08:48:47.583 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 08:48:47.583 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 08:48:47.583219745 +01:00 08:48:47.583 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 08:48:47.583 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 08:48:47.583 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 08:48:47.583 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 08:48:47.583 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "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], "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], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 08:48:47.583 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 }) 08:48:47.587 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 20.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 08:48:48.160 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "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], "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], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 08:48:48.161 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 }) 08:49:29.020 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "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], "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], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 08:49:29.022 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 }) 08:49:29.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 08:49:29.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 08:49:29.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 08:49:29.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 08:49:29.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 08:49:29.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 08:49:29.381 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 08:49:29.382 WARN [robot_core/launch/src/lib.rs:307] Magnetometer not enabled 08:49:29.382 WARN [robot_core/launch/src/lib.rs:287] IMU not enabled 08:49:29.382 WARN [robot_core/launch/src/lib.rs:324] Can Magnetometer not enabled 08:49:29.382 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 08:49:29.382 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 08:49:29.382 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "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], "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], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 08:49:29.382 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 }) 08:49:29.382 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 08:49:29.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 08:49:29.382 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 08:49:29.384 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 08:49:29.384 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 08:49:29.384 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 08:49:29.386 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 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 08:49:29.386 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 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 08:49:29.386 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 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 08:49:29.386 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "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], "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], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 08:49:29.386 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 }) 08:49:29.386 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 08:49:29.386 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 08:49:29.387 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 08:49:29.387 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 08:49:29.387 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 08:49:29.827 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 08:49:29.827 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 08:49:29.827 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 08:49:29.828 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 08:49:29.828 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 08:49:29.828 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 08:49:29.828 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 08:49:29.828 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 08:49:29.828 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 08:49:29.828 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 08:49:29.828 WARN [peripherals/communication/src/lib.rs:66] Request server not enabled 08:49:29.828 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 08:49:29.828 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 08:49:29.828 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 08:49:29.828 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T08:49:29.828500250+01:00_task_executor': Tried to start logging but no MongoDB client configured 08:49:29.835 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 08:49:29.835 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 08:49:29.885 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 08:49:29.886 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)] }] 08:49:29.971 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 08:49:29.973 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 08:49:29.983 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 08:49:29.983 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 08:49:29.993 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 08:49:29.993 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 08:49:30.035 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 08:49:33.251 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20171999999999998, Enable control depth: 0.2, Depth control enabled: false 08:49:33.251 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 08:49:33.251 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 08:49:39.964 WARN [/home/joris/Repos/LobsterAUV/robot_code/robot_core/path_planning/python/control/motion_planning.py:134] No seafloor depth available, not constraining z position setpoint 08:51:12.410 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped 08:51:12.410 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 08:51:12.411 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 08:51:12.411 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 08:51:12.412 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 08:51:12.412 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 08:51:12.412 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 08:51:12.412 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 08:51:12.412 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 08:51:12.412 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 08:51:12.412 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-24T08:49:29.828500250+01:00_task_executor' 08:51:12.451 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 08:51:12.452 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 08:51:12.452 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 08:51:12.452 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'state_estimator' 08:51:12.452 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'control' (when the code is still running, this can take a long time) 08:51:12.452 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'control' 08:51:12.452 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'path_planner' (when the code is still running, this can take a long time) 08:51:21.734 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 08:51:21.734 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 08:51:21.734902226 +01:00 08:51:21.734 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 08:51:21.734 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 08:51:21.735 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 08:51:21.735 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 08:51:21.735 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], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 08:51:21.735 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 }) 08:51:21.736 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 20.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 08:51:22.115 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], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 08:51:22.115 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 }) 08:52:04.789 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], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 08:52:04.790 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 }) 08:52:05.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 08:52:05.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 08:52:05.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 08:52:05.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 08:52:05.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 08:52:05.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 08:52:05.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 08:52:05.185 WARN [robot_core/launch/src/lib.rs:307] Magnetometer not enabled 08:52:05.185 WARN [robot_core/launch/src/lib.rs:287] IMU not enabled 08:52:05.185 WARN [robot_core/launch/src/lib.rs:324] Can Magnetometer not enabled 08:52:05.185 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 08:52:05.185 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 08:52:05.185 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], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 08:52:05.185 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 }) 08:52:05.185 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 08:52:05.185 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 08:52:05.186 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 08:52:05.187 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 08:52:05.187 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 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 08:52:05.187 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 08:52:05.187 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 08:52:05.187 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 08:52:05.188 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 08:52:05.188 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], "camera_location": [0.086, 0.0, 0.06019], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223], "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], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 08:52:05.188 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 }) 08:52:05.188 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 08:52:05.188 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 08:52:05.188 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 08:52:05.189 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 08:52:05.189 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 08:52:05.520 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 08:52:05.520 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 08:52:05.520 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 08:52:05.520 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 08:52:05.520 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 08:52:05.520 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 08:52:05.521 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 08:52:05.521 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 08:52:05.521 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 08:52:05.521 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 08:52:05.521 WARN [peripherals/communication/src/lib.rs:66] Request server not enabled 08:52:05.521 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 08:52:05.521 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 08:52:05.521 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 08:52:05.521 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T08:52:05.521144185+01:00_task_executor': Tried to start logging but no MongoDB client configured 08:52:05.525 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 08:52:05.525 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 08:52:05.573 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 08:52:05.573 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)] }] 08:52:05.689 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 08:52:05.691 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 08:52:05.703 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 08:52:05.703 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 08:52:05.712 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 08:52:05.712 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 08:52:05.756 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 08:52:09.052 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20167999999999997, Enable control depth: 0.2, Depth control enabled: false 08:52:09.052 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 08:52:09.052 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 08:58:53.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped 08:58:53.632 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 08:58:53.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 08:58:53.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 08:58:53.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 08:58:53.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 08:58:53.633 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 08:58:53.633 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 08:58:53.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 08:58:53.633 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-24T08:52:05.521144185+01:00_task_executor' 08:58:53.639 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 08:58:53.640 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 08:58:53.679 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 08:58:53.679 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 08:58:53.679 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 08:58:53.680 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'state_estimator' 08:58:53.680 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'control' (when the code is still running, this can take a long time) 08:59:03.149 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 08:59:03.149 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 08:59:03.149576122 +01:00 08:59:03.149 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 08:59:03.149 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 08:59:03.149 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 08:59:03.149 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 08:59:03.149 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], "ps_location": [0.039, 0.0, -0.09865], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "dvl_location": [0.24675, 0.0, 0.10174]}) 08:59:03.149 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 }) 08:59:03.151 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 20.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 08:59:03.586 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], "ps_location": [0.039, 0.0, -0.09865], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "dvl_location": [0.24675, 0.0, 0.10174]}) 08:59:03.586 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 }) 09:01:12.004 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 09:01:12.004 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 09:01:12.004769938 +01:00 09:01:12.004 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 09:01:12.004 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 09:01:12.004 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 09:01:12.004 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 09:01:12.004 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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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_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]}) 09:01:12.004 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 }) 09:01:12.005 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 20.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 09:01:12.423 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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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_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]}) 09:01:12.423 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 }) 09:01:27.197 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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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_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]}) 09:01:27.197 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 }) 09:01:27.607 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 09:01:27.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 09:01:27.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 09:01:27.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 09:01:27.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 09:01:27.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 09:01:27.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 09:01:27.608 WARN [robot_core/launch/src/lib.rs:307] Magnetometer not enabled 09:01:27.608 WARN [robot_core/launch/src/lib.rs:287] IMU not enabled 09:01:27.608 WARN [robot_core/launch/src/lib.rs:324] Can Magnetometer not enabled 09:01:27.608 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 09:01:27.608 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 09:01:27.608 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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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_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]}) 09:01:27.608 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 }) 09:01:27.608 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 09:01:27.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 09:01:27.608 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 09:01:27.609 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 09:01:27.609 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 09:01:27.609 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 09:01:27.610 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 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 09:01:27.610 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 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 09:01:27.610 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 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 09:01:27.610 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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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_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]}) 09:01:27.610 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 }) 09:01:27.610 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 09:01:27.610 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 09:01:27.611 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 09:01:27.611 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 09:01:27.995 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 09:01:27.995 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 09:01:27.995 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 09:01:27.995 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 09:01:27.995 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 09:01:27.996 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 09:01:27.996 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 09:01:27.996 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 09:01:27.996 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 09:01:27.996 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 09:01:27.996 WARN [peripherals/communication/src/lib.rs:66] Request server not enabled 09:01:27.996 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 09:01:27.996 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 09:01:27.996 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T09:01:27.996421888+01:00_task_executor': Tried to start logging but no MongoDB client configured 09:01:27.996 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 09:01:27.998 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 09:01:27.999 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 09:01:28.065 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 09:01:28.066 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)] }] 09:01:28.173 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 09:01:28.175 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 09:01:28.185 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 09:01:28.185 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 09:01:28.195 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 09:01:28.195 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 09:01:28.214 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:01:30.758 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20012, Enable control depth: 0.2, Depth control enabled: false 09:01:30.758 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 09:01:30.759 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 09:01:33.141 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:03:50.880 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped 09:03:50.881 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 09:03:50.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 09:03:50.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 09:03:50.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 09:03:50.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 09:03:50.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 09:03:50.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 09:03:50.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 09:03:50.881 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 09:03:50.882 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 09:03:50.883 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 09:03:50.883 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 09:03:50.883 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 09:03:50.883 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 09:03:50.883 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 09:03:50.883 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:03:50.883 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 09:03:50.883 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-24T09:01:27.996421888+01:00_task_executor' 09:03:50.883 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:03:50.883 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 09:03:50.884 ERROR [robot_core/path_planning/src/lib.rs:227] Cannot reach control, stopping path planner... 09:03:50.884 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:03:50.884 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'path_planner' stopped 09:03:50.885 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:03:50.885 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 09:03:50.885 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'state_estimator' 09:03:50.886 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'control' (when the code is still running, this can take a long time) 09:03:50.886 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'control' 09:03:50.886 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'path_planner' (when the code is still running, this can take a long time) 09:03:50.886 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'path_planner' 09:03:50.886 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'task_scheduler' (when the code is still running, this can take a long time) 09:03:50.886 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'task_scheduler' 09:03:50.886 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'mock_task_manager' (when the code is still running, this can take a long time) 09:03:50.886 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'mock_task_manager' 09:03:50.886 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'simulator' (when the code is still running, this can take a long time) 09:08:59.593 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 09:08:59.593 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 09:08:59.593752066 +01:00 09:08:59.593 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 09:08:59.593 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 09:08:59.593 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 09:08:59.593 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 09:08:59.593 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], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 09:08:59.593 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 }) 09:08:59.595 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 20.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 09:09:00.010 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], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 09:09:00.010 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 }) 09:09:14.365 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], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 09:09:14.365 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 }) 09:09:14.754 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 09:09:14.754 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 09:09:14.754 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 09:09:14.754 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 09:09:14.754 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 09:09:14.754 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 09:09:14.754 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 09:09:14.754 WARN [robot_core/launch/src/lib.rs:307] Magnetometer not enabled 09:09:14.755 WARN [robot_core/launch/src/lib.rs:287] IMU not enabled 09:09:14.755 WARN [robot_core/launch/src/lib.rs:324] Can Magnetometer not enabled 09:09:14.755 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 09:09:14.755 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 09:09:14.755 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], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 09:09:14.755 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 }) 09:09:14.755 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 09:09:14.755 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 09:09:14.755 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 09:09:14.756 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 09:09:14.757 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 09:09:14.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 09:09:14.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 09:09:14.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 09:09:14.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 09:09:14.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 09:09:14.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 09:09:14.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 09:09:14.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 09:09:14.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 09:09:14.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 09:09:14.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 09:09:14.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 09:09:14.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 09:09:14.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 09:09:14.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 09:09:14.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 09:09:14.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 09:09:14.758 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 09:09:14.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 09:09:14.759 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 09:09:14.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 09:09:14.759 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 09:09:14.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 09:09:14.759 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 09:09:14.759 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 09:09:14.759 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], "ps_location": [0.039, 0.0, -0.09865], "dvl_location": [0.24675, 0.0, 0.10174], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 09:09:14.760 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 }) 09:09:14.760 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 09:09:14.760 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 09:09:14.761 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 09:09:14.762 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 09:09:14.762 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 09:09:15.118 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 09:09:15.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 09:09:15.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 09:09:15.119 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 09:09:15.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 09:09:15.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 09:09:15.119 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 09:09:15.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 09:09:15.