz 21:45:14.227 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 375.9230320147332Hz 21:45:17.226 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 345.185746175946Hz 21:45:20.211 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 355.2424369773274Hz 21:45:23.234 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 312.25166234978747Hz 21:45:25.516 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:45:25.514825175+01:00_MoveTo/MoveTo_rust.log" 21:45:25.529 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Position(PositionGoal { position: Specific3D(-9.889790413152756 m^1, 43.91187363027056 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] 21:45:25.529 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:45:25.529 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:45:25.530 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Position(PositionGoal { position: Specific3D(-9.889790413152756 m^1, 43.91187363027056 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:45:25.531 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Position(PositionGoal { position: Specific3D(-9.889790413152756 m^1, 43.91187363027056 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 }), py_instructions: [Position(PositionGoal { position: Specific3D(-9.889790413152756 m^1, 43.91187363027056 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })] }] 21:45:25.531 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Position(PositionGoal { position: Specific3D(-9.889790413152756 m^1, 43.91187363027056 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:45:26.288 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 420.05317033030036Hz 21:45:26.431 DEBUG [robot_core/control/src/cascaded_control.rs:351] Details: Current depth: 0.19801914144533864, Enable control depth: 0.2, Depth control enabled: true 21:45:26.432 INFO [robot_core/control/src/cascaded_control.rs:350] Disabling depth control. 21:45:29.299 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 269.35352191850814Hz 21:45:32.317 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 291.43736617560444Hz 21:45:35.306 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 280.4080834920677Hz 21:45:35.308 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: FinishedGoal(Position(PositionGoal { position: Specific3D(-9.889790413152756 m^1, 43.91187363027056 m^1, 0.0 m^1), velocity: 1.0 m^1 s^-1 })) 21:45:35.309 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 21:45:35.309 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 21:45:35.309 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [Hold(3153600000.0 s^1)] }] 21:45:35.310 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 21:45:35.339 INFO [peripherals/actuation/src/simulated_thruster_module.rs:64] Disengaging thrusters 21:45:35.339 INFO [robot_core/control/src/cascaded_control.rs:322] Control Manager has stopped 21:45:35.342 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 21:45:35.342 INFO [robot_core/control/src/cascaded_control.rs:313] Control Manager has started with goal position: Vec3 { x: -10.020363241839183, y: 44.025067566609074, z: 0.09024513218121395 } 21:45:38.323 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 342.683803598317Hz 21:45:41.356 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 338.37649663924464Hz 21:45:44.430 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 365.3658060718682Hz 21:45:47.488 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 355.70087121814385Hz 21:45:50.571 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 292.77381524684057Hz 21:45:53.638 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 373.96486525297973Hz 21:45:56.672 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 370.29877927304426Hz 21:45:59.693 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 349.28286987571465Hz 21:46:02.714 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 356.3101095154753Hz 21:46:05.700 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 384.2200812625472Hz 21:46:08.737 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 294.5625231047479Hz 21:46:11.804 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 292.9224373607337Hz 21:46:14.810 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 360.598550321708Hz 21:46:17.810 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 366.39981767945073Hz 21:46:20.867 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 343.81049990390494Hz 21:46:23.924 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 253.68850400396565Hz 21:46:27.039 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 400.06625097116085Hz 21:46:30.101 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 341.04492755353124Hz 21:46:33.162 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 345.08723460203504Hz 21:46:36.236 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 328.8442800661503Hz 21:46:36.843 INFO [peripherals/payload/src/lib.rs:63] Mocked payload is starting 21:46:36.845 INFO [utilities/logging/src/logging.rs:90] Starting mission log in "/home/joris/Desktop/data_root/mission_data/2025-02-14T21:46:36.843246518+01:00_surveyPolygon/surveyPolygon_rust.log" 21:46:36.853 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 13.278300898124069, y: 48.18924005971466 }, Coord { x: 13.278534931514905, y: 68.23095440227858 }, Coord { x: -6.712262444329131, y: 68.23122802776619 }, Coord { x: -6.7124964787205466, y: 48.18943331219458 }, Coord { x: 13.278300898124069, y: 48.18924005971466 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })] 21:46:36.853 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [MappedGoal { goal: Hold(3153600000.0 s^1), py_instructions: [] }] 21:46:36.853 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: CancelledGoal(Hold(3153600000.0 s^1)) 21:46:36.853 WARN [robot_core/task_scheduler/src/tasks/mod.rs:212] Path planner update contains goal not belonging to this task. Expected: [Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 13.278300898124069, y: 48.18924005971466 }, Coord { x: 13.278534931514905, y: 68.23095440227858 }, Coord { x: -6.712262444329131, y: 68.23122802776619 }, Coord { x: -6.7124964787205466, y: 48.18943331219458 }, Coord { x: 13.278300898124069, y: 48.18924005971466 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })], Received: CancelledGoal(Hold(3153600000.0 s^1)) 21:46:36.855 DEBUG [robot_core/path_planning/src/lib.rs:216] Current goal: None. New pending goals: [MappedGoal { goal: Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 13.278300898124069, y: 48.18924005971466 }, Coord { x: 13.278534931514905, y: 68.23095440227858 }, Coord { x: -6.712262444329131, y: 68.23122802776619 }, Coord { x: -6.7124964787205466, y: 