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 09:09:15.119 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 09:09:15.119 WARN [peripherals/communication/src/lib.rs:66] Request server not enabled 09:09:15.119 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 09:09:15.119 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 09:09:15.119 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T09:09:15.119748350+01:00_task_executor': Tried to start logging but no MongoDB client configured 09:09:15.120 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 09:09:15.128 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 09:09:15.129 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 09:09:15.222 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 09:09:15.223 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)] }] 09:09:15.372 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 09:09:15.376 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 09:09:15.386 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 09:09:15.386 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 09:09:15.396 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 09:09:15.396 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 09:09:15.419 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:09:18.286 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20184, Enable control depth: 0.2, Depth control enabled: false 09:09:18.286 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 09:09:18.286 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 09:09:18.674 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'simulator' panicked at 'called `Result::unwrap()` on an `Err` value: Error { ctx: "Not connected to physics server" }': utilities/simulator/src/pybullet_api.rs:132 09:09:18.674 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:11:33.330 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 09:11:33.330 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 09:11:33.330846099 +01:00 09:11:33.330 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 09:11:33.330 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 09:11:33.331 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 09:11:33.331 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 09:11:33.331 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "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_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], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 09:11:33.331 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 }) 09:11:33.332 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 20.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 09:11:33.749 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "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_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], "imu_location": [0.0, 0.0, 0.0], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 09:11:33.750 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 }) 09:11:42.396 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'main' panicked at 'called `Result::unwrap()` on an `Err` value: Error { ctx: "Error in addUserDebugLine." }': utilities/simulator/src/pybullet_api.rs:195 09:13:20.334 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 09:13:20.334 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 09:13:20.334585914 +01:00 09:13:20.334 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 09:13:20.334 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 09:13:20.334 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 09:13:20.334 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 09:13:20.334 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "right_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], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223]}) 09:13:20.334 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 }) 09:13:20.337 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 20.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 09:13:20.920 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "right_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], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223]}) 09:13:20.921 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 }) 09:13:41.784 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "right_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], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223]}) 09:13:41.784 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 }) 09:13:42.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 09:13:42.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 09:13:42.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 09:13:42.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 09:13:42.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 09:13:42.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 09:13:42.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 09:13:42.208 WARN [robot_core/launch/src/lib.rs:307] Magnetometer not enabled 09:13:42.208 WARN [robot_core/launch/src/lib.rs:287] IMU not enabled 09:13:42.208 WARN [robot_core/launch/src/lib.rs:324] Can Magnetometer not enabled 09:13:42.209 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 09:13:42.209 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 09:13:42.209 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "right_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], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223]}) 09:13:42.209 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 }) 09:13:42.209 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 09:13:42.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 09:13:42.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 09:13:42.211 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 09:13:42.211 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 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 09:13:42.211 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 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 09:13:42.211 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 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 09:13:42.211 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "right_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], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223]}) 09:13:42.211 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 }) 09:13:42.211 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 09:13:42.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 09:13:42.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 09:13:42.212 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 09:13:42.212 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 09:13:42.502 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 09:13:42.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 09:13:42.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 09:13:42.503 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 09:13:42.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 09:13:42.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 09:13:42.503 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 09:13:42.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 09:13:42.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 09:13:42.503 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 09:13:42.503 WARN [peripherals/communication/src/lib.rs:66] Request server not enabled 09:13:42.503 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 09:13:42.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 09:13:42.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 09:13:42.503 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T09:13:42.503454937+01:00_task_executor': Tried to start logging but no MongoDB client configured 09:13:42.507 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 09:13:42.508 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 09:13:42.547 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 09:13:42.548 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)] }] 09:13:42.619 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 09:13:42.622 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 09:13:42.631 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 09:13:42.631 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 09:13:42.641 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 09:13:42.642 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 09:13:42.665 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:13:45.436 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20391999999999996, Enable control depth: 0.2, Depth control enabled: false 09:13:45.436 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 09:13:45.436 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 09:15:38.592 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped 09:15:38.593 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 09:15:38.593 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 09:15:38.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 09:15:38.595 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 09:15:38.595 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:15:38.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 09:15:38.595 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-24T09:13:42.503454937+01:00_task_executor' 09:15:38.595 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:15:38.595 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:15:38.595 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 09:15:38.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 09:15:38.595 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 09:16:03.660 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 09:16:03.660 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 09:16:03.660861306 +01:00 09:16:03.660 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 09:16:03.660 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 09:16:03.661 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 09:16:03.661 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 09:16:03.661 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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "right_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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 09:16:03.661 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 }) 09:16:03.665 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 20.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: true, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 09:16:04.202 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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "right_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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 09:16:04.202 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 }) 09:16:22.845 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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "right_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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 09:16:22.846 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 }) 09:16:23.278 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 09:16:23.278 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 09:16:23.278 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 09:16:23.278 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 09:16:23.278 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 09:16:23.278 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 09:16:23.278 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 09:16:23.278 WARN [robot_core/launch/src/lib.rs:307] Magnetometer not enabled 09:16:23.278 WARN [robot_core/launch/src/lib.rs:287] IMU not enabled 09:16:23.278 WARN [robot_core/launch/src/lib.rs:324] Can Magnetometer not enabled 09:16:23.278 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 09:16:23.278 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 09:16:23.278 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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "right_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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 09:16:23.279 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 }) 09:16:23.279 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 09:16:23.279 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 09:16:23.279 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 09:16:23.282 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 09:16:23.282 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 09:16:23.282 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 09:16:23.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 09:16:23.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 09:16:23.284 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 09:16:23.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 09:16:23.284 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 09:16:23.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 09:16:23.284 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 09:16:23.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 09:16:23.284 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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "right_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], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 09:16:23.284 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 }) 09:16:23.284 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 09:16:23.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 09:16:23.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 09:16:23.285 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 09:16:23.286 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 09:16:23.669 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 09:16:23.670 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 09:16:23.670 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 09:16:23.670 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 09:16:23.670 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 09:16:23.670 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 09:16:23.670 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 09:16:23.670 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 09:16:23.670 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 09:16:23.670 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 09:16:23.670 WARN [peripherals/communication/src/lib.rs:66] Request server not enabled 09:16:23.670 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 09:16:23.670 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 09:16:23.670 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T09:16:23.670551393+01:00_task_executor': Tried to start logging but no MongoDB client configured 09:16:23.671 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 09:16:23.671 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 09:16:23.671 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 09:16:23.753 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 09:16:23.755 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)] }] 09:16:23.813 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 09:16:23.815 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 09:16:23.825 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 09:16:23.825 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 09:16:23.835 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 09:16:23.835 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 09:16:23.855 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:16:26.445 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 09:16:26.445 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20215999999999998, Enable control depth: 0.2, Depth control enabled: false 09:16:26.445 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 09:16:52.086 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'simulator' panicked at 'called `Result::unwrap()` on an `Err` value: Error { ctx: "Not connected to physics server" }': utilities/simulator/src/pybullet_api.rs:132 09:17:17.995 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 09:17:17.995 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 09:17:17.995670731 +01:00 09:17:17.995 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 09:17:17.995 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 09:17:17.995 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 09:17:17.995 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 09:17:17.995 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], "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], "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], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223]}) 09:17:17.995 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 }) 09:17:17.996 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 20.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 09:17:18.376 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], "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], "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], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223]}) 09:17:18.376 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 }) 09:17:37.094 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], "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], "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], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223]}) 09:17:37.094 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 }) 09:17:37.510 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 09:17:37.510 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 09:17:37.510 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 09:17:37.510 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 09:17:37.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 09:17:37.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 09:17:37.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 09:17:37.511 WARN [robot_core/launch/src/lib.rs:307] Magnetometer not enabled 09:17:37.511 WARN [robot_core/launch/src/lib.rs:287] IMU not enabled 09:17:37.511 WARN [robot_core/launch/src/lib.rs:324] Can Magnetometer not enabled 09:17:37.511 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 09:17:37.511 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 09:17:37.511 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], "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], "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], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223]}) 09:17:37.511 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 }) 09:17:37.511 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 09:17:37.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 09:17:37.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 09:17:37.512 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 09:17:37.512 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 09:17:37.513 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 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 09:17:37.513 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 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 09:17:37.513 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 09:17:37.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 09:17:37.514 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], "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], "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], "ps_location": [0.039, 0.0, -0.09865], "camera_location": [0.086, 0.0, 0.06019], "left_forward_thruster_location": [1.014, -0.223, 0.144], "gps_location": [0.102, 0.0, -0.223]}) 09:17:37.514 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 }) 09:17:37.514 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 09:17:37.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 09:17:37.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 09:17:37.515 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 09:17:37.515 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 09:17:37.957 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 09:17:37.957 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 09:17:37.957 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 09:17:37.957 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 09:17:37.957 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 09:17:37.957 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 09:17:37.957 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 09:17:37.957 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 09:17:37.958 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 09:17:37.958 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 09:17:37.958 WARN [peripherals/communication/src/lib.rs:66] Request server not enabled 09:17:37.958 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 09:17:37.958 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 09:17:37.958 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T09:17:37.958097431+01:00_task_executor': Tried to start logging but no MongoDB client configured 09:17:37.958 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 09:17:37.961 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 09:17:37.962 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 09:17:38.015 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 09:17:38.016 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)] }] 09:17:38.139 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 09:17:38.141 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 436.13Hz 09:17:38.141 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 09:17:38.147 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.999627472102741 } 09:17:38.148 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 09:17:38.149 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:17:38.151 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00003999999999999998, Enable control depth: 0.2, Depth control enabled: true 09:17:38.152 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 09:17:38.380 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20051999999999998, Enable control depth: 0.2, Depth control enabled: false 09:17:38.380 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 09:17:38.381 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 09:17:57.866 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 195.53Hz 09:18:00.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped 09:18:00.008 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 09:18:00.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 09:18:00.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 09:18:00.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 09:18:00.008 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:18:00.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 09:18:00.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'path_planner' stopped 09:18:00.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 09:18:00.009 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:18:00.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 09:18:00.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 09:18:00.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 09:18:00.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 09:18:00.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 09:18:00.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 09:18:00.009 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 09:18:00.009 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:18:00.010 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 09:18:00.010 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:18:00.010 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 09:18:00.010 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'state_estimator' 09:18:00.010 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 09:18:00.010 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 09:18:00.010 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'control' (when the code is still running, this can take a long time) 09:18:00.010 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 09:18:00.010 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'control' 09:18:00.010 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'path_planner' (when the code is still running, this can take a long time) 09:18:00.011 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'path_planner' 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 09:18:00.011 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'task_scheduler' (when the code is still running, this can take a long time) 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 09:18:00.011 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 09:18:00.011 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:18:00.011 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 09:18:00.011 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'task_scheduler' 09:18:00.011 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'mock_task_manager' (when the code is still running, this can take a long time) 09:18:00.011 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'mock_task_manager' 09:18:00.011 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'simulator' (when the code is still running, this can take a long time) 09:18:00.012 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-24T09:17:37.958097431+01:00_task_executor' 09:18:00.112 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'simulator' stopped 09:18:00.113 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'simulator' 09:18:00.113 INFO [robot_core/launch/src/lib.rs:278] All threads have stopped 09:18:00.113 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "main", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:18:00.113 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "initial", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:18:03.255 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 09:18:03.255 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 09:18:03.255239782 +01:00 09:18:03.255 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 09:18:03.255 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 09:18:03.255 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 09:18:03.255 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 09:18:03.255 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "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], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 09:18:03.255 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 }) 09:18:03.256 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 09:18:03.665 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "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], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 09:18:03.665 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 }) 09:18:21.326 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "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], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 09:18:21.326 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 }) 09:18:21.730 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 09:18:21.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 09:18:21.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 09:18:21.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 09:18:21.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 09:18:21.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 09:18:21.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 09:18:21.731 WARN [robot_core/launch/src/lib.rs:307] Magnetometer not enabled 09:18:21.731 WARN [robot_core/launch/src/lib.rs:287] IMU not enabled 09:18:21.731 WARN [robot_core/launch/src/lib.rs:324] Can Magnetometer not enabled 09:18:21.731 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 09:18:21.731 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 09:18:21.731 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "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], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 09:18:21.731 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 }) 09:18:21.731 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 09:18:21.731 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 09:18:21.732 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 09:18:21.734 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 09:18:21.734 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 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 09:18:21.734 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 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 09:18:21.734 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 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 09:18:21.734 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "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], "dvl_location": [0.24675, 0.0, 0.10174], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 09:18:21.734 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 }) 09:18:21.734 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 09:18:21.734 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 09:18:21.735 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 09:18:21.735 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 09:18:22.129 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 09:18:22.129 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 09:18:22.130 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 09:18:22.130 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 09:18:22.130 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 09:18:22.130 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 09:18:22.130 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 09:18:22.130 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 09:18:22.130 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 09:18:22.130 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 09:18:22.131 WARN [peripherals/communication/src/lib.rs:66] Request server not enabled 09:18:22.131 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 09:18:22.131 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 09:18:22.131 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 09:18:22.131 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 09:18:22.131 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 09:18:22.133 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T09:18:22.130762665+01:00_task_executor': Tried to start logging but no MongoDB client configured 09:18:22.205 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 09:18:22.205 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)] }] 09:18:22.328 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 09:18:22.331 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 553.39Hz 09:18:22.332 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 09:18:22.338 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 09:18:22.338 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.999627472102741 } 09:18:22.339 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:18:22.342 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00003999999999999998, Enable control depth: 0.2, Depth control enabled: true 09:18:22.342 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 09:18:22.536 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20051999999999998, Enable control depth: 0.2, Depth control enabled: false 09:18:22.537 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 09:18:22.537 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 09:18:27.799 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'simulator' panicked at 'called `Result::unwrap()` on an `Err` value: Error { ctx: "Error in addUserDebugLine." }': utilities/simulator/src/pybullet_api.rs:195 09:18:58.356 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 09:18:58.357 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 09:18:58.357013582 +01:00 09:18:58.357 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 09:18:58.357 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 09:18:58.357 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 09:18:58.357 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 09:18:58.357 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], "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], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "left_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]}) 09:18:58.357 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 }) 09:18:58.362 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 09:18:58.994 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], "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], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "left_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]}) 09:18:58.994 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 }) 09:19:02.979 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], "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], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "left_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]}) 09:19:02.979 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 }) 09:19:03.369 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 09:19:03.369 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 09:19:03.369 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 09:19:03.369 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 09:19:03.369 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 09:19:03.369 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 09:19:03.369 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 09:19:03.369 WARN [robot_core/launch/src/lib.rs:307] Magnetometer not enabled 09:19:03.369 WARN [robot_core/launch/src/lib.rs:287] IMU not enabled 09:19:03.369 WARN [robot_core/launch/src/lib.rs:324] Can Magnetometer not enabled 09:19:03.369 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 09:19:03.369 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 09:19:03.369 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], "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], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "left_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]}) 09:19:03.369 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 }) 09:19:03.369 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 09:19:03.369 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 09:19:03.370 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 09:19:03.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 09:19:03.371 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 09:19:03.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 09:19:03.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 09:19:03.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 09:19:03.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 09:19:03.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 09:19:03.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 09:19:03.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 09:19:03.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 09:19:03.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 09:19:03.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 09:19:03.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 09:19:03.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 09:19:03.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 09:19:03.371 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 09:19:03.372 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 09:19:03.372 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 09:19:03.372 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 09:19:03.372 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 09:19:03.372 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 09:19:03.372 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 09:19:03.372 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 09:19:03.372 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 09:19:03.372 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 09:19:03.372 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 09:19:03.372 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 09:19:03.372 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], "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], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "ps_location": [0.039, 0.0, -0.09865], "left_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]}) 09:19:03.372 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 }) 09:19:03.372 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 09:19:03.372 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 09:19:03.372 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 09:19:03.373 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 09:19:03.373 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 09:19:03.780 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 09:19:03.780 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 09:19:03.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 09:19:03.781 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 09:19:03.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 09:19:03.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 09:19:03.781 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 09:19:03.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 09:19:03.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 09:19:03.781 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 09:19:03.781 WARN [peripherals/communication/src/lib.rs:66] Request server not enabled 09:19:03.781 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 09:19:03.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 09:19:03.781 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 09:19:03.781 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T09:19:03.781611540+01:00_task_executor': Tried to start logging but no MongoDB client configured 09:19:03.789 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 09:19:03.790 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 09:19:03.833 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 09:19:03.834 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)] }] 09:19:03.923 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 09:19:03.925 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 844.14Hz 09:19:03.926 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 09:19:03.928 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 09:19:03.928 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9981690812720996 } 09:19:03.928 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:19:03.930 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00035999999999999997, Enable control depth: 0.2, Depth control enabled: true 09:19:03.931 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 09:19:04.002 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20647999999999997, Enable control depth: 0.2, Depth control enabled: false 09:19:04.003 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 09:19:04.003 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 09:19:09.677 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1289.70Hz 09:19:15.511 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4865.92Hz 09:19:21.698 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3764.12Hz 09:19:27.728 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1332.38Hz 09:19:34.296 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4993.86Hz 09:19:40.578 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5261.05Hz 09:19:47.450 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1166.89Hz 09:19:53.530 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3748.72Hz 09:20:00.016 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5508.31Hz 09:20:07.187 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1239.61Hz 09:20:13.475 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped 09:20:13.475 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:20:13.476 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:20:13.476 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 09:20:13.476 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 09:20:13.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 09:20:13.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 09:20:13.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 09:20:13.476 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 09:20:13.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 09:20:13.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 09:20:13.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 09:20:13.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 09:20:13.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 09:20:13.476 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 09:20:18.142 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 09:20:18.142 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 09:20:18.142899416 +01:00 09:20:18.142 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 09:20:18.142 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 09:20:18.142 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 09:20:18.142 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 09:20:18.143 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_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], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 09:20:18.143 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 }) 09:20:18.144 INFO [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 09:20:18.178 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_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], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 09:20:18.179 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 }) 09:20:18.247 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_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], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 09:20:18.247 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 }) 09:20:18.398 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 09:20:18.399 WARN [robot_core/launch/src/lib.rs:307] Magnetometer not enabled 09:20:18.399 WARN [robot_core/launch/src/lib.rs:287] IMU not enabled 09:20:18.399 WARN [robot_core/launch/src/lib.rs:324] Can Magnetometer not enabled 09:20:18.399 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 09:20:18.399 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 09:20:18.399 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_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], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 09:20:18.399 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 }) 09:20:18.399 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 09:20:18.399 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 09:20:18.399 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 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 09:20:18.399 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 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 09:20:18.399 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 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 09:20:18.399 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_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], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 09:20:18.399 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 }) 09:20:18.399 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 09:20:18.399 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 09:20:18.400 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 09:20:18.400 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 09:20:18.400 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 09:20:18.516 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 09:20:18.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 09:20:18.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 09:20:18.516 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 09:20:18.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 09:20:18.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 09:20:18.516 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 09:20:18.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 09:20:18.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 09:20:18.516 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 09:20:18.516 WARN [peripherals/communication/src/lib.rs:66] Request server not enabled 09:20:18.516 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 09:20:18.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 09:20:18.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 09:20:18.517 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T09:20:18.516932658+01:00_task_executor': Tried to start logging but no MongoDB client configured 09:20:18.521 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 09:20:18.521 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 09:20:18.537 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 09:20:18.537 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)] }] 09:20:18.556 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 09:20:18.556 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2394.25Hz 09:20:18.557 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 09:20:18.558 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00004000000000000002, Enable control depth: 0.2, Depth control enabled: true 09:20:18.558 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 09:20:18.558 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9956908343316551 } 09:20:18.558 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 09:20:18.558 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:20:18.585 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20864, Enable control depth: 0.2, Depth control enabled: false 09:20:18.585 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 09:20:18.585 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 09:20:21.228 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3033.03Hz 09:20:23.934 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5653.23Hz 09:20:26.738 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4263.41Hz 09:20:28.829 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3214.38Hz 09:20:31.615 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5178.13Hz 09:20:34.293 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3742.95Hz 09:20:36.663 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3254.25Hz 09:20:37.162 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped 09:20:37.163 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 09:20:37.163 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:20:37.163 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:20:37.163 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:20:37.163 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 09:20:37.163 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 09:20:37.163 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 09:20:37.164 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 angular velocity request': utilities/python_bindings/src/rust_control_handle.rs:95 09:20:37.164 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 09:20:37.164 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 09:20:37.164 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 09:20:37.164 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 09:20:37.164 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 09:20:37.164 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 09:20:42.408 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 09:20:42.408 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 09:20:42.408883457 +01:00 09:20:42.408 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 09:20:42.408 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 09:20:42.409 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 09:20:42.409 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 09:20:42.409 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], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "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], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 09:20:42.409 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 }) 09:20:42.412 INFO [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 09:20:42.488 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], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "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], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 09:20:42.489 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 }) 09:20:42.758 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], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "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], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 09:20:42.759 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 }) 09:20:43.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 09:20:43.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 09:20:43.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 09:20:43.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 09:20:43.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 09:20:43.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 09:20:43.208 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 09:20:43.209 WARN [robot_core/launch/src/lib.rs:307] Magnetometer not enabled 09:20:43.209 WARN [robot_core/launch/src/lib.rs:287] IMU not enabled 09:20:43.209 WARN [robot_core/launch/src/lib.rs:324] Can Magnetometer not enabled 09:20:43.209 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 09:20:43.209 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 09:20:43.209 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], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "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], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 09:20:43.209 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 }) 09:20:43.209 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 09:20:43.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 09:20:43.209 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 09:20:43.210 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 09:20:43.211 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 09:20:43.211 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 09:20:43.211 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 09:20:43.211 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 09:20:43.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 09:20:43.212 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 09:20:43.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 09:20:43.212 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], "ps_location": [0.039, 0.0, -0.09865], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "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], "dvl_location": [0.24675, 0.0, 0.10174], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 09:20:43.212 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 }) 09:20:43.212 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 09:20:43.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 09:20:43.212 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 09:20:43.214 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 09:20:43.214 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 09:20:43.564 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 09:20:43.565 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 09:20:43.565 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 09:20:43.565 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 09:20:43.565 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 09:20:43.565 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 09:20:43.565 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 09:20:43.565 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 09:20:43.565 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 09:20:43.566 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 09:20:43.566 WARN [peripherals/communication/src/lib.rs:66] Request server not enabled 09:20:43.566 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 09:20:43.566 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 09:20:43.566 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 09:20:43.566 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T09:20:43.566040173+01:00_task_executor': Tried to start logging but no MongoDB client configured 09:20:43.571 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 09:20:43.571 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 09:20:43.650 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 09:20:43.651 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)] }] 09:20:43.724 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 09:20:43.726 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 09:20:43.728 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 255.20Hz 09:20:43.729 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0, Enable control depth: 0.2, Depth control enabled: true 09:20:43.730 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 09:20:43.730 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 09:20:43.730 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 09:20:43.730 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:20:43.792 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 09:20:43.792 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 09:20:43.793 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20687999999999998, Enable control depth: 0.2, Depth control enabled: false 09:20:46.181 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2831.00Hz 09:20:49.619 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3550.82Hz 09:20:52.586 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2950.83Hz 09:20:54.833 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2727.07Hz 09:20:57.675 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3742.15Hz 09:20:59.061 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:20:59.062 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:20:59.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 09:20:59.062 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 09:20:59.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped 09:20:59.062 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 09:20:59.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 09:20:59.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 09:20:59.062 ERROR [robot_core/path_planning/src/lib.rs:227] Cannot reach control, stopping path planner... 09:20:59.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 09:20:59.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 09:20:59.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 09:20:59.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 09:20:59.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 09:20:59.063 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 09:20:59.066 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:20:59.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 09:20:59.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'path_planner' stopped 09:20:59.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 09:20:59.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 09:20:59.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 09:20:59.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 09:20:59.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 09:20:59.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 09:20:59.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 09:20:59.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 09:20:59.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 09:20:59.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 09:20:59.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 09:20:59.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 09:20:59.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 09:20:59.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 09:20:59.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 09:20:59.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 09:20:59.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 09:20:59.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 09:20:59.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 09:20:59.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 09:20:59.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 09:20:59.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 09:20:59.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 09:20:59.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 09:20:59.068 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 09:20:59.068 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:20:59.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 09:20:59.069 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-24T09:20:43.566040173+01:00_task_executor' 09:20:59.082 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'simulator' stopped 09:21:00.062 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:54] State estimator error on recv: Timeout, stopping... 09:21:00.062 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:21:00.062 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 09:21:00.062 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'state_estimator' 09:21:00.062 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'control' (when the code is still running, this can take a long time) 09:21:00.062 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'control' 09:21:00.062 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'path_planner' (when the code is still running, this can take a long time) 09:21:00.063 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'path_planner' 09:21:00.063 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'task_scheduler' (when the code is still running, this can take a long time) 09:21:00.063 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'task_scheduler' 09:21:00.063 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'mock_task_manager' (when the code is still running, this can take a long time) 09:21:00.063 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'mock_task_manager' 09:21:00.063 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'simulator' (when the code is still running, this can take a long time) 09:21:00.063 INFO [robot_core/launch/src/lib.rs:276] Joined thread 'simulator' 09:21:00.063 INFO [robot_core/launch/src/lib.rs:278] All threads have stopped 09:21:00.063 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "main", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:21:00.063 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "initial", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 09:21:03.168 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 09:21:03.168 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 09:21:03.168608187 +01:00 09:21:03.168 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 09:21:03.168 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 09:21:03.168 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 09:21:03.168 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 09:21:03.168 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], "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_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019], "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], "imu_location": [0.0, 0.0, 0.0]}) 09:21:03.168 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 }) 09:21:03.169 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 09:21:03.570 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], "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_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019], "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], "imu_location": [0.0, 0.0, 0.0]}) 09:21:03.570 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 }) 09:21:10.093 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], "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_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019], "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], "imu_location": [0.0, 0.0, 0.0]}) 09:21:10.094 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 }) 09:21:10.