48.18943331219458 }, Coord { x: 13.278300898124069, y: 48.18924005971466 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None }), py_instructions: [Line(LineGoal { start: (13.278323786307624 m^1, 49.18924005971466 m^1), end: (-6.71249614472265 m^1, 49.18924005971466 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-6.712473256539056 m^1, 51.18924005971466 m^1), end: (13.278346674491218 m^1, 51.18924005971466 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (13.278369562674811 m^1, 53.18924005971466 m^1), end: (-6.712450368355462 m^1, 53.18924005971466 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-6.712427480171868 m^1, 55.18924005971466 m^1), end: (13.278394358207038 m^1, 55.18924005971466 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (13.278417246390632 m^1, 57.18924005971466 m^1), end: (-6.712402684639642 m^1, 57.18924005971466 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-6.712379796456048 m^1, 59.18924005971466 m^1), end: (13.278440134574225 m^1, 59.18924005971466 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (13.278463022757819 m^1, 61.18924005971466 m^1), end: (-6.712356908272454 m^1, 61.18924005971466 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-6.712334020088861 m^1, 63.18924005971466 m^1), end: (13.278487818290046 m^1, 63.18924005971466 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (13.27851070647364 m^1, 65.18924005971466 m^1), end: (-6.712309224556634 m^1, 65.18924005971466 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (-6.71228633637304 m^1, 67.18924005971466 m^1), end: (13.278533594657233 m^1, 67.18924005971466 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 }), Line(LineGoal { start: (13.278535502005866 m^1, 69.18924005971466 m^1), end: (-6.7122634481894465 m^1, 69.18924005971466 m^1), altitude: 1.0 m^1, velocity: 0.3 m^1 s^-1 })] }] 21:46:36.857 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Polygon(PolygonGoal { polygon: Polygon { exterior: LineString([Coord { x: 13.278300898124069, y: 48.18924005971466 }, Coord { x: 13.278534931514905, y: 68.23095440227858 }, Coord { x: -6.712262444329131, y: 68.23122802776619 }, Coord { x: -6.7124964787205466, y: 48.18943331219458 }, Coord { x: 13.278300898124069, y: 48.18924005971466 }]), interiors: [] }, payload: PayloadInfo { fov: 1.5707963267948966, overlap: 0.0, desired_altitude: 1.0 m^1 }, velocity: 0.3 m^1 s^-1, lane_direction: None })) 21:46:37.554 DEBUG [robot_core/control/src/cascaded_control.rs:152] Depth control enabled: reset vertical velocity controller 21:46:37.554 DEBUG [robot_core/control/src/cascaded_control.rs:355] Details: Current depth: 0.2063445211917774, Enable control depth: 0.2, Depth control enabled: false 21:46:37.554 INFO [robot_core/control/src/cascaded_control.rs:354] Enabling depth control. 21:46:37.834 DEBUG [robot_core/control/src/cascaded_control.rs:188] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 21:46:39.337 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 333.6923863410363Hz 21:46:42.350 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 392.2053116365355Hz 21:46:45.398 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 396.84980623808207Hz 21:46:48.562 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 262.80462998684925Hz 21:46:51.707 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 256.64966448189364Hz 21:46:54.864 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 257.01476832560274Hz 21:46:58.032 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 271.4607356477352Hz 21:47:01.220 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 355.5180128533982Hz 21:47:04.400 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 342.40032213022306Hz 21:47:07.565 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 374.5402518408653Hz 21:47:10.764 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 295.00065342644734Hz 21:47:13.955 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 372.73669618865546Hz 21:47:17.099 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 341.0993700917933Hz 21:47:20.250 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 343.67721560968164Hz 21:47:23.408 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 361.4640305335896Hz 21:47:26.588 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 318.0437004766203Hz 21:47:29.753 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 324.85758243586014Hz 21:47:32.920 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 311.1785607929327Hz 21:47:36.060 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 352.85989415614614Hz 21:47:39.226 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 363.5988137952299Hz 21:47:42.375 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 339.02591751431623Hz 21:47:45.457 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 265.21069531083623Hz 21:47:48.295 INFO [robot_core/launch/src/simulator_runner.rs:99] Simulated robot code update rate: 373.22122762911965Hz 21:47:48.463 INFO [peripherals/payload/src/lib.rs:78] Dropping payload: payload is stopping 21:47:48.463 INFO [peripherals/payload/src/lib.rs:68] Mocked payload is stopping 21:47:48.463 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 21:47:48.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 21:47:48.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 21:47:48.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 21:47:48.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 21:47:48.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 21:47:48.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 21:47:48.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 21:47:48.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 21:47:48.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 21:47:48.463 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 21:47:48.464 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 21:47:48.464 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 21:47:48.464 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'task_scheduler' stopped 21:47:48.464 INFO [robot_core/task_scheduler/src/executor.rs:318] Stopping logging to database '2025-02-14T21:44:55.860129701+01:00_task_executor' 21:47:48.465 INFO [utilities/simulator/src/simulator.rs:202] Simulator dropped: Simulator() 21:47:48.473 DEBUG [utilities/common/src/stop_running_flag.rs:80] StopRunningFlag 0 got dropped, stopping associated threads... 21:47:48.473 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:25] Thread 'control' stopped 21:47:48.473 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'path_planner' panicked at 'Failed to send attitude goal request': utilities/python_bindings/src/rust_control_handle.rs:83