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 09:21:10.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 09:21:10.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 09:21:10.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 09:21:10.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 09:21:10.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 09:21:10.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 09:21:10.511 WARN [robot_core/launch/src/lib.rs:307] Magnetometer not enabled 09:21:10.511 WARN [robot_core/launch/src/lib.rs:287] IMU not enabled 09:21:10.511 WARN [robot_core/launch/src/lib.rs:324] Can Magnetometer not enabled 09:21:10.511 WARN [robot_core/launch/src/lib.rs:342] Waterlinked DVL not enabled 09:21:10.511 WARN [robot_core/launch/src/lib.rs:367] Nortek DVL not enabled 09:21:10.511 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], "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_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019], "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], "imu_location": [0.0, 0.0, 0.0]}) 09:21:10.511 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 }) 09:21:10.511 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 09:21:10.511 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 09:21:10.512 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 09:21:10.513 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 09:21:10.513 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 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 09:21:10.513 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 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 09:21:10.513 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 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 09:21:10.513 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], "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_forward_thruster_location": [1.014, 0.0, -0.258], "camera_location": [0.086, 0.0, 0.06019], "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], "imu_location": [0.0, 0.0, 0.0]}) 09:21:10.513 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 }) 09:21:10.513 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 09:21:10.513 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 09:21:10.514 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 09:21:10.514 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 09:21:10.514 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 09:21:10.911 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 09:21:10.911 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 09:21:10.911 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 09:21:10.911 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 09:21:10.911 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 09:21:10.911 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 09:21:10.911 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 09:21:10.911 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 09:21:10.911 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 09:21:10.911 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 09:21:10.912 WARN [peripherals/communication/src/lib.rs:66] Request server not enabled 09:21:10.912 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 09:21:10.912 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 09:21:10.912 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T09:21:10.911964732+01:00_task_executor': Tried to start logging but no MongoDB client configured 09:21:10.912 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 09:21:10.919 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 09:21:10.920 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 09:21:10.984 INFO [robot_core/launch/src/lib.rs:272] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 09:21:10.986 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)] }] 09:21:11.121 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 09:21:11.122 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1121.58Hz 09:21:11.123 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 09:21:11.125 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 09:21:11.125 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:21:11.126 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.999627472102741 } 09:21:11.126 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00003999999999999998, Enable control depth: 0.2, Depth control enabled: true 09:21:11.127 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 09:21:11.189 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20256, Enable control depth: 0.2, Depth control enabled: false 09:21:11.190 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 09:21:11.190 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 09:21:16.835 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1345.55Hz 09:21:20.780 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:21:21.371 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:21:23.283 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3490.26Hz 09:21:25.367 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:21:29.499 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2106.76Hz 09:21:31.120 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:21:35.481 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1132.69Hz 09:21:36.418 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 09:21:39.175 ERROR [/home/joris/.cargo/registry/src/index.crates.io-6f17d22bba15001f/log-panics-2.1.0/src/lib.rs:130] thread 'state_estimator' panicked at 'called `Result::unwrap()` on an `Err` value: Error { ctx: "could not get ray info" }': utilities/simulator/src/pybullet_api.rs:212 09:21:39.175 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped 14:41:04.404 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 14:41:04.404 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 14:41:04.404515285 +01:00 14:41:04.404 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 14:41:04.404 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 14:41:04.404 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 14:41:04.404 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 14:41:04.404 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], "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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 14:41:04.404 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 }) 14:41:04.405 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 14:41:04.759 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], "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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 14:41:04.760 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 }) 14:41:09.670 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], "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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 14:41:09.671 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 }) 14:41:10.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 14:41:10.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 14:41:10.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 14:41:10.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 14:41:10.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 14:41:10.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 14:41:10.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 14:41:10.047 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 14:41:10.047 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 14:41:10.047 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 14:41:10.047 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 14:41:10.047 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 14:41:10.047 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], "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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 14:41:10.047 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 }) 14:41:10.047 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 14:41:10.047 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 14:41:10.048 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 14:41:10.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 14:41:10.049 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 14:41:10.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 14:41:10.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 14:41:10.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 14:41:10.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 14:41:10.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 14:41:10.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 14:41:10.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 14:41:10.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 14:41:10.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 14:41:10.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 14:41:10.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 14:41:10.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 14:41:10.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 14:41:10.049 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 14:41:10.050 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 14:41:10.050 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 14:41:10.050 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 14:41:10.050 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 14:41:10.050 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 14:41:10.050 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 14:41:10.050 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 14:41:10.050 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 14:41:10.050 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 14:41:10.050 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 14:41:10.050 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 14:41:10.050 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], "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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 14:41:10.050 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 }) 14:41:10.050 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 14:41:10.050 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 14:41:10.050 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 14:41:10.051 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 14:41:10.051 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 14:41:10.400 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 14:41:10.400 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 14:41:10.401 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 14:41:10.401 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 14:41:10.401 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 14:41:10.401 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 14:41:10.401 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 14:41:10.401 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 14:41:10.401 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 14:41:10.401 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 14:41:10.401 WARN [peripherals/communication/src/lib.rs:70] Request server not enabled 14:41:10.402 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 14:41:10.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 14:41:10.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 14:41:10.402 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T14:41:10.401812493+01:00_task_executor': Tried to start logging but no MongoDB client configured 14:41:10.406 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 14:41:10.406 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 14:41:10.456 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 14:41:10.457 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)] }] 14:41:10.531 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 14:41:10.533 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 667.92Hz 14:41:10.536 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 14:41:10.538 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00016000000000000007, Enable control depth: 0.2, Depth control enabled: true 14:41:10.539 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 14:41:10.539 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9987720431295442 } 14:41:10.539 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 14:41:10.539 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 14:41:10.592 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 14:41:10.593 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20051999999999998, Enable control depth: 0.2, Depth control enabled: false 14:41:10.593 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 14:41:15.360 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1716.52Hz 14:41:20.409 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3083.16Hz 14:41:25.662 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5454.94Hz 14:41:32.282 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1367.97Hz 14:41:39.067 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3297.74Hz 14:41:44.616 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2124.68Hz 14:41:49.909 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1543.23Hz 14:41:55.061 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4185.76Hz 14:42:01.027 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2403.23Hz 14:42:07.375 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1006.81Hz 14:42:13.652 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2538.79Hz 14:42:21.338 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 899.58Hz 14:42:26.729 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1315.02Hz 14:42:32.105 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3624.13Hz 14:42:34.281 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped 14:42:34.282 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 14:42:34.282 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:42:34.282 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:42:34.283 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:42:34.283 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 14:42:34.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 14:42:34.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 14:42:34.283 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 14:42:34.283 ERROR [robot_core/path_planning/src/lib.rs:227] Cannot reach control, stopping path planner... 14:42:34.284 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:42:34.284 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'state_estimator' 14:42:34.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'path_planner' stopped 14:42:34.284 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'control' (when the code is still running, this can take a long time) 14:42:34.284 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'control' 14:42:34.284 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'path_planner' (when the code is still running, this can take a long time) 14:42:34.284 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 14:42:34.285 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'path_planner' 14:42:34.285 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'task_scheduler' (when the code is still running, this can take a long time) 14:42:34.285 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 14:42:34.285 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 14:42:34.285 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 14:42:34.285 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 14:42:34.285 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 14:42:34.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 14:42:34.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 14:42:34.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 14:42:34.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 14:42:34.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 14:42:34.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 14:42:34.287 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 14:42:34.287 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:42:34.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 14:42:34.287 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-24T14:41:10.401812493+01:00_task_executor' 14:42:34.288 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'task_scheduler' 14:42:34.288 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'mock_task_manager' (when the code is still running, this can take a long time) 14:42:34.288 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'mock_task_manager' 14:42:34.288 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'simulator' (when the code is still running, this can take a long time) 14:42:34.357 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'simulator' stopped 14:42:34.357 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'simulator' 14:42:34.357 INFO [robot_core/launch/src/lib.rs:286] All threads have stopped 14:42:34.357 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "main", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:42:34.357 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "initial", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:42:43.515 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 14:42:43.515 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 14:42:43.515590245 +01:00 14:42:43.515 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 14:42:43.515 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 14:42:43.515 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 14:42:43.515 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 14:42:43.515 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], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 14:42:43.515 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 }) 14:42:43.522 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 14:42:43.984 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], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 14:42:43.985 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 }) 14:42:49.799 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], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 14:42:49.799 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 }) 14:42:50.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 14:42:50.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 14:42:50.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 14:42:50.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 14:42:50.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 14:42:50.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 14:42:50.196 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 14:42:50.196 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 14:42:50.197 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 14:42:50.197 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 14:42:50.197 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 14:42:50.197 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 14:42:50.197 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], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 14:42:50.197 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 }) 14:42:50.197 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 14:42:50.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 14:42:50.198 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 14:42:50.199 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 14:42:50.199 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 14:42:50.199 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 14:42:50.199 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 14:42:50.199 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 14:42:50.199 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 14:42:50.199 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 14:42:50.200 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 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 14:42:50.200 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 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 14:42:50.200 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 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 14:42:50.200 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], "dvl_location": [0.24675, 0.0, 0.10174], "ps_location": [0.039, 0.0, -0.09865], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 14:42:50.200 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 }) 14:42:50.200 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 14:42:50.200 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 14:42:50.201 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 14:42:50.201 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 14:42:50.201 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 14:42:50.594 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 14:42:50.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 14:42:50.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 14:42:50.594 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 14:42:50.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 14:42:50.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 14:42:50.594 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 14:42:50.594 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 14:42:50.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 14:42:50.595 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 14:42:50.595 WARN [peripherals/communication/src/lib.rs:70] Request server not enabled 14:42:50.595 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 14:42:50.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 14:42:50.595 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T14:42:50.595037548+01:00_task_executor': Tried to start logging but no MongoDB client configured 14:42:50.595 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 14:42:50.597 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 14:42:50.597 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 14:42:50.658 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 14:42:50.659 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)] }] 14:42:50.759 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 14:42:50.760 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 944.13Hz 14:42:50.762 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 14:42:50.763 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 14:42:50.763 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9981690812720996 } 14:42:50.764 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 14:42:50.764 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00035999999999999997, Enable control depth: 0.2, Depth control enabled: true 14:42:50.764 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 14:42:51.009 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 14:42:51.010 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20255999999999996, Enable control depth: 0.2, Depth control enabled: false 14:42:51.010 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 14:42:57.255 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1312.50Hz 14:43:05.281 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2935.82Hz 14:43:12.060 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 972.01Hz 14:43:18.398 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 115.88Hz 14:43:24.543 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2031.53Hz 14:43:28.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped 14:43:28.286 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 14:43:28.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 14:43:28.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 14:43:28.286 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:43:28.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 14:43:28.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'path_planner' stopped 14:43:28.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 14:43:28.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 14:43:28.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 14:43:28.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 14:43:28.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 14:43:28.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 14:43:28.287 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 14:43:28.287 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 14:43:28.287 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 14:43:28.287 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 14:43:28.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 14:43:28.288 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'state_estimator' 14:43:28.288 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'control' (when the code is still running, this can take a long time) 14:43:28.288 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'control' 14:43:28.288 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'path_planner' (when the code is still running, this can take a long time) 14:43:28.288 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'path_planner' 14:43:28.288 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'task_scheduler' (when the code is still running, this can take a long time) 14:43:28.288 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 14:43:28.288 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:43:28.288 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 14:43:28.288 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-24T14:42:50.595037548+01:00_task_executor' 14:43:28.288 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'task_scheduler' 14:43:28.288 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'mock_task_manager' (when the code is still running, this can take a long time) 14:43:28.288 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'mock_task_manager' 14:43:28.288 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'simulator' (when the code is still running, this can take a long time) 14:43:28.343 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'simulator' stopped 14:43:28.343 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'simulator' 14:43:28.343 INFO [robot_core/launch/src/lib.rs:286] All threads have stopped 14:43:28.343 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "main", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:43:28.343 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "initial", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:43:47.542 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 14:43:47.542 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 14:43:47.542289613 +01:00 14:43:47.542 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 14:43:47.542 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 14:43:47.542 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 14:43:47.542 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 14:43:47.542 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], "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], "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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 14:43:47.542 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 }) 14:43:47.543 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 14:43:47.990 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], "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], "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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 14:43:47.991 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 }) 14:43:50.854 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], "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], "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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 14:43:50.854 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 }) 14:43:51.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 14:43:51.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 14:43:51.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 14:43:51.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 14:43:51.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 14:43:51.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 14:43:51.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 14:43:51.286 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 14:43:51.286 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 14:43:51.286 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 14:43:51.286 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 14:43:51.286 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 14:43:51.286 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], "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], "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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 14:43:51.286 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 }) 14:43:51.286 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 14:43:51.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 14:43:51.286 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 14:43:51.287 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 14:43:51.287 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 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 14:43:51.287 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 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 14:43:51.287 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 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 14:43:51.287 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], "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], "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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "imu_location": [0.0, 0.0, 0.0], "right_forward_thruster_location": [1.014, 0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 14:43:51.287 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 }) 14:43:51.287 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 14:43:51.287 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 14:43:51.287 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 14:43:51.287 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 14:43:51.549 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 14:43:51.549 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 14:43:51.549 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 14:43:51.549 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 14:43:51.549 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 14:43:51.549 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 14:43:51.549 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 14:43:51.549 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 14:43:51.550 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 14:43:51.550 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 14:43:51.550 WARN [peripherals/communication/src/lib.rs:70] Request server not enabled 14:43:51.550 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 14:43:51.550 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 14:43:51.550 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 14:43:51.550 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T14:43:51.550046803+01:00_task_executor': Tried to start logging but no MongoDB client configured 14:43:51.550 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 14:43:51.551 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 14:43:51.581 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 14:43:51.582 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)] }] 14:43:51.656 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 14:43:51.657 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 851.95Hz 14:43:51.659 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 14:43:51.660 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 14:43:51.660 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9981690812720996 } 14:43:51.661 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 14:43:51.661 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 14:43:51.661 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00035999999999999997, Enable control depth: 0.2, Depth control enabled: true 14:43:51.747 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20479999999999998, Enable control depth: 0.2, Depth control enabled: false 14:43:51.747 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 14:43:51.747 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 14:43:58.392 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1599.94Hz 14:44:04.034 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4198.06Hz 14:44:09.170 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4528.35Hz 14:44:14.536 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1894.98Hz 14:44:19.623 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4877.41Hz 14:44:24.996 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4443.97Hz 14:44:26.628 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped 14:44:26.628 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 14:44:26.628 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:44:26.628 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:44:26.628 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:44:26.628 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 14:44:26.628 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 14:44:26.628 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 14:44:26.628 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 14:44:26.628 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 14:44:26.628 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 14:44:26.628 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 14:44:26.628 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 14:44:26.629 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 14:44:26.629 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 14:44:26.629 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 14:44:26.629 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 14:44:29.358 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 14:44:29.358 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 14:44:29.358393024 +01:00 14:44:29.358 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 14:44:29.358 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 14:44:29.358 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 14:44:29.358 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 14:44:29.358 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "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], "dvl_location": [0.24675, 0.0, 0.10174]}) 14:44:29.358 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 }) 14:44:29.359 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 14:44:29.763 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "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], "dvl_location": [0.24675, 0.0, 0.10174]}) 14:44:29.764 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 }) 14:44:33.051 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "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], "dvl_location": [0.24675, 0.0, 0.10174]}) 14:44:33.051 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 }) 14:44:33.435 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 14:44:33.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 14:44:33.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 14:44:33.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 14:44:33.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 14:44:33.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 14:44:33.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 14:44:33.436 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 14:44:33.436 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 14:44:33.436 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 14:44:33.436 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 14:44:33.436 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 14:44:33.436 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "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], "dvl_location": [0.24675, 0.0, 0.10174]}) 14:44:33.436 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 }) 14:44:33.436 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 14:44:33.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 14:44:33.436 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 14:44:33.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 14:44:33.437 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 14:44:33.437 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 14:44:33.438 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 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 14:44:33.438 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 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 14:44:33.438 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 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 14:44:33.438 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "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], "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], "dvl_location": [0.24675, 0.0, 0.10174]}) 14:44:33.438 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 }) 14:44:33.438 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 14:44:33.438 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 14:44:33.439 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 14:44:33.439 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 14:44:33.819 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 14:44:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 14:44:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 14:44:33.819 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 14:44:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 14:44:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 14:44:33.819 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 14:44:33.819 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 14:44:33.820 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 14:44:33.820 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 14:44:33.820 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T14:44:33.820044940+01:00_task_executor': Tried to start logging but no MongoDB client configured 14:44:33.820 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 14:44:33.820 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 14:44:33.820 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 14:44:33.820 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 14:44:33.824 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 14:44:33.825 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 14:44:33.878 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 14:44:33.878 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)] }] 14:44:34.016 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 14:44:34.017 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 979.93Hz 14:44:34.019 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 14:44:34.020 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 14:44:34.020 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9981690812720996 } 14:44:34.020 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 14:44:34.020 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00035999999999999997, Enable control depth: 0.2, Depth control enabled: true 14:44:34.020 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 14:44:34.081 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20435999999999999, Enable control depth: 0.2, Depth control enabled: false 14:44:34.081 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 14:44:34.082 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 14:44:39.871 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1107.62Hz 14:44:42.976 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: SendError { .. }': peripherals/communication/src/sonar.rs:53 14:44:42.976 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 14:46:00.031 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 14:46:00.031 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 14:46:00.031124488 +01:00 14:46:00.031 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 14:46:00.031 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 14:46:00.031 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 14:46:00.031 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 14:46:00.031 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], "right_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], "imu_location": [0.0, 0.0, 0.0], "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], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "ps_location": [0.039, 0.0, -0.09865]}) 14:46:00.031 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 }) 14:46:00.032 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 14:46:00.431 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], "right_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], "imu_location": [0.0, 0.0, 0.0], "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], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "ps_location": [0.039, 0.0, -0.09865]}) 14:46:00.431 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 }) 14:46:04.521 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], "right_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], "imu_location": [0.0, 0.0, 0.0], "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], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "ps_location": [0.039, 0.0, -0.09865]}) 14:46:04.522 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 }) 14:46:04.929 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 14:46:04.929 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 14:46:04.929 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 14:46:04.929 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 14:46:04.930 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 14:46:04.930 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 14:46:04.930 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 14:46:04.930 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 14:46:04.930 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 14:46:04.930 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 14:46:04.930 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 14:46:04.930 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 14:46:04.930 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], "right_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], "imu_location": [0.0, 0.0, 0.0], "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], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "ps_location": [0.039, 0.0, -0.09865]}) 14:46:04.930 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 }) 14:46:04.930 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 14:46:04.930 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 14:46:04.930 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 14:46:04.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 14:46:04.932 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 14:46:04.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 14:46:04.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 14:46:04.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 14:46:04.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 14:46:04.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 14:46:04.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 14:46:04.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 14:46:04.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 14:46:04.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 14:46:04.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 14:46:04.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 14:46:04.932 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 14:46:04.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 14:46:04.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 14:46:04.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 14:46:04.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 14:46:04.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 14:46:04.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 14:46:04.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 14:46:04.933 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 14:46:04.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 14:46:04.933 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 14:46:04.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 14:46:04.933 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 14:46:04.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 14:46:04.933 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], "right_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], "imu_location": [0.0, 0.0, 0.0], "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], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "ps_location": [0.039, 0.0, -0.09865]}) 14:46:04.933 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 }) 14:46:04.933 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 14:46:04.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 14:46:04.933 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 14:46:04.933 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 14:46:04.934 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 14:46:05.489 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 14:46:05.489 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 14:46:05.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 14:46:05.490 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 14:46:05.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 14:46:05.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 14:46:05.490 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 14:46:05.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 14:46:05.490 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 14:46:05.490 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 14:46:05.491 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 14:46:05.491 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T14:46:05.490706125+01:00_task_executor': Tried to start logging but no MongoDB client configured 14:46:05.491 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 14:46:05.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 14:46:05.491 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 14:46:05.492 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 14:46:05.492 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 14:46:05.557 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 14:46:05.558 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)] }] 14:46:05.701 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 14:46:05.702 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 892.66Hz 14:46:05.704 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 14:46:05.705 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 14:46:05.705 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 14:46:05.706 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9981690812720996 } 14:46:05.706 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00035999999999999997, Enable control depth: 0.2, Depth control enabled: true 14:46:05.706 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 14:46:05.782 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 14:46:05.783 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20459999999999998, Enable control depth: 0.2, Depth control enabled: false 14:46:05.783 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 14:46:11.682 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1556.27Hz 14:46:16.770 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5745.54Hz 14:46:21.824 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5079.37Hz 14:46:26.676 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1501.88Hz 14:46:32.286 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4032.06Hz 14:46:36.923 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5727.08Hz 14:46:42.632 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 801.22Hz 14:46:47.773 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2906.12Hz 14:46:53.486 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4108.21Hz 14:46:58.986 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1299.48Hz 14:47:04.282 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3677.69Hz 14:47:10.200 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2267.27Hz 14:47:16.032 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 928.70Hz 14:47:20.971 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2410.40Hz 14:47:26.827 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4624.43Hz 14:47:32.287 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1407.39Hz 14:47:37.349 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 7387.76Hz 14:47:37.869 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:47:37.869 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:47:37.869 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 14:47:37.869 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 14:47:37.869 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 14:47:37.869 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 angular velocity request': utilities/python_bindings/src/rust_control_handle.rs:95 14:47:37.869 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 14:47:37.869 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 14:47:37.869 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 14:47:37.870 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 14:47:37.870 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 14:47:37.870 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 14:47:37.870 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 14:47:40.624 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 14:47:40.624 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 14:47:40.624351640 +01:00 14:47:40.624 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 14:47:40.624 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 14:47:40.624 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 14:47:40.624 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 14:47:40.624 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "right_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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 14:47:40.624 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 }) 14:47:40.625 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 14:47:41.052 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "right_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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 14:47:41.052 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 }) 14:47:46.464 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "right_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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 14:47:46.464 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 }) 14:47:46.873 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 14:47:46.873 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 14:47:46.873 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 14:47:46.873 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 14:47:46.873 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 14:47:46.873 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 14:47:46.873 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 14:47:46.873 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 14:47:46.873 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 14:47:46.874 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 14:47:46.874 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 14:47:46.874 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 14:47:46.874 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "right_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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 14:47:46.874 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 }) 14:47:46.874 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 14:47:46.874 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 14:47:46.874 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 14:47:46.875 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 14:47:46.875 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 14:47:46.875 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 14:47:46.876 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 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 14:47:46.876 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 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 14:47:46.876 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 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 14:47:46.876 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "camera_location": [0.086, 0.0, 0.06019], "ps_location": [0.039, 0.0, -0.09865], "right_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], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "left_forward_thruster_location": [1.014, -0.223, 0.144]}) 14:47:46.876 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 }) 14:47:46.876 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 14:47:46.876 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 14:47:46.877 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 14:47:46.877 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 14:47:46.877 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 14:47:47.235 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 14:47:47.235 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 14:47:47.235 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 14:47:47.235 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 14:47:47.235 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 14:47:47.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 14:47:47.236 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 14:47:47.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 14:47:47.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 14:47:47.236 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 14:47:47.236 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 14:47:47.236 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T14:47:47.236250246+01:00_task_executor': Tried to start logging but no MongoDB client configured 14:47:47.236 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 14:47:47.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 14:47:47.236 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 14:47:47.242 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 14:47:47.243 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 14:47:47.314 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 14:47:47.315 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)] }] 14:47:47.477 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 14:47:47.478 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 770.14Hz 14:47:47.479 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 14:47:47.484 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 14:47:47.484 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 14:47:47.484 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00003999999999999998, Enable control depth: 0.2, Depth control enabled: true 14:47:47.484 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.999627472102741 } 14:47:47.484 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 14:47:47.559 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 14:47:47.559 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20063999999999999, Enable control depth: 0.2, Depth control enabled: false 14:47:47.560 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 14:47:53.144 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1340.20Hz 14:48:02.852 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3506.20Hz 14:48:08.776 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3456.79Hz 14:48:14.886 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1726.50Hz 14:48:20.987 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3585.69Hz 14:48:27.329 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1002.06Hz 14:48:32.631 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1432.33Hz 14:48:37.934 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4189.32Hz 14:48:43.291 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4287.04Hz 14:48:48.787 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1498.31Hz 14:48:54.306 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 596.94Hz 14:48:59.806 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4851.07Hz 14:49:06.485 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1162.66Hz 14:49:12.477 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5851.99Hz 14:49:18.994 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1435.07Hz 14:49:24.629 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 832.77Hz 14:49:30.067 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2819.88Hz 14:49:35.918 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 965.14Hz 14:49:43.041 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1551.31Hz 14:49:51.527 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2738.88Hz 14:49:58.119 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3155.23Hz 14:50:07.290 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1209.54Hz 14:50:13.892 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 820.20Hz 14:50:19.686 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2220.80Hz 14:50:25.026 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 385.97Hz 14:50:30.725 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4385.95Hz 14:50:36.256 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4691.53Hz 14:50:42.278 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1628.40Hz 14:50:48.891 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2317.79Hz 14:50:56.244 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3522.13Hz 14:51:02.997 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1695.04Hz 14:51:08.670 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2513.86Hz 14:51:22.189 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2487.57Hz 14:51:28.558 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1842.70Hz 14:51:35.301 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2540.08Hz 14:51:42.549 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2580.01Hz 14:51:49.800 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1767.03Hz 14:51:56.067 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3752.84Hz 14:52:38.707 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3680.75Hz 14:52:51.158 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 323.12Hz 14:53:40.310 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 461.98Hz 14:53:58.373 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3489.66Hz 14:54:05.226 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1404.23Hz 14:54:10.968 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3523.34Hz 14:54:16.792 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3536.67Hz 14:54:22.420 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 685.87Hz 14:54:28.961 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4391.42Hz 14:54:37.723 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 422.20Hz 14:54:53.631 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1174.69Hz 14:54:59.777 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2711.87Hz 14:55:06.472 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3835.89Hz 14:55:11.064 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1192.44Hz 14:55:15.510 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3141.29Hz 14:55:20.214 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1336.57Hz 14:55:24.880 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2182.00Hz 14:55:30.169 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4432.51Hz 14:55:35.519 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2391.77Hz 14:55:41.138 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1063.28Hz 14:55:46.103 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2188.65Hz 14:55:52.799 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3264.31Hz 14:55:59.588 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 751.86Hz 14:56:06.170 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3070.89Hz 14:56:11.633 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1934.49Hz 14:56:16.598 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1181.78Hz 14:56:21.463 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3126.82Hz 14:56:26.422 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5135.21Hz 14:56:31.196 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1403.20Hz 14:56:36.227 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5103.26Hz 14:56:41.117 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4465.94Hz 14:56:45.936 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 496.35Hz 14:56:50.882 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5096.48Hz 14:56:55.745 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5592.50Hz 14:57:00.584 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1450.03Hz 14:57:05.539 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2157.06Hz 14:57:10.476 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1812.46Hz 14:57:15.317 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 986.26Hz 14:57:20.160 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3366.55Hz 14:57:25.066 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3993.83Hz 14:57:29.940 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 458.87Hz 14:57:34.787 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1872.75Hz 14:57:39.504 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6038.54Hz 14:57:44.058 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1384.31Hz 14:57:48.918 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3414.51Hz 14:57:53.877 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2467.54Hz 14:57:58.755 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1808.82Hz 14:58:03.747 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3188.42Hz 14:58:08.702 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4720.54Hz 14:58:13.454 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1440.26Hz 14:58:18.248 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3210.10Hz 14:58:23.007 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4142.76Hz 14:58:27.971 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 412.40Hz 14:58:32.984 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4806.61Hz 14:58:37.366 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 14:58:37.366 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 14:58:37.366 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:58:37.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 14:58:37.367 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:58:37.367 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 14:58:37.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 14:58:37.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 14:58:37.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 14:58:37.367 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 14:58:37.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 14:58:37.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 14:58:37.367 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 14:58:37.367 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'state_estimator' 14:58:37.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 14:58:37.367 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'control' (when the code is still running, this can take a long time) 14:58:37.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 14:58:40.366 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 14:58:40.366 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 14:58:40.366741144 +01:00 14:58:40.366 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 14:58:40.366 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 14:58:40.366 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 14:58:40.366 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 14:58:40.366 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_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], "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], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019]}) 14:58:40.366 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 }) 14:58:40.367 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 14:58:40.768 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_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], "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], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019]}) 14:58:40.769 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 }) 14:58:45.498 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_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], "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], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019]}) 14:58:45.499 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 }) 14:58:45.854 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 14:58:45.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 14:58:45.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 14:58:45.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 14:58:45.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 14:58:45.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 14:58:45.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 14:58:45.855 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 14:58:45.855 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 14:58:45.855 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 14:58:45.855 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 14:58:45.855 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 14:58:45.855 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_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], "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], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019]}) 14:58:45.855 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 }) 14:58:45.855 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 14:58:45.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 14:58:45.855 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 14:58:45.857 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 14:58:45.857 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 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 14:58:45.857 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 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 14:58:45.857 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 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 14:58:45.857 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_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], "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], "gps_location": [0.102, 0.0, -0.223], "imu_location": [0.0, 0.0, 0.0], "camera_location": [0.086, 0.0, 0.06019]}) 14:58:45.857 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 }) 14:58:45.857 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 14:58:45.857 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 14:58:45.857 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 14:58:45.857 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 14:58:46.194 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 14:58:46.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 14:58:46.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 14:58:46.194 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 14:58:46.194 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 14:58:46.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 14:58:46.195 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 14:58:46.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 14:58:46.195 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 14:58:46.195 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 14:58:46.195 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 14:58:46.195 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T14:58:46.195511340+01:00_task_executor': Tried to start logging but no MongoDB client configured 14:58:46.196 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 14:58:46.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 14:58:46.197 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 14:58:46.202 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 14:58:46.203 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 14:58:46.242 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 14:58:46.244 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)] }] 14:58:46.359 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 14:58:46.360 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1040.39Hz 14:58:46.362 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 14:58:46.363 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 14:58:46.363 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9981690812720996 } 14:58:46.363 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 14:58:46.364 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00035999999999999997, Enable control depth: 0.2, Depth control enabled: true 14:58:46.364 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 14:58:46.429 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 14:58:46.429 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20655999999999997, Enable control depth: 0.2, Depth control enabled: false 14:58:46.429 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 14:58:52.206 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1348.85Hz 14:59:03.330 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3280.30Hz 14:59:09.801 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3940.70Hz 14:59:19.124 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 279.36Hz 14:59:46.331 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2321.10Hz 15:00:08.221 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 19.74Hz 15:00:50.144 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 819.44Hz 15:00:57.236 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3473.68Hz 15:01:02.735 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4272.35Hz 15:01:08.493 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 793.96Hz 15:01:13.660 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4568.69Hz 15:01:19.764 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5815.75Hz 15:01:26.103 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1521.22Hz 15:01:28.411 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 15:01:28.412 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:01:28.413 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:01:28.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 15:01:28.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 15:01:28.414 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 15:01:28.414 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 15:01:28.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 15:01:28.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 15:01:28.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 15:01:28.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 15:01:28.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 15:01:28.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 15:01:28.414 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 15:03:02.905 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 15:03:02.905 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 15:03:02.905121446 +01:00 15:03:02.905 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 15:03:02.905 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 15:03:02.905 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 15:03:02.905 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 15:03:02.905 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], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "dvl_location": [0.24675, 0.0, 0.10174], "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], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 15:03:02.905 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 }) 15:03:02.906 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 15:03:03.322 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], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "dvl_location": [0.24675, 0.0, 0.10174], "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], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 15:03:03.323 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 }) 15:03:07.221 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], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "dvl_location": [0.24675, 0.0, 0.10174], "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], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 15:03:07.221 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 }) 15:03:07.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 15:03:07.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 15:03:07.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 15:03:07.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 15:03:07.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 15:03:07.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 15:03:07.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 15:03:07.516 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 15:03:07.516 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 15:03:07.516 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 15:03:07.516 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 15:03:07.516 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 15:03:07.516 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], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "dvl_location": [0.24675, 0.0, 0.10174], "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], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 15:03:07.516 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 }) 15:03:07.516 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 15:03:07.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 15:03:07.516 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 15:03:07.517 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 15:03:07.517 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 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 15:03:07.517 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 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 15:03:07.517 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 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 15:03:07.517 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], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "top_forward_thruster_location": [1.014, 0.0, -0.258], "dvl_location": [0.24675, 0.0, 0.10174], "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], "ps_location": [0.039, 0.0, -0.09865], "left_forward_thruster_location": [1.014, -0.223, 0.144], "left_sideward_thruster_location": [1.095, -0.126, 0.073]}) 15:03:07.517 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 }) 15:03:07.517 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 15:03:07.517 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 15:03:07.517 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 15:03:07.517 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 15:03:07.895 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 15:03:07.895 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 15:03:07.896 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 15:03:07.896 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 15:03:07.896 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 15:03:07.896 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 15:03:07.896 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 15:03:07.896 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 15:03:07.896 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 15:03:07.896 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 15:03:07.896 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T15:03:07.896625612+01:00_task_executor': Tried to start logging but no MongoDB client configured 15:03:07.897 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 15:03:07.897 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 15:03:07.897 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 15:03:07.897 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 15:03:07.903 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 15:03:07.904 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 15:03:07.990 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 15:03:07.992 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)] }] 15:03:08.115 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 15:03:08.116 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1029.92Hz 15:03:08.119 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 15:03:08.122 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 15:03:08.122 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9992589934978323 } 15:03:08.123 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00004000000000000002, Enable control depth: 0.2, Depth control enabled: true 15:03:08.123 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 15:03:08.123 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 15:03:08.241 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.21051999999999998, Enable control depth: 0.2, Depth control enabled: false 15:03:08.241 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 15:03:08.242 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 15:03:13.605 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2490.52Hz 15:03:19.294 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 760.49Hz 15:03:24.826 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2947.39Hz 15:03:30.572 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1166.41Hz 15:03:36.407 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4845.27Hz 15:03:42.148 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5140.52Hz 15:03:47.631 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1980.37Hz 15:03:54.837 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3393.89Hz 15:04:03.442 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 15:04:03.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 15:04:03.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 15:04:03.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 15:04:03.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 15:04:03.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 15:04:03.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 15:04:03.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 15:04:03.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 15:04:03.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 15:04:03.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 15:04:03.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 15:04:03.442 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 15:04:03.443 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 15:04:03.443 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 15:04:03.443 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 15:04:03.443 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:04:03.443 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 15:04:03.443 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:04:03.444 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:04:03.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 15:04:03.444 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 15:04:03.444 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 15:04:03.444 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 15:04:14.402 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 15:04:14.402 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 15:04:14.402894293 +01:00 15:04:14.402 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 15:04:14.402 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 15:04:14.403 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 15:04:14.403 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 15:04:14.403 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], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 15:04:14.403 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 }) 15:04:14.404 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 15:04:14.848 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], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 15:04:14.849 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 }) 15:06:54.508 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], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 15:06:54.508 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 }) 15:06:54.755 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 15:06:54.755 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 15:06:54.755 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 15:06:54.755 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 15:06:54.755 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 15:06:54.755 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 15:06:54.755 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 15:06:54.755 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 15:06:54.755 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 15:06:54.755 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 15:06:54.755 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 15:06:54.755 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 15:06:54.755 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], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 15:06:54.755 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 }) 15:06:54.755 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 15:06:54.756 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 15:06:54.756 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 15:06:54.756 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 15:06:54.756 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 15:06:54.757 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 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 15:06:54.757 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 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 15:06:54.757 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 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 15:06:54.757 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], "gps_location": [0.102, 0.0, -0.223], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "left_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "imu_location": [0.0, 0.0, 0.0], "left_forward_thruster_location": [1.014, -0.223, 0.144], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 15:06:54.757 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 }) 15:06:54.757 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 15:06:54.757 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 15:06:54.757 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 15:06:54.757 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 15:06:54.989 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 15:06:54.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 15:06:54.990 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 15:06:54.991 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 15:06:54.991 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 15:06:54.991 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 15:06:54.991 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 15:06:54.991 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 15:06:54.991 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 15:06:54.991 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 15:06:54.991 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 15:06:54.992 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T15:06:54.991753098+01:00_task_executor': Tried to start logging but no MongoDB client configured 15:06:54.992 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 15:06:54.992 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 15:06:54.992 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 15:06:55.000 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 15:06:55.001 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 15:06:55.022 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 15:06:55.023 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)] }] 15:06:55.092 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 15:06:55.094 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 830.77Hz 15:06:55.094 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 15:06:55.787 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 15:06:55.787 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 15:06:55.788 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 15:06:55.788 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 15:06:55.788 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00003999999999999998, Enable control depth: 0.2, Depth control enabled: true 15:07:14.501 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:54] State estimator error on recv: Timeout, stopping... 15:07:14.501 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } got dropped, stopping associated threads... 15:07:14.501 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 15:07:14.501 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 15:07:14.501 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 15:07:14.501 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 15:07:14.501 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 15:07:14.501 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'state_estimator' 15:07:14.501 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 15:07:14.501 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'control' (when the code is still running, this can take a long time) 15:07:14.501 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 15:07:14.502 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 15:07:14.502 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:07:14.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 15:07:14.502 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-24T15:06:54.991753098+01:00_task_executor' 15:07:14.503 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:07:14.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 15:07:14.503 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'control' 15:07:14.503 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'path_planner' (when the code is still running, this can take a long time) 15:07:14.571 ERROR [robot_core/launch/src/simulator_runner.rs:74] Failed to send update request to state estimator: sending on a disconnected channel 15:07:14.571 ERROR [robot_core/path_planning/src/lib.rs:227] Cannot reach control, stopping path planner... 15:07:14.571 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:07:14.571 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 15:07:14.571 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:07:14.571 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'path_planner' stopped 15:07:14.571 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'path_planner' 15:07:14.571 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'task_scheduler' (when the code is still running, this can take a long time) 15:07:14.571 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'task_scheduler' 15:07:14.571 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'mock_task_manager' (when the code is still running, this can take a long time) 15:07:14.602 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'simulator' stopped 15:07:15.045 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "grpc_services", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:07:15.045 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "orchestration", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:07:15.045 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped 15:07:15.045 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'mock_task_manager' 15:07:15.045 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'grpc_server' (when the code is still running, this can take a long time) 15:07:15.045 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'grpc_server' 15:07:15.045 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'simulator' (when the code is still running, this can take a long time) 15:07:15.045 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'simulator' 15:07:15.046 INFO [robot_core/launch/src/lib.rs:286] All threads have stopped 15:07:15.046 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "main", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:07:15.046 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "initial", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:08:11.037 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 15:08:11.037 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 15:08:11.037719650 +01:00 15:08:11.037 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 15:08:11.037 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 15:08:11.037 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 15:08:11.037 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 15:08:11.037 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], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "right_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], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 15:08:11.038 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 }) 15:08:11.041 INFO [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 16.0, tilt: 0.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 15:08:11.084 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], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "right_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], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 15:08:11.084 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 }) 15:08:11.179 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], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "right_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], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 15:08:11.179 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 }) 15:08:11.336 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 15:08:11.336 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 15:08:11.336 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 15:08:11.336 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 15:08:11.336 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 15:08:11.336 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 15:08:11.336 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 15:08:11.336 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 15:08:11.336 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 15:08:11.336 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 15:08:11.336 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 15:08:11.336 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 15:08:11.336 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], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "right_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], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 15:08:11.336 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 }) 15:08:11.336 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 15:08:11.336 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 15:08:11.336 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 15:08:11.337 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 15:08:11.337 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 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 15:08:11.337 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 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 15:08:11.337 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 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 15:08:11.337 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], "imu_location": [0.0, 0.0, 0.0], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "dvl_location": [0.24675, 0.0, 0.10174], "right_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], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 15:08:11.337 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 }) 15:08:11.337 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 15:08:11.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 15:08:11.337 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 15:08:11.337 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 15:08:11.447 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 15:08:11.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 15:08:11.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 15:08:11.447 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 15:08:11.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 15:08:11.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 15:08:11.447 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 15:08:11.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 15:08:11.447 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 15:08:11.447 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 15:08:11.447 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 15:08:11.447 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T15:08:11.447886533+01:00_task_executor': Tried to start logging but no MongoDB client configured 15:08:11.448 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 15:08:11.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 15:08:11.448 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 15:08:11.448 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 15:08:11.448 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 15:08:11.469 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 15:08:11.469 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)] }] 15:08:11.492 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 15:08:11.492 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1458.07Hz 15:08:11.502 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 15:08:11.511 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00016000000000000007, Enable control depth: 0.2, Depth control enabled: true 15:08:11.511 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9966256821011561 } 15:08:11.511 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 15:08:11.511 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 15:08:11.512 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 15:08:11.724 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20659999999999998, Enable control depth: 0.2, Depth control enabled: false 15:08:11.724 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 15:08:11.724 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 15:08:30.489 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 206.76Hz 15:08:53.066 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2652.84Hz 15:09:15.893 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4719.32Hz 15:09:35.630 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 95.55Hz 15:09:53.980 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 5423.05Hz 15:09:59.329 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 15:09:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 15:09:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 15:09:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 15:09:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 15:09:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 15:09:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 15:09:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 15:09:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 15:09:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 15:09:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 15:09:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 15:09:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 15:09:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 15:09:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 15:09:59.329 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 15:09:59.330 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 15:09:59.330 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:09:59.330 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 15:09:59.330 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-24T15:08:11.447886533+01:00_task_executor' 15:09:59.336 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:09:59.337 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 15:09:59.337 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 15:10:02.169 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 15:10:02.169 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 15:10:02.169901488 +01:00 15:10:02.169 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 15:10:02.169 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 15:10:02.170 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 15:10:02.170 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 15:10:02.170 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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "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_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223]}) 15:10:02.170 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 }) 15:10:02.171 INFO [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 16.0, tilt: 20.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 15:10:02.203 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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "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_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223]}) 15:10:02.203 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 }) 15:10:02.265 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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "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_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223]}) 15:10:02.265 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 }) 15:10:02.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 15:10:02.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 15:10:02.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 15:10:02.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 15:10:02.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 15:10:02.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 15:10:02.402 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 15:10:02.402 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 15:10:02.402 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 15:10:02.402 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 15:10:02.402 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 15:10:02.402 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 15:10:02.402 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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "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_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223]}) 15:10:02.402 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 }) 15:10:02.402 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 15:10:02.403 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 15:10:02.403 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 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 15:10:02.403 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 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 15:10:02.403 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 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 15:10:02.403 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], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_forward_thruster_location": [1.014, 0.0, -0.258], "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_sideward_thruster_location": [1.095, -0.126, 0.073], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "gps_location": [0.102, 0.0, -0.223]}) 15:10:02.403 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 }) 15:10:02.403 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 15:10:02.403 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 15:10:02.403 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 15:10:02.403 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 15:10:02.506 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 15:10:02.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 15:10:02.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 15:10:02.506 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 15:10:02.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 15:10:02.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 15:10:02.506 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 15:10:02.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 15:10:02.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 15:10:02.506 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 15:10:02.506 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 15:10:02.506 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T15:10:02.506647499+01:00_task_executor': Tried to start logging but no MongoDB client configured 15:10:02.506 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 15:10:02.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 15:10:02.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 15:10:02.514 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 15:10:02.515 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 15:10:02.524 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 15:10:02.525 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)] }] 15:10:02.555 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 15:10:02.555 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3217.13Hz 15:10:02.571 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 15:10:02.586 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00016000000000000007, Enable control depth: 0.2, Depth control enabled: true 15:10:02.586 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 15:10:02.586 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9981690812720996 } 15:10:02.586 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 15:10:02.586 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 15:10:03.140 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20159999999999997, Enable control depth: 0.2, Depth control enabled: false 15:10:03.140 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 15:10:03.140 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 15:10:49.090 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 70.36Hz 15:11:39.175 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4809.96Hz 15:12:31.140 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 6195.40Hz 15:13:15.454 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 63.19Hz 15:14:11.047 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3024.99Hz 15:15:02.065 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 15:15:02.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 15:15:02.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 15:15:02.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 15:15:02.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 15:15:02.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 15:15:02.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 15:15:02.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 15:15:02.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 15:15:02.066 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 15:15:02.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 15:15:02.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 15:15:02.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 15:15:02.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 15:15:02.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 15:15:02.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 15:15:02.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 15:15:02.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 15:15:02.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 15:15:02.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 15:15:02.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 15:15:02.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 15:15:02.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 15:15:02.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 15:15:02.067 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 15:15:02.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 15:15:02.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 15:15:02.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 15:15:02.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 15:15:02.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 15:15:02.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 15:15:02.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 15:15:02.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 15:15:02.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 15:15:02.068 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 15:15:02.068 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:15:02.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 15:15:02.068 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-24T15:10:02.506647499+01:00_task_executor' 15:15:02.068 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:15:02.068 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 15:15:02.093 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:15:02.093 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 15:15:02.093 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 15:15:02.093 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'state_estimator' 15:15:06.093 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 15:15:06.093 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 15:15:06.093197452 +01:00 15:15:06.093 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 15:15:06.093 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 15:15:06.093 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 15:15:06.093 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 15:15:06.093 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], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 15:15:06.093 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 }) 15:15:06.094 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 20.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 15:15:06.509 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], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 15:15:06.510 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 }) 15:17:37.634 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], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 15:17:37.634 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 }) 15:17:38.001 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 15:17:38.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 15:17:38.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 15:17:38.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 15:17:38.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 15:17:38.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 15:17:38.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 15:17:38.002 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 15:17:38.002 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 15:17:38.002 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 15:17:38.002 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 15:17:38.002 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 15:17:38.002 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], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 15:17:38.002 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 }) 15:17:38.002 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 15:17:38.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 15:17:38.002 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 15:17:38.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 15:17:38.007 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 15:17:38.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 15:17:38.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 15:17:38.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 15:17:38.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 15:17:38.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 15:17:38.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 15:17:38.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 15:17:38.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 15:17:38.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 15:17:38.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 15:17:38.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 15:17:38.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 15:17:38.007 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 15:17:38.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 15:17:38.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 15:17:38.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 15:17:38.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 15:17:38.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 15:17:38.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 15:17:38.008 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 15:17:38.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 15:17:38.008 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 15:17:38.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 15:17:38.008 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 15:17:38.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 15:17:38.008 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], "ps_location": [0.039, 0.0, -0.09865], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "gps_location": [0.102, 0.0, -0.223], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "camera_location": [0.086, 0.0, 0.06019], "right_forward_thruster_location": [1.014, 0.223, 0.144], "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], "top_forward_thruster_location": [1.014, 0.0, -0.258]}) 15:17:38.008 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 }) 15:17:38.008 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 15:17:38.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 15:17:38.008 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 15:17:38.008 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 15:17:38.008 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 15:17:38.366 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 15:17:38.366 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 15:17:38.366 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 15:17:38.366 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 15:17:38.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 15:17:38.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 15:17:38.367 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 15:17:38.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 15:17:38.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 15:17:38.367 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 15:17:38.367 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 15:17:38.367 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T15:17:38.367378701+01:00_task_executor': Tried to start logging but no MongoDB client configured 15:17:38.367 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 15:17:38.367 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 15:17:38.368 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 15:17:38.374 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 15:17:38.374 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 15:17:38.424 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 15:17:38.426 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)] }] 15:17:38.536 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 15:17:38.539 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 302.54Hz 15:17:38.540 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 15:17:39.357 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 15:17:39.358 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 15:17:39.359 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 15:17:39.359 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00003999999999999998, Enable control depth: 0.2, Depth control enabled: true 15:17:39.359 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 15:17:51.658 ERROR [robot_core/state_estimation/src/simulated_state_estimator.rs:54] State estimator error on recv: Timeout, stopping... 15:17:51.658 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } got dropped, stopping associated threads... 15:17:51.658 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 15:17:51.658 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 15:17:51.658 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 15:17:51.659 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'state_estimator' 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 15:17:51.659 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'control' (when the code is still running, this can take a long time) 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 15:17:51.659 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 15:17:51.660 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 15:17:51.660 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 15:17:51.660 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:17:51.660 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 15:17:51.660 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-24T15:17:38.367378701+01:00_task_executor' 15:17:51.661 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:17:51.661 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 15:17:51.662 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'control' 15:17:51.662 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'path_planner' (when the code is still running, this can take a long time) 15:17:51.746 ERROR [robot_core/launch/src/simulator_runner.rs:74] Failed to send update request to state estimator: sending on a disconnected channel 15:17:51.747 ERROR [robot_core/path_planning/src/lib.rs:227] Cannot reach control, stopping path planner... 15:17:51.747 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:17:51.747 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 15:17:51.747 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:17:51.747 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'path_planner' stopped 15:17:51.747 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'path_planner' 15:17:51.747 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'task_scheduler' (when the code is still running, this can take a long time) 15:17:51.747 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'task_scheduler' 15:17:51.747 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'mock_task_manager' (when the code is still running, this can take a long time) 15:17:51.807 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'simulator' stopped 15:17:52.442 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "grpc_services", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:27:49.533 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "orchestration", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:27:49.533 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'mock_task_manager' stopped 15:27:49.534 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'mock_task_manager' 15:27:49.535 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'grpc_server' (when the code is still running, this can take a long time) 15:27:49.535 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'grpc_server' 15:27:49.535 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'simulator' (when the code is still running, this can take a long time) 15:27:49.535 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'simulator' 15:27:49.535 INFO [robot_core/launch/src/lib.rs:286] All threads have stopped 15:27:49.535 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "main", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:27:49.535 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "initial", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:27:54.739 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 15:27:54.739 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 15:27:54.739493809 +01:00 15:27:54.739 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 15:27:54.739 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 15:27:54.739 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 15:27:54.739 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 15:27:54.739 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], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 15:27:54.739 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 }) 15:27:54.740 INFO [utilities/simulator/src/simulator.rs:78] Initializing simulator with timestep: 20ms and simulator settings: Simulator { gui: false, multi_beam: Some(MultiBeam { fov: 120.0, n_beams: 50, pos: [0.9, 0.0, 0.0], range: 16.0, tilt: 20.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 15:27:54.770 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], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 15:27:54.770 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 }) 15:27:54.831 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], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 15:27:54.832 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 }) 15:27:54.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 15:27:54.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 15:27:54.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 15:27:54.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 15:27:54.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 15:27:54.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 15:27:54.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 15:27:54.961 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 15:27:54.961 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 15:27:54.961 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 15:27:54.961 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 15:27:54.961 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 15:27:54.961 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], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 15:27:54.961 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 }) 15:27:54.961 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 15:27:54.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 15:27:54.961 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 15:27:54.962 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 15:27:54.962 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 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 15:27:54.962 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 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 15:27:54.962 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 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 15:27:54.962 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], "dvl_location": [0.24675, 0.0, 0.10174], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_forward_thruster_location": [1.014, -0.223, 0.144], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "ps_location": [0.039, 0.0, -0.09865], "left_sideward_thruster_location": [1.095, -0.126, 0.073], "gps_location": [0.102, 0.0, -0.223], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "right_sideward_thruster_location": [1.095, 0.126, 0.073]}) 15:27:54.962 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 }) 15:27:54.962 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 15:27:54.962 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 15:27:54.962 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 15:27:54.962 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 15:27:55.073 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 15:27:55.073 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 15:27:55.073 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 15:27:55.073 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 15:27:55.073 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 15:27:55.073 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 15:27:55.073 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 15:27:55.073 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 15:27:55.073 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 15:27:55.073 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 15:27:55.073 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 15:27:55.073 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T15:27:55.073499766+01:00_task_executor': Tried to start logging but no MongoDB client configured 15:27:55.073 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 15:27:55.073 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 15:27:55.073 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 15:27:55.073 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 15:27:55.073 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 15:27:55.089 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 15:27:55.089 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)] }] 15:27:55.111 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 15:27:55.111 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3136.17Hz 15:27:55.125 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 15:27:55.139 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00016000000000000007, Enable control depth: 0.2, Depth control enabled: true 15:27:55.139 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.997452714945998 } 15:27:55.139 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 15:27:55.139 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 15:27:55.156 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 15:27:55.697 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 15:27:55.697 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20148, Enable control depth: 0.2, Depth control enabled: false 15:27:55.697 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 15:28:36.502 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 15:28:36.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 15:28:36.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 15:28:36.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 15:28:36.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 15:28:36.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 15:28:36.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 15:28:36.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 15:28:36.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 15:28:36.502 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 15:28:36.503 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 15:28:36.503 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:28:36.503 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 15:28:36.503 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-24T15:27:55.073499766+01:00_task_executor' 15:28:36.505 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "state_estimator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:28:36.505 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "simulator", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:28:36.505 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:28:36.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'state_estimator' stopped 15:28:36.506 INFO [utilities/simulator/src/simulator.rs:199] Simulator dropped: Simulator() 15:28:36.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 15:28:36.506 ERROR [robot_core/path_planning/src/lib.rs:227] Cannot reach control, stopping path planner... 15:28:36.506 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'state_estimator' 15:28:36.506 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'control' (when the code is still running, this can take a long time) 15:28:36.506 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'control' 15:28:36.506 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'path_planner' (when the code is still running, this can take a long time) 15:28:36.506 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "path_planner", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:28:36.506 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'path_planner' stopped 15:28:36.506 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'path_planner' 15:28:36.506 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'task_scheduler' (when the code is still running, this can take a long time) 15:28:36.506 INFO [robot_core/launch/src/lib.rs:284] Joined thread 'task_scheduler' 15:28:36.506 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'mock_task_manager' (when the code is still running, this can take a long time) 15:28:36.510 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'simulator' stopped 15:28:37.144 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "grpc_services", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:28:47.007 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 15:28:47.007 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 15:28:47.007905759 +01:00 15:28:47.007 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 15:28:47.007 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 15:28:47.008 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 15:28:47.008 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 15:28:47.008 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], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "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], "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], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 15:28:47.008 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 }) 15:28:47.009 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 20.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 15:28:47.464 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], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "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], "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], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 15:28:47.465 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 }) 15:29:29.391 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], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "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], "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], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 15:29:29.391 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 }) 15:29:29.802 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 15:29:29.802 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 15:29:29.802 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 15:29:29.802 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 15:29:29.802 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 15:29:29.802 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 15:29:29.802 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 15:29:29.802 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 15:29:29.802 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 15:29:29.803 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 15:29:29.803 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 15:29:29.803 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 15:29:29.803 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], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "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], "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], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 15:29:29.803 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 }) 15:29:29.803 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 15:29:29.803 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 15:29:29.803 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 15:29:29.804 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 15:29:29.804 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 15:29:29.805 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 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 15:29:29.805 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 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 15:29:29.805 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 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 15:29:29.805 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], "camera_location": [0.086, 0.0, 0.06019], "imu_location": [0.0, 0.0, 0.0], "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], "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], "gps_location": [0.102, 0.0, -0.223], "right_forward_thruster_location": [1.014, 0.223, 0.144]}) 15:29:29.805 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 }) 15:29:29.805 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 15:29:29.805 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 15:29:29.806 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 15:29:29.806 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 15:29:30.189 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 15:29:30.189 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 15:29:30.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 15:29:30.190 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 15:29:30.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 15:29:30.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 15:29:30.190 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 15:29:30.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 15:29:30.190 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 15:29:30.190 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 15:29:30.190 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 15:29:30.190 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T15:29:30.190545241+01:00_task_executor': Tried to start logging but no MongoDB client configured 15:29:30.191 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 15:29:30.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 15:29:30.191 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 15:29:30.191 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 15:29:30.191 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 15:29:30.268 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 15:29:30.270 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)] }] 15:29:30.377 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 15:29:30.379 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 524.78Hz 15:29:30.380 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 15:29:30.421 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9998751810824963 } 15:29:30.421 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 15:29:30.421 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 15:29:30.422 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 15:29:30.422 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00003999999999999998, Enable control depth: 0.2, Depth control enabled: true 15:29:32.116 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20035999999999995, Enable control depth: 0.2, Depth control enabled: false 15:29:32.116 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 15:29:32.116 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 15:31:24.672 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 15:31:24.672 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 15:31:24.673 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 15:31:24.673 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-24T15:29:30.190545241+01:00_task_executor' 15:31:24.673 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:31:24.673 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 15:31:24.675 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 15:31:24.675 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 15:31:24.676 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 angular velocity request': utilities/python_bindings/src/rust_control_handle.rs:95 15:47:35.794 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 15:47:35.794 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 15:47:35.794434929 +01:00 15:47:35.794 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 15:47:35.794 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 15:47:35.794 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 15:47:35.794 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 15:47:35.794 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "left_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]}) 15:47:35.794 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 }) 15:47:35.797 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 20.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 15:47:36.465 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], "top_sideward_thruster_location": [1.095, 0.0, -0.146], "right_forward_thruster_location": [1.014, 0.223, 0.144], "camera_location": [0.086, 0.0, 0.06019], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "top_forward_thruster_location": [1.014, 0.0, -0.258], "ps_location": [0.039, 0.0, -0.09865], "left_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]}) 15:47:36.465 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 }) 15:47:39.106 INFO [utilities/logging/src/logging.rs:120] ================================================================================ 15:47:39.106 INFO [utilities/logging/src/logging.rs:121] Starting new Rust log session at 2025-02-24 15:47:39.106969514 +01:00 15:47:39.107 INFO [utilities/logging/src/logging.rs:122] ================================================================================ 15:47:39.107 DEBUG [utilities/logging/src/logging.rs:123] 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_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/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Debug }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.error.log.{}", compression: None, base: 0, count: 20 } } }, filters: [ThresholdFilter { level: Error }] }, Appender { appender: RollingFileAppender { path: "/home/joris/Desktop/data_root/logs/2025-02-24/2025-02-24_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/2025-02-24/2025-02-24_rust.trace.log.{}", compression: None, base: 0, count: 50 } } }, filters: [ThresholdFilter { level: Trace }] }] }) } 15:47:39.107 INFO [utilities/logging/src/logging.rs:126] Logging to "/home/joris/Desktop/data_root" 15:47:39.107 WARN [utilities/logging/src/logger_manager.rs:44] MONGODB_CONNSTRING not defined so not logging state to MongoDB 15:47:39.107 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_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], "right_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 15:47:39.107 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 }) 15:47:39.108 INFO [utilities/simulator/src/simulator.rs:78] 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: 16.0, tilt: 20.0 }), origin_latitude: 52.048187, origin_longitude: 4.369903, realtime: false, sea_floor_depth: 5.0, start_attitude: [0.0, 0.0, 0.0, 1.0], start_position: [0.0, 0.0, 1.0], steps_per_second: 50, water_current: [0.0, 0.0, 0.0] } 15:47:39.606 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_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], "right_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 15:47:39.607 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 }) 15:48:23.260 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_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], "right_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 15:48:23.260 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 }) 15:48:23.629 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/imu 15:48:23.629 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_waterlinked 15:48:23.629 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_bottom_track 15:48:23.629 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_water_track 15:48:23.629 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_current_profile 15:48:23.629 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/dvl_depth 15:48:23.629 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/magnetometer 15:48:23.629 WARN [robot_core/launch/src/lib.rs:315] Magnetometer not enabled 15:48:23.629 WARN [robot_core/launch/src/lib.rs:295] IMU not enabled 15:48:23.629 WARN [robot_core/launch/src/lib.rs:332] Can Magnetometer not enabled 15:48:23.629 WARN [robot_core/launch/src/lib.rs:350] Waterlinked DVL not enabled 15:48:23.629 WARN [robot_core/launch/src/lib.rs:375] Nortek DVL not enabled 15:48:23.629 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_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], "right_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 15:48:23.630 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 }) 15:48:23.630 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for state_estimator 15:48:23.630 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'state_estimator' with StopRunningFlag { name: "state_estimator", id: 0, stop_running: false, do_auto_stop: true } 15:48:23.630 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'state_estimator' successfully started 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/thruster_manager 15:48:23.632 DEBUG [peripherals/actuation/src/lib.rs:84] Started simulated thruster module 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/cascaded_control 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position_settings 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_position 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position_settings 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_position 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position_settings 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_position 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude_settings 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_attitude 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude_settings 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_attitude 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude_settings 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_attitude 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity_settings 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_velocity 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity_settings 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_velocity 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity_settings 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_velocity 15:48:23.632 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 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/x_angular_velocity 15:48:23.632 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 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/y_angular_velocity 15:48:23.632 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 15:48:23.632 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:52] Creating logger with name se/control/pid/z_angular_velocity 15:48:23.632 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], "top_forward_thruster_location": [1.014, 0.0, -0.258], "left_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], "right_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], "right_sideward_thruster_location": [1.095, 0.126, 0.073], "imu_location": [0.0, 0.0, 0.0], "top_sideward_thruster_location": [1.095, 0.0, -0.146]}) 15:48:23.632 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 }) 15:48:23.632 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for control 15:48:23.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'control' with StopRunningFlag { name: "control", id: 0, stop_running: false, do_auto_stop: true } 15:48:23.633 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'control' successfully started 15:48:23.633 INFO [robot_core/control/src/control_safety.rs:49] Control starting... 15:48:23.633 INFO [robot_core/control/src/control_safety.rs:51] Starting at 0.02 15:48:23.976 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for path_planner 15:48:23.976 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'path_planner' with StopRunningFlag { name: "path_planner", id: 0, stop_running: false, do_auto_stop: true } 15:48:23.977 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'path_planner' successfully started 15:48:23.977 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for task_scheduler 15:48:23.977 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'task_scheduler' with StopRunningFlag { name: "task_scheduler", id: 0, stop_running: false, do_auto_stop: true } 15:48:23.977 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'task_scheduler' successfully started 15:48:23.977 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for mock_task_manager 15:48:23.977 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'mock_task_manager' with StopRunningFlag { name: "mock_task_manager", id: 0, stop_running: false, do_auto_stop: false } 15:48:23.977 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'mock_task_manager' successfully started 15:48:23.977 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for grpc_services 15:48:23.978 DEBUG [robot_core/task_scheduler/src/executor.rs:254] Failed to start logging to database '2025-02-24T15:48:23.977754674+01:00_task_executor': Tried to start logging but no MongoDB client configured 15:48:23.978 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for orchestration 15:48:23.978 DEBUG [utilities/common/src/stop_running_flag.rs:54] StopRunningFlag 0 cloned for simulator 15:48:23.978 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:20] Starting thread 'simulator' with StopRunningFlag { name: "simulator", id: 0, stop_running: false, do_auto_stop: true } 15:48:23.978 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:31] Thread 'simulator' successfully started 15:48:23.978 DEBUG [robot_core/path_planning/src/lib.rs:198] Received new goals: [Hold(3153600000.0 s^1)] 15:48:23.978 DEBUG [robot_core/path_planning/src/lib.rs:205] Cancelling goals: [] 15:48:24.016 INFO [robot_core/launch/src/lib.rs:280] Trying to join thread 'state_estimator' (when the code is still running, this can take a long time) 15:48:24.017 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)] }] 15:48:24.111 INFO [robot_core/launch/src/simulator_runner.rs:68] Starting simulator runner loop 15:48:24.112 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1056.40Hz 15:48:24.151 DEBUG [robot_core/path_planning/src/lib.rs:129] Sending path planner update: StartedGoal(Hold(3153600000.0 s^1)) 15:48:24.189 DEBUG [robot_core/control/src/cascaded_control.rs:354] Details: Current depth: 0.00016000000000000007, Enable control depth: 0.2, Depth control enabled: true 15:48:24.189 INFO [robot_core/control/src/cascaded_control.rs:316] Control Manager has started with goal position: Vec3 { x: 0.0, y: 0.0, z: 0.9987720431295442 } 15:48:24.190 INFO [peripherals/actuation/src/simulated_thruster_module.rs:58] Engaging thrusters 15:48:24.190 INFO [robot_core/control/src/cascaded_control.rs:353] Disabling depth control. 15:48:24.190 DEBUG [robot_core/control/src/cascaded_control.rs:191] Switch from surface to subsurface TAM: reset pitch and sideways velocity controllers 15:48:25.839 DEBUG [robot_core/control/src/cascaded_control.rs:358] Details: Current depth: 0.20239999999999997, Enable control depth: 0.2, Depth control enabled: false 15:48:25.839 DEBUG [robot_core/control/src/cascaded_control.rs:155] Depth control enabled: reset vertical velocity controller 15:48:25.839 INFO [robot_core/control/src/cascaded_control.rs:357] Enabling depth control. 15:50:35.865 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 25.23Hz 15:52:59.491 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1607.85Hz 15:55:28.327 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 2892.90Hz 15:57:58.171 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 23.28Hz 16:00:29.166 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 1855.38Hz 16:02:58.210 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 396.88Hz 16:05:29.134 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 23.25Hz 16:07:58.459 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 421.44Hz 16:09:49.311 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3883.57Hz 16:11:10.256 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 41.96Hz 16:12:34.570 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4062.86Hz 16:13:55.669 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 4549.96Hz 16:15:17.703 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 45.43Hz 16:16:39.830 INFO [robot_core/launch/src/simulator_runner.rs:87] Simulated robot code update rate: 3912.85Hz 16:17:04.799 INFO [utilities/logging/src/logger_manager.rs:102] Stopping all 33 loggers 16:17:04.799 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/imu 16:17:04.799 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_waterlinked 16:17:04.799 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_bottom_track 16:17:04.799 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_water_track 16:17:04.799 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_current_profile 16:17:04.799 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/dvl_depth 16:17:04.799 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/magnetometer 16:17:04.799 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/thruster_manager 16:17:04.800 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "control", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/cascaded_control 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'control' stopped 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position_settings 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_position 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position_settings 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_position 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position_settings 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_position 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude_settings 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_attitude 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude_settings 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_attitude 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude_settings 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_attitude 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity_settings 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_velocity 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity_settings 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_velocity 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity_settings 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_velocity 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity_settings 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/x_angular_velocity 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity_settings 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/y_angular_velocity 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity_settings 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/logging/src/state_logger.rs:37] Stop logging se/control/pid/z_angular_velocity 16:17:04.800 INFO [utilities/logging/src/logger_manager.rs:107] Successfully stopped all 33 loggers 16:17:04.800 DEBUG [utilities/common/src/stop_running_flag.rs:98] StopRunningFlag StopRunningFlag { name: "task_scheduler", id: 0, stop_running: true, do_auto_stop: true } got dropped, stopping associated threads... 16:17:04.800 DEBUG [/home/joris/Repos/LobsterAUV/robot_code/utilities/common/src/launch_trait.rs:27] Thread 'task_scheduler' stopped 16:17:04.800 INFO [robot_core/task_scheduler/src/executor.rs:273] Stopping logging to database '2025-02-24T15:48:23.977754674+01:00_task_executor' 16:17:04.800 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